STC32G中根据五路电感采样结果进行电机差速控制代码怎么码

以下是一个基于STC32G的五路电感采样进行电机差速控制的示例代码：

#include <STC32.h>

// 定义电机控制口
sbit MOTOR1 = P0^0;
sbit MOTOR2 = P0^1;
sbit MOTOR3 = P0^2;
sbit MOTOR4 = P0^3;

// 定义电感采样口
sbit SENSOR1 = P1^0;
sbit SENSOR2 = P1^1;
sbit SENSOR3 = P1^2;
sbit SENSOR4 = P1^3;
sbit SENSOR5 = P1^4;

// 定义PID控制参数
float KP = 0.1;
float KI = 0.01;
float KD = 0.01;
float error = 0;
float last_error = 0;
float integral = 0;
float derivative = 0;

// 定义电机转速
int motor_speed1 = 0;
int motor_speed2 = 0;
int motor_speed3 = 0;
int motor_speed4 = 0;

// 电机控制函数
void motor_control(int speed1, int speed2, int speed3, int speed4) {
    // 根据电机转速控制电机正反转和PWM信号
    if (speed1 > 0) {
        MOTOR1 = 1;
        PWM1 = speed1;
    } else {
        MOTOR1 = 0;
        PWM1 = -speed1;
    }
    if (speed2 > 0) {
        MOTOR2 = 1;
        PWM2 = speed2;
    } else {
        MOTOR2 = 0;
        PWM2 = -speed2;
    }
    if (speed3 > 0) {
        MOTOR3 = 1;
        PWM3 = speed3;
    } else {
        MOTOR3 = 0;
        PWM3 = -speed3;
    }
    if (speed4 > 0) {
        MOTOR4 = 1;
        PWM4 = speed4;
    } else {
        MOTOR4 = 0;
        PWM4 = -speed4;
    }
}

// 电感采样函数
int sensor_read() {
    int sensor_value = 0;
    if (SENSOR1) sensor_value += 10000;
    if (SENSOR2) sensor_value += 1000;
    if (SENSOR3) sensor_value += 100;
    if (SENSOR4) sensor_value += 10;
    if (SENSOR5) sensor_value += 1;
    return sensor_value;
}

// PID控制函数
float pid_control(float target, float current) {
    error = target - current;
    integral += error;
    derivative = error - last_error;
    last_error = error;
    return KP * error + KI * integral + KD * derivative;
}

// 主函数
void main() {
    int sensor_value = 0;
    while (1) {
        sensor_value = sensor_read();
        // 根据电感采样值进行PID控制
        motor_speed1 = 100 - pid_control(5555, sensor_value);
        motor_speed2 = 100 - pid_control(555, sensor_value);
        motor_speed3 = 100 + pid_control(555, sensor_value);
        motor_speed4 = 100 + pid_control(5555, sensor_value);
        // 对电机转速进行限幅
        if (motor_speed1 > 255) motor_speed1 = 255;
        if (motor_speed2 > 255) motor_speed2 = 255;
        if (motor_speed3 > 255) motor_speed3 = 255;
        if (motor_speed4 > 255) motor_speed4 = 255;
        if (motor_speed1 < -255) motor_speed1 = -255;
        if (motor_speed2 < -255) motor_speed2 = -255;
        if (motor_speed3 < -255) motor_speed3 = -255;
        if (motor_speed4 < -255) motor_speed4 = -255;
        // 控制电机
        motor_control(motor_speed1, motor_speed2, motor_speed3, motor_speed4);
    }
}

需要注意的是，以上代码仅为示例代码，具体实现需要根据实际情况进行修改和优化。