EM78P469BQFP

洪嵐峰

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
    }
}