东大猎鹰 光电 源代码.docVIP

附录A 源程序 #include hidef.h #include mc9s12dg128.h #pragma LINK_INFO DERIVATIVE mc9s12dg128b #define PWM01MAX 1180 int nom=4; uint TimerOverflow; int SpeedBack; int SpeedGiven; int SpeedCache[4] = 0; int SpeedError = 0; uint LastPulseCounter=0; int Kp = 100; int Ki = 10; int PA_OverFlow = 0; int TimeUpFlag=0; uchar EvenOddFlag ; uchar ProcessFlag ; uint EvenValidSum = 0; uint OddValidSum = 0; uint TimerOverflow = 0; int P,Q,O; int i=0,j=0; unsigned int State[4]={0x03FF,0x03FF,0x03FF,0