给我写一个pid小车控速程序
时间: 2023-11-13 18:04:18 浏览: 38
好的,下面是一个简单的PID小车控速程序的代码:
```C++
// PID小车控速程序
#include <Servo.h>
const int pinMotor = 5; // 电机接口
const int pinEncoder = 2; // 编码器接口
const int setSpeed = 50; // 目标速度
const int Kp = 1; // 比例系数
const int Ki = 0.5; // 积分系数
const int Kd = 0.2; // 微分系数
unsigned long lastTime;
unsigned long currentTime;
int lastEncoder;
int currentEncoder;
int encoderDiff;
int targetEncoder;
int motorSpeed;
int motorOutput;
int error;
int lastError;
int sumError;
Servo motor;
void setup() {
pinMode(pinEncoder, INPUT);
motor.attach(pinMotor);
targetEncoder = setSpeed * 10;
lastTime = millis();
lastEncoder = digitalRead(pinEncoder);
sumError = 0;
}
void loop() {
currentEncoder = digitalRead(pinEncoder);
if (currentEncoder != lastEncoder) {
encoderDiff++;
}
lastEncoder = currentEncoder;
currentTime = millis();
if (currentTime - lastTime >= 100) {
motorSpeed = encoderDiff * 6;
encoderDiff = 0;
error = targetEncoder - motorSpeed;
sumError += error;
motorOutput = Kp * error + Ki * sumError + Kd * (error - lastError);
lastError = error;
if (motorOutput > 100) {
motorOutput = 100;
}
if (motorOutput < 0) {
motorOutput = 0;
}
motor.write(motorOutput);
lastTime = currentTime;
}
}
```
注意:该代码仅供参考,需要根据具体情况进行调整和优化。