基础稳定版本

HARDWARE/PID.c

@@ -24,7 +24,7 @@ void PID_Init()
 	if (pid.Kp < 1e-7) { pid.Kp = 40; }
 	if (pid.Ki < 1e-7) { pid.Ki = 0.001; }
 	if (pid.Kd < 1e-7) { pid.Kd = 340; }
-	if (pid.tem_threshold < 0.0001) { pid.tem_threshold = 0.5; }
+	if (pid.tem_threshold < 0.0001) { pid.tem_threshold = 0.2; }
 
 	pid.t = 500; // PID calc period
 	// pid.Ti=5000000;// integral time
@@ -44,7 +44,7 @@ void send_speed_signal(int speed) {
 	RS485_3_Init(9600);
 	// delay_xms(100);
 	RS485_3_Send_Data(rs485speed, 8);
-	// delay_xms(100);
+	delay_xms(30);
 	RS485_1_Init(9600);
 }
 

myfreertos/myfreertos.c

@@ -33,7 +33,7 @@ void Host_Computer_Communication(void);
 // 60seconds delay
 #define SYNC_ENVIRONMENT_DATA_REQUEST_PERIOD pdMS_TO_TICKS(60000)
 
-// 2seconds delay
+// 1seconds delay
 #define MAIN_TASK_PERIOD pdMS_TO_TICKS(1000)