MWC_v2.2_代码解读

MWC_v2.2_代码解读

[转载]MWC v2.2 代码解读LOOP()
 [pic] (2013-04-07 20:01:27)
[pic]转载??
|标签??| |
|  | |
|转载 | |




[pic]


void loop () {
  static uint8_t rcDelayCommand; // this indicates the number of time
(multiple of RC measurement at 50Hz) the sticks must be maintained to run
or switch off motors
  static uint8_t rcSticks;       // this hold sticks position for command
combos
  uint8_t axis,i;
  int16_t error,errorAngle;
  int16_t delta,deltaSum;
  int16_t PTerm,ITerm,DTerm;
  int16_t PTermACC = 0 , ITermACC = 0 , PTermGYRO = 0 , ITermGYRO = 0;
  static int16_t lastGyro[3] = {0,0,0};
  static int16_t delta1[3],delta2[3];
  static int16_t errorGyroI[3] = {0,0,0};
  static int16_t errorAngleI[2] = {0,0};
  static uint32_t rcTime  = 0