tb6612电机驱动软件开发(代码pid实现，调试，控制实现）

#include
#include
#include
#include "utility/Adafruit_MS_PWMServoDriver.h"

// Create the motor shield object with the default I2C addressAdafruit_MotorShield AFMS = Adafruit_MotorShield();// Create the motor objectsAdafruit_DCMotor *myMotor1 = AFMS.getMotor(1);
Adafruit_DCMotor *myMotor2 = AFMS.getMotor(2);

// Define the PID constantsdouble Kp =1.0;
double Ki =0.1;
double Kd =0.1;

// Define the setpoint and initial inputdouble setpoint =100.0;
double input =0.0;

// Define the PID variablesdouble error =0.0;
double lastError =0.0;
double integral =0.0;
double derivative =0.0;

// Define the PWM output limitsint pwmMin =0;
int pwmMax =255;

void setup() {
// Initialize the motor shield AFMS.begin();

// Set the PWM frequency for the motors AFMS.setPWMFreq(1600);

// Set the initial speed for the motors myMotor1->setSpeed(0);
myMotor2->setSpeed(0);
}

void loop() {
// Read the sensor input input = analogRead(A0);

// Calculate the error error = setpoint - input;

// Calculate the integral integral += error;

// Calculate the derivative derivative = error - lastError;

// Calculate the PID output int output = Kp * error + Ki * integral + Kd * derivative;

// Limit the output to the PWM range output = constrain(output, pwmMin, pwmMax);

// Set the motor speed myMotor1->setSpeed(output);
myMotor2->setSpeed(output);

// Update the last error lastError = error;
}

// Code explanation:
// - The code initializes the motor shield and sets the PWM frequency for the motors.
// - In the loop function, the sensor input is read and the PID algorithm is used to calculate the motor speed.
// - The PID algorithm consists of three parts: proportional, integral, and derivative.
// - The PID output is calculated and limited to the PWM range before setting the motor speed.
// - The last error is updated for the next iteration of the loop.