这句程序是怎么运算的

while (NotStop())
{
gyro.update();
float angle = gyro.getAngleX();
err = angle - targetAngle;
integration += err;

    int speed1 = 200;
    int speed2 = 200;

    speed2 = speed1 + err * p;// + integration * i;

    lifer1.run(speed1);
    lifer2.run(speed2);
    //delay(10);
}
lifer1.stop();
lifer2.stop();

}

只要NotStop()函数不为0，就一直运行while里面的程序，具体你想问的是哪一句