Can give me some advise ?
I can see you are changing the controller parameters every time before the controller function is called. That is not wrong except for the *.f32Acc = 0 and *.f16InErrK1 = 0 - these parameters are internal accumulator and previous error. It should be left unchanged when the controller is supposed to run. These parameters should be reset on every transition from stop to run (before the PI controller is supposed to run), but not before every call of the controller.
Another concern is your "a" variable - since it is constant and you are using it as the error input of the controller, the PI controller will integrate this error and eventually saturate with no way back.
Final comment - please use the latest version of the AMMCLib library. Your version works as well, but most of the library functions have been optimized to provide better performance.
Please let me know if it solves your issue.
It works,thank you ！
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