Merge branch 'master' of http://172.30.0.1:8418/cbb/Robot_v2

2026-03-09 01:47:30 +08:00
parent a26dd1cc8e c9934849c5
commit 1ee2f68a89
8 changed files with 359 additions and 171 deletions
@@ -68,23 +68,4 @@ void PIDController::set_PID(float P, float I, float D) {
 * @param P: P参数
 * @return void
 */
-void PIDController::set_P(float pp) { this->P = pp; }
-
-/**
- * @brief 设置输出限幅
- *
- * @param limit: 输出限幅
- * @return void
- */
-void PIDController::set_limit(float limit) { this->limit = limit; }
-
-/**
- * @brief 重置PID控制器状态
- *
- * @return void
- */
-void PIDController::reset() {
-	error_prev = 0.0f;
-	output_prev = 0.0f;
-	integral_prev = 0.0f;
-}
+void PIDController::set_P_percent(float pp) { this->P = pp; }