使用TI DSP 2407A 进行开发的源代码

				#include "DSP240x_Device.h"
				
				
				
				
				double Kp=5,Ki=0.05,Kd=4;
				double u_1=0,u=0;
				unsigned int y_1=0,yy=830;
				int err_1=0,err=0,ed=0,ei=0,direct=1,dir_1=1,dir_2=1;
				
				void invert_PID()
				{
				
				   err = yy - 822;
				   ed = err - err_1;
				   ei = ei + err;
				   
				  
				   u=Kp*err+Kd*ed+Ki*ei;
				   
				   if(u>0)
				      direct = 2;
				   else
				      direct = 1;   
				      
				   u=abs(u);
				   
				   if(u				      u=0;
				      
				    if(u>20)
				      u=u+280;
				   
				   if(u>950)
				      u=950;
				       
				   
				   err_1 = err;  
				   y_1 = yy; 
				   u_1 = u;
				   dir_2 = dir_1;
				   dir_1 = direct;   
				
				}
				
				
				
				
				main()
				{
				
				      unsigned int light_val[2];
				        
				        unsigned int temp1,temp2;
				        
					sysinit();
				/*
					IO_Init();
					test();
					
					init_ev();
					
				    EV_TEST();
					AD_Init();
				
					AD_Test();
				
				   Init_Sci();
				   
				   SCI_TEST();
				   
				  */ 
				   
				      init_ev();
				   
				      AD_Init();
				   
				      Drive_Init();
				      
				     // IO_Init();
				
				
				  // AD_Test();
					
				  //  EV_TEST();
				
				
					while(1)
					{
						//if(nNewConvert)
				//	if(0)
						{
							//nNewConvert=0;
							
						//		printf("%d",light_val[0]);
							
						//	temp1 = IN_Status_Load(CAP1_DATDIR,CAP1_HIGH);
						//	temp2 = IN_Status_Load(CAP2_DATDIR,CAP2_HIGH);
							
							
					//		Drive(LEFT, FORWARD, light_val[0]);
					//		Drive(RIGHT, FORWARD, light_val[1]);
							
							
							//    #define    LEFT      1
				//    #define    RIGHT    2
				
				
				
				//   #define    FORWARD      1
				//   #define    BACK    2
				
				             
				           
				
							light_value(light_val,15);
							
							yy = light_val[0];
							
							invert_PID();
							
						/*	if(dir_2 !=dir_1)
							   {
							   
							   	Drive(LEFT,direct,900);			
							    Drive(RIGHT,direct,900);			    
							    wait_ms(20);
							    
							    }
							  */  
							 
						  temp1 = (u*10)/990;  
						  temp2= 12 - temp1; 
							
							
					    	Drive(LEFT,direct,940);
							
					    	Drive(RIGHT,direct,990);
					    	
					    	wait_ms(temp1);
					    	
					    	Drive(LEFT,direct,0);
							
					    	Drive(RIGHT,direct,0);
					    	
					    	wait_ms(temp2);
					    	
					    	
				
					    	
							
						
							
						
						
							
						
					//	Drive(RIGHT,BACK,300);
							
							
						//	Drive(RIGHT, BACK, 700);
							
					/*		
							if(temp1 ==0)
							{
						//	Drive(LEFT, BACK, light_val[0]);
						
							Drive(LEFT, BACK, 300);
							}
							
							if(temp2 ==0)
							{
							
						//	Drive(RIGHT, BACK, light_val[1]);
							
								Drive(RIGHT, BACK, 700);
							
							}
							
							if((temp1==0)&&(temp2==0))
							{
							
						//	Drive(LEFT, BACK, light_val[1]);
						//	Drive(RIGHT, BACK, light_val[0]);
							
							Drive(LEFT, BACK, 700);
							Drive(RIGHT, BACK, 300);
							
							}
							
						*/	
							
						
							
							//Sci_Add_String(16,res,uart_rec_char);
					    		
						}	
						
						
					//     Sci_Get_String(uart_rec_char);
					    // Sci_Put_String ( uart_rec_char ) ;
					}
						
				}