/*
?*?PID.c
?*
?*??Created?on:?2013-3-23
?*??????Author:?feng
?*/

#include?“PID.h“

static?PID?PID_RANGE;

void?PID_InitCalc（void）;
void?Servo_PIDControl（void）;
void?PID_Init（PID*?p_PID）;
int16?PID_Calc（PID*?p_PID?int32?PID_ADC0?int32?PID_ADC6）;

void?PID_InitCalc（void）
{
	PID_Init（&PID_RANGE）;
}

void?Servo_PIDControl（void）
{
	uint32?temp_adc0;
	uint32?temp_adc6;
	int32?temp_speed;
	signed?long?temp_scope;

	temp_adc0?=?GetADCValue（0x00）;//select?channel?ADC0
	temp_adc0?=?ADC0_Kalman_Filter（（uint32）temp_adc0）;//filter
	Uart1_Send_Scope（temp_adc01）;

	temp_adc6?=?GetADCValue（0x06）;//select?channel?ADC6
	temp_adc6?=?ADC6_Kalman_Filter（（uint32）temp_adc6）;//filter
	Uart1_Send_Scope（temp_adc62）;

	temp_scope?=?（signed?long）temp_adc0?-?（signed?long）temp_