c语言方式优化#define MODEA_ON() (GPIOB->BSRR = GPIO_Pin_3) #define MODEA_OFF() (GPIOB->BRR = GPIO_Pin_3) #define MODEB_ON() (GPIOB->BSRR = GPIO_Pin_4) #define MODEB_OFF() (GPIOB->BRR = GPIO_Pin_4) #define MODEB1_ON() (GPIOB->BSRR = GPIO_Pin_7) #define MODEB1_OFF() (GPIOB->BRR = GPIO_Pin_7) volatile int drive; int TorqueContro(int tar,int cur) { static int Terror; int Tmid=2,Tmin=1000,Tmax=2000; static int driveA=0,driveB=0,driveC=0,driveD=0; Terror=tar-cur; if(Terror>=Tmax) {MODEA_ON();MODEB_OFF();MODEB1_OFF();//1 driveA=1;driveB=0;driveC=0;} else if(Tmin<=Terror&&Terror<Tmax) {MODEA_ON();MODEB_ON();MODEB1_OFF();//2 driveA=2;driveB=1;driveC=0;} else if(0<=Terror&&Terror<Tmin) {MODEA_OFF();MODEB_ON();MODEB1_OFF();//3 driveA=3;driveB=1;driveC=0;} else if(-Tmin<=Terror&&Terror<0) {MODEA_OFF();MODEB_ON();MODEB1_ON();//4 driveA=4;driveB=1;driveC=1;} else if(-Tmax<=Terror&&Terror<-Tmin) {MODEA_OFF();MODEB_OFF();MODEB1_ON();//5 driveA=5;driveB=0;driveC=1;} else if(Terror<-Tmax) {MODEA_ON();MODEB_OFF();MODEB1_ON();//6 driveA=6;driveB=0;driveC=1;} // MODEA_ON();MODEB_OFF();MODEB1_OFF(); // driveA=1;driveB=0;driveC=0;//²âÊÔÓà else MODEA_OFF();MODEB_OFF();MODEB1_OFF(); driveA=0;driveB=0;driveC=0; }

对于宏定义的优化，我们可以使用内联函数来替代宏定义。内联函数可以提高代码的可读性和可维护性，并且避免一些潜在的问题。

首先，将宏定义改为内联函数的示例代码如下：

inline void MODEA_ON() {
    GPIOB->BSRR = GPIO_Pin_3;
}

inline void MODEA_OFF() {
    GPIOB->BRR = GPIO_Pin_3;
}

inline void MODEB_ON() {
    GPIOB->BSRR = GPIO_Pin_4;
}

inline void MODEB_OFF() {
    GPIOB->BRR = GPIO_Pin_4;
}

inline void MODEB1_ON() {
    GPIOB->BSRR = GPIO_Pin_7;
}

inline void MODEB1_OFF() {
    GPIOB->BRR = GPIO_Pin_7;
}

然后，在`TorqueContro`函数中使用这些内联函数，示例代码如下：

volatile int drive;

int TorqueContro(int tar, int cur) {
    static int Terror;
    int Tmid = 2, Tmin = 1000, Tmax = 2000;
    static int driveA = 0, driveB = 0, driveC = 0, driveD = 0;
    Terror = tar - cur;

    if (Terror >= Tmax) {
        MODEA_ON();
        MODEB_OFF();
        MODEB1_OFF();
        driveA = 1;
        driveB = 0;
        driveC = 0;
    } else if (Tmin <= Terror && Terror < Tmax) {
        MODEA_ON();
        MODEB_ON();
        MODEB1_OFF();
        driveA = 2;
        driveB = 1;
        driveC = 0;
    } else if (0 <= Terror && Terror < Tmin) {
        MODEA_OFF();
        MODEB_ON();
        MODEB1_OFF();
        driveA = 3;
        driveB = 1;
        driveC = 0;
    } else if (-Tmin <= Terror && Terror < 0) {
        MODEA_OFF();
        MODEB_ON();
        MODEB1_ON();
        driveA = 4;
        driveB = 1;
        driveC = 1;
    } else if (-Tmax <= Terror && Terror < -Tmin) {
        MODEA_OFF();
        MODEB_OFF();
        MODEB1_ON();
        driveA = 5;
        driveB = 0;
        driveC = 1;
    } else if (Terror < -Tmax) {
        MODEA_ON();
        MODEB_OFF();
        MODEB1_ON();
        driveA = 6;
        driveB = 0;
        driveC = 1;
    } else {
        MODEA_OFF();
        MODEB_OFF();
        MODEB1_OFF();
        driveA = 0;
        driveB = 0;
        driveC = 0;
    }
}

通过将宏定义替换为内联函数，可以提高代码的可读性和可维护性。希望这些优化建议对你有帮助！如果你还有其他问题，请随时提问。