在stm32的pid控制中一般分为两种方式，一种是位置式pid，一种是增量式pid。

位置式pid

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#include "stdlib.h"
#include "stm32f10x.h"                  // Device header
#include "Delay.h"
#include "OLED.h"
#include "string.h"
#include "OLED_Data.h"
#include <stdio.h>
#include "RP.h"
#include "Key.h"
#include "../Inc/LED.h"
#include "../Inc/Timer.h"
#include "PWM.h"
#include "Motor.h"
#include "../Inc/Encoder.h"
#include "Serial.h"

uint8_t KeyNum;
uint8_t j;
uint16_t RP[4];
int8_t PWM;
int16_t Speed;
int16_t Location;
float Target,Actual,Out; //目标值；实际值；输出值（调节的力度）
float Kp,Ki,Kd;
float Error0,Error1,ErrorIntgral; //上次误差，本次误差，误差积分
int main(void)
{
    OLED_Init();
    OLED_Update();
    LED_Init();
    Timer_Init();
    Key_Init();
    RP_Init();
    Motor_Init();
    Encoder_Init();
    Serial_Init();
    while (1) {

        for (int i = 0; i < 4; i++) {
            RP[i]=RP_GetValue(i);
        }
        Kp=RP[0]/4095.0*2;
        Ki=RP[1]/4095.0*2;
        Kd=RP[2]/4095.0*2;
        Target=RP[3]/4095.0*300-150;
        OLED_Printf(0, 16, OLED_8X16, "Kp:%4.2f", Kp);            //显示Kp
        OLED_Printf(0, 32, OLED_8X16, "Ki:%4.2f", Ki);            //显示Ki
        OLED_Printf(0, 48, OLED_8X16, "Kd:%4.2f", Kd);            //显示Kd

        OLED_Printf(64, 16, OLED_8X16, "Tar:%+04.0f", Target);    //显示目标值
        OLED_Printf(64, 32, OLED_8X16, "Act:%+04.0f", Actual);    //显示实际值
        OLED_Printf(64, 48, OLED_8X16, "Out:%+04.0f", Out);        //显示输出值

        OLED_Update();    //OLED更新，调用显示函数后必须调用此函数更新，否则显示的内容不会更新到OLED上
        Serial_Printf("%f,%f,%f\n",Target,Actual,Out);
        Delay_ms(10);

    }
}


void TIM1_UP_IRQHandler(void) {
    static uint16_t Count;
    if (TIM_GetITStatus(TIM1, TIM_IT_Update) != RESET) {
        Key_Tick();
        Count++;
        if (Count>=40) {
            Count=0;
            Actual=Encoder_Get();//获得实际速度值
            Error1=Error0;
            Error0=Target-Actual;
            if (Ki!=0) {
                ErrorIntgral+=Error1;
            }
            else {
                ErrorIntgral=0;
            }
            /*PID计算*/
            Out=Kp*Error0+Ki*ErrorIntgral+Kd*(Error0-Error1);
            if (Out>100) {
                Out=100;
            }
            if (Out<-100) {
                Out=100;
            }
            Motor_SetPWM(Out);
        }
        // Speed=Encoder_Get();
        // Location+=Speed;
        TIM_ClearITPendingBit(TIM1, TIM_IT_Update);
    }
}

增量式pid

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#include "stdlib.h"
#include "stm32f10x.h"                  // Device header
#include "Delay.h"
#include "OLED.h"
#include "string.h"
#include "OLED_Data.h"
#include <stdio.h>
#include "RP.h"
#include "Key.h"
#include "../Inc/LED.h"
#include "../Inc/Timer.h"
#include "PWM.h"
#include "Motor.h"
#include "../Inc/Encoder.h"
#include "Serial.h"

uint8_t KeyNum;
uint8_t j;
uint16_t RP[4];
int8_t PWM;
int16_t Speed;
int16_t Location;
float Target,Actual,Out; //目标值；实际值；输出值（调节的力度）
float Kp,Ki,Kd;
float Error0,Error1,Error2; //本次误差，上次误差，上上次误差
int main(void)
{
    OLED_Init();
    OLED_Update();
    LED_Init();
    Timer_Init();
    Key_Init();
    RP_Init();
    Motor_Init();
    Encoder_Init();
    Serial_Init();
    while (1) {
        for (int i = 0; i < 4; i++) {
            RP[i]=RP_GetValue(i);
        }
        Kp=RP[0]/4095.0*2;
        Ki=RP[1]/4095.0*2;
        Kd=RP[2]/4095.0*2;
        Target=RP[3]/4095.0*300-150;
        OLED_Printf(0, 16, OLED_8X16, "Kp:%4.2f", Kp);            //显示Kp
        OLED_Printf(0, 32, OLED_8X16, "Ki:%4.2f", Ki);            //显示Ki
        OLED_Printf(0, 48, OLED_8X16, "Kd:%4.2f", Kd);            //显示Kd

        OLED_Printf(64, 16, OLED_8X16, "Tar:%+04.0f", Target);    //显示目标值
        OLED_Printf(64, 32, OLED_8X16, "Act:%+04.0f", Actual);    //显示实际值
        OLED_Printf(64, 48, OLED_8X16, "Out:%+04.0f", Out);        //显示输出值

        OLED_Update();    //OLED更新，调用显示函数后必须调用此函数更新，否则显示的内容不会更新到OLED上
        Serial_Printf("%f,%f,%f\n",Target,Actual,Out);
        Delay_ms(10);

    }
}


void TIM1_UP_IRQHandler(void) {
    static uint16_t Count;
    if (TIM_GetITStatus(TIM1, TIM_IT_Update) != RESET) {
        Key_Tick();
        Count++;
        if (Count>=40) {
            Count=0;
            Actual=Encoder_Get();//获得实际速度值
            Error1=Error0;
            Error2=Error1;
            Error0=Target-Actual;

            /*PID计算*/
            Out+=Kp*(Error0-Error1)+Ki*Error0+Kd*(Error0-2*Error1+Error2);
            if (Out>100) {
                Out=100;
            }
            if (Out<-100) {
                Out=100;
            }
            Motor_SetPWM(Out);
        }
        // Speed=Encoder_Get();
        // Location+=Speed;
        TIM_ClearITPendingBit(TIM1, TIM_IT_Update);
    }
}