3תټ㣺

PIDĵǰת٣ת/
position = 190476.19f * SampleCnt / PhaseTimeSum; //㵱ǰλ(ת)
SampleCntΪPhaseTimeSumΪSampleCntβ8λʱۼӺͣʹõΪ7żԡ
ǰλ(ת)=1/(7*t*3/4), 7ΪżԣtΪ8λʱ֮ͣt*3/4Ϊ6λʱ֮ͣתһȦʱΪ(7*t*3/4)
ʱ䵥λΪusΪ˵λ룬ǰλ(ת)=1000000/(7*t*3/4)t=PhaseTimeSum/SampleCntת٣
position = 1000000 / (7*PhaseTimeSum/SampleCnt *3/4) = 190476.19 * SampleCnt / PhaseTimeSumٶȸPIDõģλHzת/롣
 

OLEDʾĵǰת٣ת/
if(B_RUN) j = (u16)(1904761.9f * SpeedSumCnt / SpeedSum); // 㵱ǰת(0.0ת/)
ԭͬϣʾǴһλСģݷŴ10ʱʹüڵƽֵʾȶ
ǰת(ת/)=10*1000000/(7*t*3/4),  t=SpeedSum/SpeedSumCntSpeedSumΪSpeedSumCntβ8λʱ֮͡
ǰת(ת/)=10*1000000/(7*SpeedSum/SpeedSumCnt*3/4)=1904761.9f * SpeedSumCnt / SpeedSumλ0.1Hz0.1ת/롣

OLEDʾĵǰת٣ת/
if(B_RUN) j = (u16)(11428571.4f * SpeedSumCnt / SpeedSum); // 㵱ǰת(ת/)
ͬOLEDʾĵǰת٣ת/롱һļ㣬ǳ60
ǰת(ת/)=60*1000000/(7*t*3/4)=60*1000000/(7*SpeedSum/SpeedSumCnt*3/4)=11428571.4 * SpeedSumCnt / SpeedSumλת/֡  
