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2025.5.18晚上提交，实机调试后的代码，有一次成功了，但是后面没复现了，很奇怪

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Ñõԭ×Ó
2025-05-18 22:47:24 +08:00
parent 1155ae6f6d
commit 00e0d9366d
13 changed files with 129 additions and 124 deletions
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4
bot_code_turn/maze_parameter.h
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@@ -31,8 +31,8 @@ extern const float Kp, Ki, Kd; //声明PID的参数
extern int Kpid_speed; //定义计算后的速度
extern const float Kpid_base; //定义速度基础倍数速度
extern const int speed_l; //定义左轮基本速度
//~ extern const int speed_r; //定义右轮基本速度
extern int speed_r; //定义右轮基本速度
extern const int speed_r; //定义右轮基本速度
//~ extern int speed_r; //定义右轮基本速度
extern const int speed_xianfu; //kpid输出速度的限幅
extern int err, err_old, err_sum, err_diff; //定义误差，上一次误差，积分误差，微分误差
extern const int eI_max; //定义积分限幅