pid四个轮直流电机控制

#include 
#include “systick.h“
#include “motor.h“
#include “PID.h“

__IO uint32_t CaptureNumber1;
__IO uint32_t CaptureNumber2;
__IO uint32_t CaptureNumber3;
__IO uint32_t CaptureNumber4;

typedef struct 
{
	__IO int      SetPoint;                                 //设定目标 Desired Value
	__IO double   Proportion;                               //比例常数 Proportional Const
	__IO double   Integral;                                 //积分常数 Integral Const
	__IO double   Derivative;                               //微分常数 Derivative Const
	__IO int      LastError1;                                //Error[-1]
	__IO int      PrevError1;                                //Error[-2]
	__IO int      LastError2;                                //Error[-1]
	__IO int      PrevError2;