清华方案，速度控制的输出一直变小，求大神帮主啊，，吉他手老师求助啊！万分感谢

分岔口

void SpeedControl(void) {
    float fDelta;
    float fP, fI;
    g_fCarSpeed = (g_nLeftMotorPulseSigma + g_nRightMotorPulseSigma) / 2;
    g_nLeftMotorPulseSigma = g_nRightMotorPulseSigma = 0;
    g_fCarSpeed *= CAR_SPEED_CONSTANT;
   fDelta = CAR_SPEED_SET;
   fDelta -= g_fCarSpeed;
    fP = fDelta * SPEED_CONTROL_P;
    fI = fDelta * SPEED_CONTROL_I;

    g_fSpeedControlIntegral += fI;
    if(g_fSpeedControlIntegral > SPEED_CONTROL_OUT_MAX)
      g_fSpeedControlIntegral = SPEED_CONTROL_OUT_MAX;
    if(g_fSpeedControlIntegral < SPEED_CONTROL_OUT_MIN)   
      g_fSpeedControlIntegral = SPEED_CONTROL_OUT_MIN;
    g_fSpeedControlOutOld = g_fSpeedControlOutNew;
    g_fSpeedControlOutNew = fP + g_fSpeedControlIntegral;
}
void SpeedControlOutput(void) {
    float fValue;
    fValue = g_fSpeedControlOutNew - g_fSpeedControlOutOld;
    g_fSpeedControlOut = fValue * (g_nSpeedControlPeriod + 1) / SPEED_CONTROL_PERIOD + g_fSpeedControlOutOld;
}
void GetMotorPulse(void) {
unsigned int nLeftPulse, nRightPulse;

COUNTER1_GetNumEvents(&nLeftPulse);
COUNTER2_GetNumEvents(&nRightPulse);
COUNTER1_Reset();
COUNTER2_Reset();

g_nLeftMotorPulse1 = (int)nLeftPulse;
g_nRightMotorPulse1 = (int)nRightPulse;
if(!(g_nLeftMotorPulse1>0))  g_nLeftMotorPulse1 = -g_nLeftMotorPulse1;
if(!(g_nRightMotorPulse1>0))  g_nRightMotorPulse1 = -g_nRightMotorPulse1;
  
g_nLeftMotorPulseSigma += g_nLeftMotorPulse1;
g_nRightMotorPulseSigma += g_nRightMotorPulse1;
}


各位大神教教小弟这个的参数应该怎么调！

逝水千年

兄弟啊！我的也是啊！你怎么解决的啊？是哪里出问题了吗？求赐教……

逝水千年

求指导，求指导啊……

1272563348

逗♂++

COUNTER1_GetNumEvents(&nLeftPulse); COUNTER2_GetNumEvents(&nRightPulse); COUNTER1_Reset(); COUNTER2_Reset();这几句是啥意思啊大神，求指教