diff --git "a/PID\350\260\203\345\217\202\346\226\271\346\241\210/PID.md" "b/PID\350\260\203\345\217\202\346\226\271\346\241\210/PID.md"
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+++ "b/PID\350\260\203\345\217\202\346\226\271\346\241\210/PID.md"
@@ -0,0 +1,56 @@
+# 小车底盘代码修改
+
+## 下载代码
+
+```shell
+git clone https://gitee.com/HiEuler/eulercar_controller.git
+```
+
+在`HiSpark Studio`中打开工程，此时工程中会有很多报错，将`c_cpp_properties.json`内的`compilerPath`更改到自己电脑中`HiSpark Studio`安装路径下即可解决
+
+<center><img src="./images/image-20240810164937528.png" alt="image-20240810164937528" style="zoom:30%;" /><img src="./images/image-20240810164455488.png" alt="image-20240810164455488" style="zoom: 25%;" /><center/>
+
+
+修改`Euler_car.hiproj`中选项，删除`ZDU3061MNPICA`前的`ZDU`，`sdk_path`替换成自己电脑上的路径，修改程序烧录端口号和波特率，在`main.c`中选择正确的电机参数
+
+<center><img src="./images/image-20240810162250427.png" alt="image-20240810162250427" style="zoom:25%;" /><img src="./images/image-20240810162410179.png" alt="image-20240810162410179" style="zoom:22%;" /><img src="./images/image-20240810163823546.png" alt="image-20240810163823546" style="zoom:18%;" /><center/>
+
+
+为了使用串口进行调参，要使用串口0，首先在`./user/generatecode/main.h`中声明串口0中断服务函数
+
+<img src="./images/image-20240810170152582.png" alt="image-20240810170152582" style="zoom:30%;" />
+
+打开`./user/generatecode/system_init.c`，定义串口0中断服务函数，修改`UART0_Init()`，设置串口0接收模式为中断接收，接收`fifo`水线设置为1，使能串口接收中断
+
+<img src="./images/image-20240810170343639.png" alt="image-20240810170343639" style="zoom:22%;" />
+
+打开`./user/eulercar_control.c`，定义串口调参相关变量、串口0下发数据代码
+
+<center><img src="./images/image-20240814130927265.png" alt="image-20240814130927265" style="zoom:15%;" /><img src="./images/image-20240814131022174.png" alt="image-20240814131022174" style="zoom:15%;" /><center/>
+
+添加串口0中断接收函数和协议解析函数 
+
+<img src="./images/image-20240814142126203.png" alt="image-20240814142126203" style="zoom: 15%;" />
+
+将串口0数据发送函数添加到定时器0中断内
+
+<img src="./images/image-20240814162730458.png" alt="image-20240814162730458" style="zoom:15%;" />
+
+串口0接收解析函数，转速执行函数放在`while(1)`中，将按键功能更改为调整目标速度
+
+<img src="./images/image-20240814164248792.png" alt="image-20240814164248792" style="zoom: 20%;" />
+
+改动后的代码工程下载链接：
+
+>https://github.com/codingnoobwyh/Eulercar_PID_Params_Tuning.git
+
+# Qt上位机
+
+使用欧拉小车上排针引出的串口0连接电脑，在Qt上位机中打开对应串口，波特率选择115200，使用按键调整预期速度。按下`开始转动`按键，小车电机则开始转动；按下`停止转动`按键，电机停止转动，PID积分项清零。输入框中输入对应参数按下`设定参数`可以调整PID参数
+
+<center><img src="./images/image-20240815131303179.png" alt="image-20240815131303179" style="zoom: 5%;" /><img src="./images/image-20240814195148168.png" alt="image-20240814195148168" style="zoom:22%;" /><center/>
+如果发现电机总是满转速转动，可能是不同的小车电机驱动引脚连接相反，在代码中将两个大于号替换为小于号
+
+<img src="./images/image-20240815133719967.png" alt="image-20240815133719967" style="zoom:33%;" />
+
+<img src="./images/image-20240815133749789.png" alt="image-20240815133749789" style="zoom:33%;" />
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