1、1.控制算法的输入输出输入：fX输入可以根据具体情况自己做修改。输出：fY输出可以根据具体情况自己做选择，比如可以是：PWM 输出，模拟量输出，或 2 points 控制等等。2.PID 算法3.控制状态可以设置E_CTRL_MODE :eCTRL_MODE_IDLE := 0, (* mode idle *)eCTRL_MODE_PASSIVE := 1, (* mode passive *)eCTRL_MODE_ACTIVE := 2, (* mode active *)eCTRL_MODE_RESET := 3, (* mode reset *)eCTRL_MODE_MANUAL :=
2、4, (* mode manual *)eCTRL_MODE_TUNE := 5, (* mode tuning *)eCTRL_MODE_SELFTEST := 6, (* mode selftest *)eCTRL_MODE_SYNC_MOVEMENT:= 7 (* mode synchronize *)状态可查看E_CTRL_STATE :eCTRL_STATE_IDLE := 0, (* state idle *)eCTRL_STATE_PASSIVE := 1, (* state passive *)eCTRL_STATE_ACTIVE := 2, (* state active *
3、)eCTRL_STATE_RESET := 3, (* state reset *)eCTRL_STATE_MANUAL := 4, (* state manual *)eCTRL_STATE_TUNING := 5, (* state tuning *)eCTRL_STATE_TUNED := 6, (* state tuning ready - tuned *)eCTRL_STATE_SELFTEST := 7, (* state selftest *)eCTRL_STATE_ERROR := 8, (* state error *)eCTRL_STATE_SYNC_MOVEMENT := 9 (* state synchronizing movement *)4.自整定算法要设置控制模式为 eCTRL_MODE_TUNE5.如果选用 PWM 控制请设置
