新手求帮忙

只看该作者 · 2015-3-16 22:57

float Pos_cal(void)
{
float fValue=0.0;
float Value=0.0;

LR_Add = 64-middle;

//LR_Add = 64-(k1+k2)/2;
//LR_Sub = k1-k2;

Dir_Error[2] =  Dir_Error[1];
Dir_Error[1] =  Dir_Error[0];
Dir_Error[0] = LR_Add;

   Dir_Deviation[2] = Dir_Deviation[1];
   Dir_Deviation[1] = Dir_Deviation[0];
   Dir_Deviation[0] = Dir_Error[0]- Dir_Error[1];

Fuzzy_lishudu(LR_Add,Dir_Deviation[0]);

Dir_P = Fuzzy_Kp(0,0);
//Dir_I = Fuzzy_Ki(10,1);
//Dir_D = Fuzzy_Kd(0,0);

   Value = LR_Add*Dir_P + Dir_Deviation[0]*Dir_I/100.0+Dir_Error[1]*Dir_D/100.0;

   fValue=Value;

return  fValue;
}
不懂，求解释，越细越好