调参结束！

Homework/Homework6/Homework6.ino

@@ -12,14 +12,14 @@ double output_level = 0;
 
 // PID
 double err = 0, diff_err = 0, accumulate_err = 0;
-const double Kp = 1, Ki = 0, Kd = 2.5;
-const unsigned long DO_PID_CONTROL_IN_US = 50000;
+const double Kp = 2, Ki = 0, Kd = 6;
+const unsigned long DO_PID_CONTROL_IN_US = 1000;
 
 // Settings for the level
 long goal_step = 0;
 long current_step = 0;
 
-const int DISTANCE_BETWEEN_LEVELS = 300;
+const int DISTANCE_BETWEEN_LEVELS = 50;
 const int NUMBER_OF_LEVELS = 5;
 const long MAX_GOAL_STEP = DISTANCE_BETWEEN_LEVELS * NUMBER_OF_LEVELS;
 
@@ -41,11 +41,13 @@ void onEncoAChange() {
           DISTANCE_BETWEEN_LEVELS / 2 &&
       goal_step < MAX_GOAL_STEP) {
     goal_step += DISTANCE_BETWEEN_LEVELS;
+    accumulate_err = 0;
   }
   if ((goal_step - current_step) % DISTANCE_BETWEEN_LEVELS >
           DISTANCE_BETWEEN_LEVELS / 2 &&
       goal_step > 0) {
     goal_step -= DISTANCE_BETWEEN_LEVELS;
+    accumulate_err = 0;
   }
 }
 
@@ -100,9 +102,12 @@ void setup() {
 }
 
 void loop() {
-  Serial.print("Goal: ");
+  // Serial.print("Goal: ");
+  Serial.print('$');
   Serial.print(goal_step);
-  Serial.print("  Current: ");
-  Serial.println(current_step);
+  // Serial.print("  Current: ");
+  Serial.print(", ");
+  Serial.print(current_step);
+  Serial.print(";");
   drawOLED();
 }