XIAOZHILI

/***************************************************************自平衡程序修改时间：2013.12.8***************************************************************/#include "main.h"#define position_max 6000  //位置最大值int j=0;int position=0;int k=0;int i=0;int speed1=0;int speed=0;int acc_y=0;int acc_z=0;int gyr_x=0;int receive=0;int pwm=0;float G_X=0,A_X=0;float gyro_angle=0;float balan_angle=0;float balan_angle1=0;float G_X1=0,A_X1=0,G_X2=0,G_X3=0,GXERRO=0;float erro[3]; int pwmneed=0;int pwmturn=0;void adjust(void);void judge(){  pwm=PID_control(erro[0],G_X)+PID_control_2(speed,position);  //pwm+=pwmneed;  if(pwm>100) //pwm限幅  {    pwm=100;  }  if(pwm