【疯狂福利日】12月第三弹，无限“货”力，冲

EricCheng · 发表于 2025-12-17 15:30:01

int16_t PID_Update(int16_t current_value_16x,uint8_t sign)
{
  int32_t P,I,D;
  int32_t error;

  // 1. 计算当前误差:error = 目标值 - 当前值
  if (sign == 1)
error = setpoint + current_value_16x;
  else
error = setpoint - current_value_16x;

  // 2. 计算比例项(放大SCALE倍)
  P =  pid.Kp * error;

  // 3. 计算积分项：I += Ki × err（积分限幅防止溢出，放大SCALE倍)
  pid.integral += pid.Ki * error;
  if (pid.integral > pid.integral_max) pid.integral = pid.integral_max;
  else if (pid.integral < pid.integral_min) pid.integral = pid.integral_min;
  I = pid.integral;

  // 4. 计算微分项：D = Kd × (err - err_last)（放大SCALE倍）
  D = pid.Kd * (error - pid.prev_error);
  pid.prev_error = error;    // 更新上一次误差

  // 5. 总输出（P+I+D），限幅到0~100，移10位相当于除1024
  int32_t total = (P + I + D) >> 10;
  if (total > pid.output_max) return pid.output_max;
  else if (total < pid.output_min) return pid.output_min;
  else return (int16_t)total;
}

EricCheng · 发表于 2025-12-17 15:30:06

int16_t PID_Update(int16_t current_value_16x,uint8_t sign)
{
  int32_t P,I,D;
  int32_t error;

  // 1. 计算当前误差:error = 目标值 - 当前值
  if (sign == 1)
error = setpoint + current_value_16x;
  else
error = setpoint - current_value_16x;

  // 2. 计算比例项(放大SCALE倍)
  P =  pid.Kp * error;

  // 3. 计算积分项：I += Ki × err（积分限幅防止溢出，放大SCALE倍)
  pid.integral += pid.Ki * error;
  if (pid.integral > pid.integral_max) pid.integral = pid.integral_max;
  else if (pid.integral < pid.integral_min) pid.integral = pid.integral_min;
  I = pid.integral;

  // 4. 计算微分项：D = Kd × (err - err_last)（放大SCALE倍）
  D = pid.Kd * (error - pid.prev_error);
  pid.prev_error = error;    // 更新上一次误差

  // 5. 总输出（P+I+D），限幅到0~100，移10位相当于除1024
  int32_t total = (P + I + D) >> 10;
  if (total > pid.output_max) return pid.output_max;
  else if (total < pid.output_min) return pid.output_min;
  else return (int16_t)total;
}

EricCheng · 发表于 2025-12-17 15:30:12

int16_t PID_Update(int16_t current_value_16x,uint8_t sign)
{
  int32_t P,I,D;
  int32_t error;

  // 1. 计算当前误差:error = 目标值 - 当前值
  if (sign == 1)
error = setpoint + current_value_16x;
  else
error = setpoint - current_value_16x;

  // 2. 计算比例项(放大SCALE倍)
  P =  pid.Kp * error;

  // 3. 计算积分项：I += Ki × err（积分限幅防止溢出，放大SCALE倍)
  pid.integral += pid.Ki * error;
  if (pid.integral > pid.integral_max) pid.integral = pid.integral_max;
  else if (pid.integral < pid.integral_min) pid.integral = pid.integral_min;
  I = pid.integral;

  // 4. 计算微分项：D = Kd × (err - err_last)（放大SCALE倍）
  D = pid.Kd * (error - pid.prev_error);
  pid.prev_error = error;    // 更新上一次误差

  // 5. 总输出（P+I+D），限幅到0~100，移10位相当于除1024
  int32_t total = (P + I + D) >> 10;
  if (total > pid.output_max) return pid.output_max;
  else if (total < pid.output_min) return pid.output_min;
  else return (int16_t)total;
}

EricCheng · 发表于 2025-12-17 15:30:35

int16_t PID_Update(int16_t current_value_16x,uint8_t sign)
{
  int32_t P,I,D;
  int32_t error;

  // 1. 计算当前误差:error = 目标值 - 当前值
  if (sign == 1)
error = setpoint + current_value_16x;
  else
error = setpoint - current_value_16x;

  // 2. 计算比例项(放大SCALE倍)
  P =  pid.Kp * error;

  // 3. 计算积分项：I += Ki × err（积分限幅防止溢出，放大SCALE倍)
  pid.integral += pid.Ki * error;
  if (pid.integral > pid.integral_max) pid.integral = pid.integral_max;
  else if (pid.integral < pid.integral_min) pid.integral = pid.integral_min;
  I = pid.integral;

  // 4. 计算微分项：D = Kd × (err - err_last)（放大SCALE倍）
  D = pid.Kd * (error - pid.prev_error);
  pid.prev_error = error;    // 更新上一次误差

  // 5. 总输出（P+I+D），限幅到0~100，移10位相当于除1024
  int32_t total = (P + I + D) >> 10;
  if (total > pid.output_max) return pid.output_max;
  else if (total < pid.output_min) return pid.output_min;
  else return (int16_t)total;
}

EricCheng · 发表于 2025-12-17 15:30:41

int16_t PID_Update(int16_t current_value_16x,uint8_t sign)
{
  int32_t P,I,D;
  int32_t error;

  // 1. 计算当前误差:error = 目标值 - 当前值
  if (sign == 1)
error = setpoint + current_value_16x;
  else
error = setpoint - current_value_16x;

  // 2. 计算比例项(放大SCALE倍)
  P =  pid.Kp * error;

  // 3. 计算积分项：I += Ki × err（积分限幅防止溢出，放大SCALE倍)
  pid.integral += pid.Ki * error;
  if (pid.integral > pid.integral_max) pid.integral = pid.integral_max;
  else if (pid.integral < pid.integral_min) pid.integral = pid.integral_min;
  I = pid.integral;

  // 4. 计算微分项：D = Kd × (err - err_last)（放大SCALE倍）
  D = pid.Kd * (error - pid.prev_error);
  pid.prev_error = error;    // 更新上一次误差

  // 5. 总输出（P+I+D），限幅到0~100，移10位相当于除1024
  int32_t total = (P + I + D) >> 10;
  if (total > pid.output_max) return pid.output_max;
  else if (total < pid.output_min) return pid.output_min;
  else return (int16_t)total;
}

EricCheng · 发表于 2025-12-17 15:30:54

int16_t PID_Update(int16_t current_value_16x,uint8_t sign)
{
  int32_t P,I,D;
  int32_t error;

  // 1. 计算当前误差:error = 目标值 - 当前值
  if (sign == 1)
error = setpoint + current_value_16x;
  else
error = setpoint - current_value_16x;

  // 2. 计算比例项(放大SCALE倍)
  P =  pid.Kp * error;

  // 3. 计算积分项：I += Ki × err（积分限幅防止溢出，放大SCALE倍)
  pid.integral += pid.Ki * error;
  if (pid.integral > pid.integral_max) pid.integral = pid.integral_max;
  else if (pid.integral < pid.integral_min) pid.integral = pid.integral_min;
  I = pid.integral;

  // 4. 计算微分项：D = Kd × (err - err_last)（放大SCALE倍）
  D = pid.Kd * (error - pid.prev_error);
  pid.prev_error = error;    // 更新上一次误差

  // 5. 总输出（P+I+D），限幅到0~100，移10位相当于除1024
  int32_t total = (P + I + D) >> 10;
  if (total > pid.output_max) return pid.output_max;
  else if (total < pid.output_min) return pid.output_min;
  else return (int16_t)total;
}

EricCheng · 发表于 2025-12-17 15:30:59

int16_t PID_Update(int16_t current_value_16x,uint8_t sign)
{
  int32_t P,I,D;
  int32_t error;

  // 1. 计算当前误差:error = 目标值 - 当前值
  if (sign == 1)
error = setpoint + current_value_16x;
  else
error = setpoint - current_value_16x;

  // 2. 计算比例项(放大SCALE倍)
  P =  pid.Kp * error;

  // 3. 计算积分项：I += Ki × err（积分限幅防止溢出，放大SCALE倍)
  pid.integral += pid.Ki * error;
  if (pid.integral > pid.integral_max) pid.integral = pid.integral_max;
  else if (pid.integral < pid.integral_min) pid.integral = pid.integral_min;
  I = pid.integral;

  // 4. 计算微分项：D = Kd × (err - err_last)（放大SCALE倍）
  D = pid.Kd * (error - pid.prev_error);
  pid.prev_error = error;    // 更新上一次误差

  // 5. 总输出（P+I+D），限幅到0~100，移10位相当于除1024
  int32_t total = (P + I + D) >> 10;
  if (total > pid.output_max) return pid.output_max;
  else if (total < pid.output_min) return pid.output_min;
  else return (int16_t)total;
}

EricCheng · 发表于 2025-12-17 15:31:05

int16_t PID_Update(int16_t current_value_16x,uint8_t sign)
{
  int32_t P,I,D;
  int32_t error;

  // 1. 计算当前误差:error = 目标值 - 当前值
  if (sign == 1)
error = setpoint + current_value_16x;
  else
error = setpoint - current_value_16x;

  // 2. 计算比例项(放大SCALE倍)
  P =  pid.Kp * error;

  // 3. 计算积分项：I += Ki × err（积分限幅防止溢出，放大SCALE倍)
  pid.integral += pid.Ki * error;
  if (pid.integral > pid.integral_max) pid.integral = pid.integral_max;
  else if (pid.integral < pid.integral_min) pid.integral = pid.integral_min;
  I = pid.integral;

  // 4. 计算微分项：D = Kd × (err - err_last)（放大SCALE倍）
  D = pid.Kd * (error - pid.prev_error);
  pid.prev_error = error;    // 更新上一次误差

  // 5. 总输出（P+I+D），限幅到0~100，移10位相当于除1024
  int32_t total = (P + I + D) >> 10;
  if (total > pid.output_max) return pid.output_max;
  else if (total < pid.output_min) return pid.output_min;
  else return (int16_t)total;
}

EricCheng · 发表于 2025-12-17 15:31:13

int16_t PID_Update(int16_t current_value_16x,uint8_t sign)
{
  int32_t P,I,D;
  int32_t error;

  // 1. 计算当前误差:error = 目标值 - 当前值
  if (sign == 1)
error = setpoint + current_value_16x;
  else
error = setpoint - current_value_16x;

  // 2. 计算比例项(放大SCALE倍)
  P =  pid.Kp * error;

  // 3. 计算积分项：I += Ki × err（积分限幅防止溢出，放大SCALE倍)
  pid.integral += pid.Ki * error;
  if (pid.integral > pid.integral_max) pid.integral = pid.integral_max;
  else if (pid.integral < pid.integral_min) pid.integral = pid.integral_min;
  I = pid.integral;

  // 4. 计算微分项：D = Kd × (err - err_last)（放大SCALE倍）
  D = pid.Kd * (error - pid.prev_error);
  pid.prev_error = error;    // 更新上一次误差

  // 5. 总输出（P+I+D），限幅到0~100，移10位相当于除1024
  int32_t total = (P + I + D) >> 10;
  if (total > pid.output_max) return pid.output_max;
  else if (total < pid.output_min) return pid.output_min;
  else return (int16_t)total;
}

EricCheng · 发表于 2025-12-17 15:31:21

int16_t PID_Update(int16_t current_value_16x,uint8_t sign)
{
  int32_t P,I,D;
  int32_t error;

  // 1. 计算当前误差:error = 目标值 - 当前值
  if (sign == 1)
error = setpoint + current_value_16x;
  else
error = setpoint - current_value_16x;

  // 2. 计算比例项(放大SCALE倍)
  P =  pid.Kp * error;

  // 3. 计算积分项：I += Ki × err（积分限幅防止溢出，放大SCALE倍)
  pid.integral += pid.Ki * error;
  if (pid.integral > pid.integral_max) pid.integral = pid.integral_max;
  else if (pid.integral < pid.integral_min) pid.integral = pid.integral_min;
  I = pid.integral;

  // 4. 计算微分项：D = Kd × (err - err_last)（放大SCALE倍）
  D = pid.Kd * (error - pid.prev_error);
  pid.prev_error = error;    // 更新上一次误差

  // 5. 总输出（P+I+D），限幅到0~100，移10位相当于除1024
  int32_t total = (P + I + D) >> 10;
  if (total > pid.output_max) return pid.output_max;
  else if (total < pid.output_min) return pid.output_min;
  else return (int16_t)total;
}

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