optimize

src/main.cpp

@@ -266,7 +266,7 @@ bool CarStorage::isMounted = false;
 
 void setup()
 {
-  // 初始化<EFBFBD><EFBFBD><EFBFBD>口
+  // 初始化口
   Serial.begin(115200);
 
   // 初始化 BLE
@@ -323,13 +323,19 @@ void handleSerialPacket(uint8_t *packet, int length, BLECharacteristic &characte
   if (!deviceConnected || length < 4)
     return;
 
-  uint8_t packetLength = packet[1]; // 获取长度
-  uint8_t cmd = packet[2];          // 获取指令
+  uint8_t packetLength = packet[1];
+  uint8_t cmd = packet[2];
   uint8_t direction, speed, time, wheel, diffSpeed;
   float distance;
-  uint8_t buffer[PACKET_MAX_LENGTH]; // 用于存储要发送的数据
+  uint8_t buffer[PACKET_MAX_LENGTH];
   int bufferIndex = 0;
 
+  // PID 相关变量声明移到这里
+  float Kp, Ki, Kd;
+  float targetSpeed, currentSpeed, lastError, integral;
+  unsigned long lastTime;
+  unsigned long startTime;
+
   switch (cmd)
   {
   case CMD_GET_BT_STATUS:
@@ -466,16 +472,15 @@ void handleSerialPacket(uint8_t *packet, int length, BLECharacteristic &characte
     Serial.println("CMD_DEMO_PID");
 
     // PID 参数
-    float Kp = 2.0;
-    float Ki = 0.5;
-    float Kd = 0.1;
+    Kp = 2.0;
+    Ki = 0.5;
+    Kd = 0.1;
 
-    // PID 变量
-    float targetSpeed = 255; // 目标速度
-    float currentSpeed = 0;  // 当前速度
-    float lastError = 0;     // 上一次误差
-    float integral = 0;      // 积分项
-    unsigned long lastTime = millis();
+    targetSpeed = 255;
+    currentSpeed = 0;
+    lastError = 0;
+    integral = 0;
+    lastTime = millis();
 
     // 加速阶段 - PID控制
     while (millis() - lastTime < 2000)
@@ -536,7 +541,8 @@ void handleSerialPacket(uint8_t *packet, int length, BLECharacteristic &characte
 
     // 第一段：全速前进1秒
     currentSpeed = 255;
-    unsigned long startTime = millis();
+    startTime = millis();
+    // 第一段：全速前进1秒
     while (millis() - startTime < 1000)
     {
       motorControl('A', currentSpeed);