文件名称：飞思卡尔光电k60程序
文件大小：8.33MB
文件格式：RAR
更新时间：2017-07-24 14:57:41
k60 光电
很好的程序void GetMotorPulse(void) //获取电机速度，并积分； { MotorPulse_R = -(short)FTM1_CNT; MotorPulse_L = (short)FTM2_CNT; FTM1_CNT= 0; FTM2_CNT= 0; //电机脉冲信号 CarSpeed = (MotorPulse_L + MotorPulse_R) / 2; MotorPulse_L = 0; MotorPulse_R = 0; CarSpeed *= CAR_SPEED_CONSTANT; //单位转化 } /*官方速度控制算法*/ void SpeedControl(void) { float fP,fI,iError; iError=CAR_SPEED_SET-CarSpeed; //给定速度-实际速度 fP=SPEED_CONTROL_P*iError; fI=SPEED_CONTROL_I*iError; SpeedControlIntegral += fI; SpeedControlOutOld=SpeedControlOutNew; SpeedControlOutNew=fP+SpeedControlIntegral; }