EM78P469BQFP
以下是基於C語言的EM78P469BQFP PID溫控器程式碼示例，可以控制馬達和機械手臂，在達到預定溫度後啟動它們。需要注意的是，具體的零件和燒錄連結腳位需要根據具體的設計和應用來確定。
#include <reg_EM78P469.h>
#include <stdio.h>
#define TEMP_SENSOR_PIN P1.0
#define MOTOR_PIN P1.1
#define ARM_PIN P1.2
#define PID_KP 2.0
#define PID_KI 0.5
#define PID_KD 0.1
float pid_output = 0.0;
float pid_integral = 0.0;
float pid_error = 0.0;
float pid_derivative = 0.0;
float pid_last_error = 0.0;
float target_temp = 25.0;
float current_temp = 0.0;
void delay(int time) {
int i, j;
for (i = 0; i < time; i++)
for (j = 0; j < 1000; j++);
}
float read_temp() {
// TODO: read temperature from sensor
}
void pid_controller() {
pid_error = target_temp - current_temp;
pid_integral += pid_error;
pid_derivative = pid_error - pid_last_error;
pid_output = PID_KP * pid_error + PID_KI * pid_integral + PID_KD * pid_derivative;
pid_last_error = pid_error;
}
void main() {
while (1) {
current_temp = read_temp();
pid_controller();
if (pid_output > 0) {
MOTOR_PIN = 1; // turn on motor
ARM_PIN = 1; // turn on arm
} else {
MOTOR_PIN = 0; // turn off motor
ARM_PIN = 0; // turn off arm
}
delay(1000); // update every 1 second
}
}
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