[mw_shl_code=c,true] #define prd 10000 #define Vbreak 8000 u16 cnt2; s32 CNT2; s32 V2; extern s32 rcnt2,rcnt3,rcnt4,rcnt5; void get_encoder_ONE(void)//*******************计算当前实际速度 { s32 CNT2_temp,CNT2_last; cnt2 = TIM2 -> CNT; CNT2_last = CNT2; CNT2_temp = rcnt2 * prd + cnt2; //为什么要乘prd V2 = CNT2_temp - CNT2_last; while (V2>Vbreak) { rcnt2--; CNT2_temp = rcnt2 * prd + cnt2; V2 = CNT2_temp - CNT2_last; } while (V2<-Vbreak) { rcnt2++; CNT2_temp = rcnt2 * prd + cnt2; V2 = CNT2_temp - CNT2_last; } CNT2 = CNT2_temp; }[/mw_shl_code]