#include "main.h" #include "headfile.h" unsigned int adc_value[5]; int error[2]; float kp = 1.1; float kd = 0.5; unsigned int left_motor_duty; unsigned int right_motor_duty; unsigned int motor_duty_center = 3000; int main(void) { car_init(); while(1) { adc_value[0] = adc_get(ADC0, ADC_CH_10); adc_value[1] = adc_get(ADC0, ADC_CH_11); adc_value[2] = adc_get(ADC0, ADC_CH_12); adc_value[3] = adc_get(ADC0, ADC_CH_13); adc_value[4] = adc_get(ADC0, ADC_CH_15); car_race(); } } void car_race() { error[0] = adc_value[0] - adc_value[4]; int speed_c = (int)(error[0] * kp + (error[0] + error[1]) * kd); left_motor_duty = motor_duty_center - speed_c; right_motor_duty = motor_duty_center + speed_c; error[1] = error[0]; if(left_motor_duty > 10000) { left_motor_duty = 10000; } else if(left_motor_duty < 0) { left_motor_duty = 0; } if(right_motor_duty > 10000) { right_motor_duty = 10000; } else if(right_motor_duty < 0) { right_motor_duty = 0; } motor_forward(left, left_motor_duty); motor_forward(right, right_motor_duty);}修改为使用算数平均值滤波算法并进行归一化处理，电机控制用增量式PID算法，再用位置式PD算法对方向进行控制的能使小车进行循迹的代码，一定要有循迹代码，一定要有循迹代码

抱歉，我之前的回答可能没有满足您的需求。以下是使用算数平均值滤波算法并进行归一化处理，电机控制使用增量式PID算法，再使用位置式PD算法对方向进行控制的代码，并包含了循迹代码：

#include "main.h"
#include "headfile.h"

unsigned int adc_value[5];

int error[2];
float integral = 0;
float previous_error = 0;

float kp = 1.1;
float ki = 0.2;
float kd = 0.5;

unsigned int left_motor_duty;
unsigned int right_motor_duty;

unsigned int motor_duty_center = 3000;

int main(void)
{
    car_init();

    while (1)
    {
        // Read ADC values
        adc_value[0] = adc_get(ADC0, ADC_CH_10);
        adc_value[1] = adc_get(ADC0, ADC_CH_11);
        adc_value[2] = adc_get(ADC0, ADC_CH_12);
        adc_value[3] = adc_get(ADC0, ADC_CH_13);
        adc_value[4] = adc_get(ADC0, ADC_CH_15);

        // Apply moving average filter and normalize
        unsigned int filtered_adc_value[5];
        for (int i = 0; i < 5; i++)
        {
            filtered_adc_value[i] = (adc_value[i] + adc_value[i - 1] + adc_value[i - 2]) / 3;
            filtered_adc_value[i] = (filtered_adc_value[i] - 2000) / 1000; // Normalize to -1 to 1 range
        }

        // Update error and perform PID control for speed
        error[0] = filtered_adc_value[0] - filtered_adc_value[4];
        float derivative = error[0] - previous_error;

        float speed_c = error[0] * kp + integral * ki + derivative * kd;
        left_motor_duty += speed_c;
        right_motor_duty += speed_c;

        previous_error = error[0];
        integral += error[0];

        // Clamp motor duty values
        if (left_motor_duty > 10000)
        {
            left_motor_duty = 10000;
        }
        else if (left_motor_duty < 0)
        {
            left_motor_duty = 0;
        }
        if (right_motor_duty > 10000)
        {
            right_motor_duty = 10000;
        }
        else if (right_motor_duty < 0)
        {
            right_motor_duty = 0;
        }

        // Perform direction control with PD algorithm
        int direction_c = error[0] * kp + derivative * kd;

        // Apply direction control to motor duty values
        left_motor_duty -= direction_c;
        right_motor_duty += direction_c;

        // Clamp motor duty values again
        if (left_motor_duty > 10000)
        {
            left_motor_duty = 10000;
        }
        else if (left_motor_duty < 0)
        {
            left_motor_duty = 0;
        }
        if (right_motor_duty > 10000)
        {
            right_motor_duty = 10000;
        }
        else if (right_motor_duty < 0)
        {
            right_motor_duty = 0;
        }

        // Control the motors for track tracing
        if (error[0] < -1) {
            motor_forward(left, left_motor_duty);
            motor_stop(right);
        }
        else if (error[0] > 1) {
            motor_forward(right, right_motor_duty);
            motor_stop(left);
        }
        else {
            motor_forward(left, left_motor_duty);
            motor_forward(right, right_motor_duty);
        }
    }
}

请注意，这只是一个示例代码，根据您的具体需求和硬件情况，您可能需要进行一些调整和修改。