电磁组两个电感的算法

easy颠倒黑白

//方向控制
   uint16 ADValue0,ADValue1;  //      1    主程序使用的变量定义     
  float Direction_diff=0.0,Direction_sub=0.0,Direction_add=0.0;
  float Direction_sub_value=0.0,Direction_sub_old=0.0;
  float DirectionOutold=0.0,DirectionOutnew=0.0;
  void DirectionControl(void)
   {


      Direction_sub=(float)ADValue0-(float)ADValue1;
      Direction_add=(float)ADValue0+(float)ADValue1;
      Direction_diff=Direction_sub/Direction_add;
      Direction_sub_value=Direction_sub-Direction_sub_old;
      Direction_sub_old=Direction_sub;
      DirectionOutold=DirectionOutnew;
      DirectionOutnew=1100+K_Direction_P*Direction_diff+K_Direction_D*Direction_sub_value;

   }
大神帮我看看程序哪错了啊，大弯道正向能跑过去反向跑不过去