From 35abe8b52998431023a207ccc2755719bf219aa6 Mon Sep 17 00:00:00 2001
From: Lizongdi <1210855344@qq.com>
Date: Thu, 14 May 2026 15:28:40 +0800
Subject: [PATCH] =?UTF-8?q?=E3=80=90=E5=85=B6=E4=BB=96=E5=88=86=E6=94=AF?=
 =?UTF-8?q?=E5=BE=85=E5=90=88=E3=80=91PID=E6=96=87=E4=BB=B6bug=E4=BF=AE?=
 =?UTF-8?q?=E6=94=B9?=
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---
 .../Core/BASE/Src/MSP/{msp_PID.c => msp_PID_1.c}              | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)
 rename diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Src/MSP/{msp_PID.c => msp_PID_1.c} (98%)

diff --git a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Src/MSP/msp_PID.c b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Src/MSP/msp_PID_1.c
similarity index 98%
rename from diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Src/MSP/msp_PID.c
rename to diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Src/MSP/msp_PID_1.c
index bd38ed1..9efa26f 100644
--- a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Src/MSP/msp_PID.c
+++ b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Src/MSP/msp_PID_1.c
@@ -43,8 +43,8 @@ void GF_MSP_PID_Now_Der_adj_Com_Weld(double Current_Angle, double Desire_Angle_I
 /* 将角度归一化到 [-180, 180) */
 static float normalize_angle(float angle)
 {
-    while (angle >= 180.0f) angle -= 360.0f;
-    while (angle < -180.0f) angle += 360.0f;
+    if (angle >= 180.0f) angle -= 360.0f;
+    else if (angle < -180.0f) angle += 360.0f;
     return angle;
 }