chenged to 2 motor velocity-closed-loop; before testing

2025-11-20 09:50:13 +08:00
parent dd8f7c006f
commit ed09f10c03
13 changed files with 276 additions and 261 deletions
--- a/3rd/pid_control.h
+++ b/3rd/pid_control.h
@@ -1,9 +1,17 @@
 #ifndef __PID_CONTROL_H
 #define __PID_CONTROL_H

-float PID_Controller(float Kp, float Ki, float Kd, float Error);
-float  _constrain(float amt, float low, float high);
+struct _PID {
+  float Kp;
+  float Ki;
+  float Kd;
+  unsigned long Timestamp_Last;
+  float Last_Error;
+  float Last_intergration;
+  float Last_Output;
+};
+
+float PID_Controller(struct _PID *pid, float error);
+float _constrain(float amt, float low, float high);

 #endif
-
-