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 |
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