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Наведён порядок в коде

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This commit is contained in:
Radzhab Bisultanov
2026-02-18 14:23:01 +03:00
parent eecf8f2cc2
commit f9b7277a33
20 changed files with 647 additions and 928 deletions
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36
Source/Control/Src/pid.c
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@@ -2,22 +2,22 @@
float pid_update(pid_t* pid, float error, float gyro_rate, float dt)
{
float p = pid->kp * error;
pid->integral += error * dt;
if (pid->integral > 100) pid->integral = 100;
if (pid->integral < -100) pid->integral = -100;
float i = pid->ki * pid->integral;
float d = - pid->kd * gyro_rate;
pid->prev_error = error;
float spid = p + i + d;
if (spid > 300) spid = 300;
if (spid < -300) spid = -300;
return spid;
float p = pid->kp * error;
pid->integral += error * dt;
if (pid->integral > 100) pid->integral = 100;
if (pid->integral < -100) pid->integral = -100;
float i = pid->ki * pid->integral;
float d = - pid->kd * gyro_rate;
pid->prev_error = error;
float spid = p + i + d;
if (spid > 300) spid = 300;
if (spid < -300) spid = -300;
return spid;
}