Initial commit: SmartCar Framework v0.1 — 龙芯2K0300智能车开发框架\n\n- HAL: GPIO/PWM/Encoder/Framebuffer 驱动\n- Control: PID/IMU/Motor/Servo 控制\n- Vision: HSV双Otsu→4点标定IPM→洪泛填充→逐行搜线\n- Strategy: 三区前瞻偏差+速度策略\n- Debug: 文件热调参+LCD预览+cv截帧\n- Scheduler: 5ms timerfd+epoll 中央调度器

control/pid.hpp

@@ -0,0 +1,28 @@
+#pragma once
+#include "types.hpp"
+
+class PID {
+public:
+    PID(float kp = 0, float ki = 0, float kd = 0, float target = 0,
+        PIDMode mode = PID_INCREMENTAL, float out_limit = 100, float int_limit = 100);
+
+    float update(float measured);
+    void  setTarget(float t)    { _target = t; }
+    void  setPID(float kp, float ki, float kd);
+    void  setMode(PIDMode m)    { _mode = m; }
+    void  reset();
+
+    float output() const { return _output; }
+
+private:
+    float   _kp, _ki, _kd;
+    float   _target;
+    PIDMode _mode;
+    float   _out_limit, _int_limit;
+
+    float   _output;
+    float   _integral;
+    float   _prev_error;
+    float   _last_measured;
+    bool    _first;
+};