#include?
#include?“systick.h“
#include?“motor.h“
#include?“PID.h“

__IO?uint32_t?CaptureNumber1;
__IO?uint32_t?CaptureNumber2;
__IO?uint32_t?CaptureNumber3;
__IO?uint32_t?CaptureNumber4;

typedef?struct?
{
	__IO?int??????SetPoint;?????????????????????????????????//設定目標?Desired?Value
	__IO?double???Proportion;???????????????????????????????//比例常數(shù)?Proportional?Const
	__IO?double???Integral;?????????????????????????????????//積分常數(shù)?Integral?Const
	__IO?double???Derivative;???????????????????????????????//微分常數(shù)?Derivative?Const
	__IO?int??????LastError1;????????????????????????????????//Error[-1]
	__IO?int??????PrevError1;????????????????????????????????//Error[-2]
	__IO?int??????LastError2;????????????????????????????????//Error[-1]
	__IO?int??????PrevError2;?????