添加文件1和文件2

Mecanum Wheel moving project 1/Core/Inc/pid.h

@@ -0,0 +1,22 @@
+
+#ifndef __PID_H
+#define __PID_H
+#include "main.h"  
+
+typedef struct {
+    float kp;           // ????
+    float ki;           // ????  
+    float kd;           // ????
+    float integral;     // ???
+    float prev_error;   // ?????
+    float output;       // ???
+    float integral_limit; // ????
+    float output_limit;   // ????
+} PID_Controller_t;
+
+extern void PID_Init(PID_Controller_t* pid, float kp, float ki, float kd, float integral_limit, float output_limit); 
+extern float PID_Calculate(PID_Controller_t* pid, float error, float dt); 
+extern void Motor_PID_Init(); 
+extern void PID_PositionClean(PID_Controller_t* pid); 
+
+#endif