diff --git a/app/by_fan_control.c b/app/by_fan_control.c index 16a0606..452e178 100644 --- a/app/by_fan_control.c +++ b/app/by_fan_control.c @@ -6,18 +6,21 @@ #define FAN_LL_PWM_PIN TIM8_PWM_MAP1_CH1_B6 // 左升力风扇 #define FAN_RL_PWM_PIN TIM8_PWM_MAP1_CH2_B7 // 右升力风扇 // M4 -#define FAN_RB_PWM_A_PIN TIM10_PWM_MAP3_CH4_D7 // 后 -#define FAN_RB_PWM_B_PIN TIM10_PWM_MAP3_CH2_D3 // you后 +#define FAN_RB_PWM_A_PIN TIM10_PWM_MAP3_CH2_D3 // 后 +#define FAN_RB_PWM_B_PIN TIM10_PWM_MAP3_CH4_D7 // you后 // M1 -#define FAN_LB_PWM_A_PIN TIM4_PWM_MAP1_CH3_D14 // zuo后 -#define FAN_LB_PWM_B_PIN TIM4_PWM_MAP1_CH1_D12 // 后 +#define FAN_LB_PWM_A_PIN TIM4_PWM_MAP1_CH1_D12 // zuo后 +#define FAN_LB_PWM_B_PIN TIM4_PWM_MAP1_CH3_D14// 后 // M3 -#define FAN_RS_PWM_B_PIN TIM10_PWM_MAP3_CH1_D1 // 右侧 -#define FAN_RS_PWM_A_PIN TIM10_PWM_MAP3_CH3_D5 // you侧 -// M2 -#define FAN_LS_PWM_B_PIN TIM4_PWM_MAP1_CH4_D15 // 左侧 -#define FAN_LS_PWM_A_PIN TIM4_PWM_MAP1_CH2_D13 // 左侧 +// #define FAN_RS_PWM_B_PIN TIM10_PWM_MAP3_CH1_D1 // 右侧 +// #define FAN_RS_PWM_A_PIN TIM10_PWM_MAP3_CH3_D5 // you侧 +// // M2 +// #define FAN_LS_PWM_B_PIN TIM4_PWM_MAP1_CH4_D15 // 左侧 +// #define FAN_LS_PWM_A_PIN TIM4_PWM_MAP1_CH2_D13 // 左侧 +// +#define FAN_LS_PWM_PIN TIM1_PWM_MAP0_CH4_A11 +#define FAN_RS_PWM_PIN TIM1_PWM_MAP0_CH1_A8 int32_t pwm_duty_ls_g; int32_t pwm_duty_rs_g; int32_t pwm_duty_lb_g; @@ -48,7 +51,8 @@ void by_pwm_init(void) gpio_init(C8, GPO, 1, GPO_PUSH_PULL); pwm_init(FAN_LL_PWM_PIN, 50, 500); pwm_init(FAN_RL_PWM_PIN, 50, 500); - + pwm_init(FAN_LS_PWM_PIN, 50, 500); + pwm_init(FAN_RS_PWM_PIN, 50, 500); #if FIX_DRIVE == 1 pwm_init(FAN_LS_PWM_A_PIN, 20000, 7000); pwm_init(FAN_LS_PWM_B_PIN, 20000, 7000); @@ -60,24 +64,24 @@ void by_pwm_init(void) pwm_init(FAN_RB_PWM_B_PIN, 20000, 7000); while (1); #elif FIX_DRIVE == 2 - pwm_init(FAN_LS_PWM_A_PIN, 20000, 1000); - pwm_init(FAN_LS_PWM_B_PIN, 20000, 0); - pwm_init(FAN_RS_PWM_A_PIN, 20000, 1000); - pwm_init(FAN_RS_PWM_B_PIN, 20000, 0); - pwm_init(FAN_LB_PWM_A_PIN, 20000,1000); - pwm_init(FAN_LB_PWM_B_PIN, 20000, 0); - pwm_init(FAN_RB_PWM_A_PIN, 20000, 1000); - pwm_init(FAN_RB_PWM_B_PIN, 20000, 0); + // pwm_init(FAN_LS_PWM_A_PIN, 30000, 1000); + // pwm_init(FAN_LS_PWM_B_PIN, 30000, 0); + // pwm_init(FAN_RS_PWM_A_PIN, 30000, 1000); + // pwm_init(FAN_RS_PWM_B_PIN, 30000, 0); + pwm_init(FAN_LB_PWM_A_PIN, 30000, 1000); + pwm_init(FAN_LB_PWM_B_PIN, 30000, 0); + pwm_init(FAN_RB_PWM_A_PIN, 30000, 1000); + pwm_init(FAN_RB_PWM_B_PIN, 30000, 0); while (1); #endif - pwm_init(FAN_LS_PWM_A_PIN, 20000, 0); - pwm_init(FAN_LS_PWM_B_PIN, 20000, 0); - pwm_init(FAN_RS_PWM_A_PIN, 20000, 0); - pwm_init(FAN_RS_PWM_B_PIN, 20000, 0); - pwm_init(FAN_LB_PWM_A_PIN, 20000, 0); - pwm_init(FAN_LB_PWM_B_PIN, 20000, 0); - pwm_init(FAN_RB_PWM_A_PIN, 20000, 0); - pwm_init(FAN_RB_PWM_B_PIN, 20000, 0); + // pwm_init(FAN_LS_PWM_A_PIN, 40000, 0); + // pwm_init(FAN_LS_PWM_B_PIN, 40000, 0); + // pwm_init(FAN_RS_PWM_A_PIN, 40000, 0); + // pwm_init(FAN_RS_PWM_B_PIN, 40000, 0); + pwm_init(FAN_LB_PWM_A_PIN, 30000, 0); + pwm_init(FAN_LB_PWM_B_PIN, 30000, 0); + pwm_init(FAN_RB_PWM_A_PIN, 30000, 0); + pwm_init(FAN_RB_PWM_B_PIN, 30000, 0); } /** @@ -104,31 +108,34 @@ void by_pwm_update_duty(uint32_t update_pwm_duty1, uint32_t update_pwm_duty2) */ void by_pwm_power_duty(int32_t bpwm_duty_ls, int32_t bpwm_duty_rs, int32_t bpwm_duty_lb, int32_t bpwm_duty_rb) { - bpwm_duty_ls = clip_s32(bpwm_duty_ls, -0, 7000); - bpwm_duty_rs = clip_s32(bpwm_duty_rs, -0, 7000); - bpwm_duty_lb = clip_s32(bpwm_duty_lb, -0, 7000); - bpwm_duty_rb = clip_s32(bpwm_duty_rb, -0, 7000); - + bpwm_duty_ls = clip_s32(bpwm_duty_ls, 500, 1000); + bpwm_duty_rs = clip_s32(bpwm_duty_rs, 500, 1000); + // if(1000==bpwm_duty_ls)bpwm_duty_rs=600; + // if(1000==bpwm_duty_rs)bpwm_duty_ls=600; + bpwm_duty_lb = clip_s32(bpwm_duty_lb, 0, 7000); + bpwm_duty_rb = clip_s32(bpwm_duty_rb, 0, 7000); + pwm_set_duty(FAN_LS_PWM_PIN, bpwm_duty_ls); + pwm_set_duty(FAN_RS_PWM_PIN, bpwm_duty_rs); // pwm_duty_ls_g = pwm_duty_ls; // pwm_duty_rs_g = pwm_duty_rs; // pwm_duty_lb_g = pwm_duty_lb; // pwm_duty_rb_g = pwm_duty_rb; - if (bpwm_duty_ls >= 0) { - pwm_set_duty(FAN_LS_PWM_A_PIN, bpwm_duty_ls); - pwm_set_duty(FAN_LS_PWM_B_PIN, 0); - } else { - pwm_set_duty(FAN_LS_PWM_A_PIN, 0); - pwm_set_duty(FAN_LS_PWM_B_PIN, -1 * pwm_duty_ls); - } + // if (bpwm_duty_ls >= 0) { - if (bpwm_duty_rs >= 0) { - pwm_set_duty(FAN_RS_PWM_A_PIN, bpwm_duty_rs); - pwm_set_duty(FAN_RS_PWM_B_PIN, 0); - } else { - pwm_set_duty(FAN_RS_PWM_A_PIN, 0); - pwm_set_duty(FAN_RS_PWM_B_PIN, -1 * pwm_duty_rs); - } + // pwm_set_duty(FAN_LS_PWM_B_PIN, 0); + // } else { + // pwm_set_duty(FAN_LS_PWM_A_PIN, 0); + // pwm_set_duty(FAN_LS_PWM_B_PIN, -1 * pwm_duty_ls); + // } + + // if (bpwm_duty_rs >= 0) { + + // pwm_set_duty(FAN_RS_PWM_B_PIN, 0); + // } else { + // pwm_set_duty(FAN_RS_PWM_A_PIN, 0); + // pwm_set_duty(FAN_RS_PWM_B_PIN, -1 * pwm_duty_rs); + // } if (bpwm_duty_lb >= 0) { pwm_set_duty(FAN_LB_PWM_A_PIN, bpwm_duty_lb); diff --git a/app/isr.c b/app/isr.c index 17129ed..336fb15 100644 --- a/app/isr.c +++ b/app/isr.c @@ -273,8 +273,7 @@ void EXTI15_10_IRQHandler(void) void TIM1_UP_IRQHandler(void) { if (TIM_GetITStatus(TIM1, TIM_IT_Update) != RESET) { - by_buzzer_run(); - sport_motion(); + TIM_ClearITPendingBit(TIM1, TIM_IT_Update); } } @@ -310,7 +309,8 @@ void TIM5_IRQHandler(void) void TIM6_IRQHandler(void) { if (TIM_GetITStatus(TIM6, TIM_IT_Update) != RESET) { - // ICM_getEulerianAngles(); + by_buzzer_run(); + sport_motion(); TIM_ClearITPendingBit(TIM6, TIM_IT_Update); } } diff --git a/app/jj_motion.c b/app/jj_motion.c index 6cd9030..cccfb35 100644 --- a/app/jj_motion.c +++ b/app/jj_motion.c @@ -81,18 +81,19 @@ float in_speed; float out_speed; float set_speed; -float set_speed0 = 900.0f; -float set_speed1 = 1200.0f; -float set_speed2 = 700.f; -float set_speed3 = 900.f; -float set_speed4 = 500.f; -int cnt1 = 0; -int cnt2 = 0; -int cnt3 = 0; -int cnt4 = 0; -int cnt5 = 0; -int cnt6 = 0; - +float set_speed0 = 900.0f; +float set_speed1 = 1200.0f; +float set_speed2 = 700.f; +float set_speed3 = 900.f; +float set_speed4 = 500.f; +int cnt1 = 0; +int cnt2 = 0; +int cnt3 = 0; +int cnt4 = 0; +int cnt5 = 0; +int cnt6 = 0; +int cnt7 = 0; +int cnt8 = 0; uint8_t cnt3_flag = 0; uint8_t in_state = 0; uint8_t in_stop = 0; @@ -102,7 +103,7 @@ int32_t pwm_duty_ls; int32_t pwm_duty_rs; int32_t pwm_duty_lb; int32_t pwm_duty_rb; - +int stop_have = 0; float qd_down = 0.0f; float last_gy = 0.0f; /* @@ -141,13 +142,20 @@ void sport_motion() imu660ra_get_acc(); get_vol(); in_gyro = imu660ra_gyro_z; - if (imu660ra_acc_z <= 800) { + // 抖动停车 + if (imu660ra_acc_z <= 800) { + cnt7++; + + } else { + cnt7 = 0; + } + if (cnt7 >= 50) { bt_fly_flag = bt_run_flag = 0; bt_printf("ting"); } // 斑马线停车 - if (1 == in_stop) { + if (1 == in_stop && stop_have == 1) { stop_flag = 1; } if (stop_flag == 1) { @@ -161,46 +169,46 @@ void sport_motion() cnt1++; cnt2++; cnt5++; + cnt8++; + if (cnt8 >= 10000) { + stop_have = 1; + cnt8=0; + } // pid参数切换 if ((last_state != in_state) && (in_state == 0 || in_state == 2)) { // 直道 cnt3_flag = 1; cnt3 = 0; - bt_printf("to 直道"); set_speed = set_speed1; PID_SetTunings(&far_angle_pid, an_Kp1, an_Ki1, an_Kd1); PID_SetTunings(&far_gyro_pid, gy_Kp1, gy_Ki1, gy_Kd1); - PID_SetTunings(&pos_pid, po_Kp1, po_Ki1, po_Kd1); } if ((last_state != in_state) && in_state == 1) { // 弯道 bt_printf("to 入弯"); set_speed = set_speed0; cnt3_flag = 1; - PID_SetTunings(&far_angle_pid, an_Kp0, an_Ki0, an_Kd0); PID_SetTunings(&far_gyro_pid, gy_Kp0, gy_Ki0, gy_Kd0); - PID_SetTunings(&pos_pid, cn_Kp1, cn_Ki1, cn_Kd1); } - if ((last_state != in_state) && in_state == 3) { // 圆环 + if ((last_state != in_state) && (in_state == 3 || in_state == 4)) { // 圆环 bt_printf("to 圆环"); - set_speed = set_speed2; - + if (in_state == 3) + set_speed = set_speed2; + else + set_speed = set_speed3; cnt3_flag = 1; PID_SetTunings(&far_angle_pid, yu_Kp0, yu_Ki0, yu_Kd0); PID_SetTunings(&far_gyro_pid, ygy_Kp0, ygy_Ki0, ygy_Kd0); - PID_SetTunings(&pos_pid, cn_Kp1, cn_Ki1, cn_Kd1); } - if ((last_state != in_state) && in_state == 5) { // 圆环 + if ((last_state != in_state) && in_state == 5) { // bt_printf("to 障碍"); set_speed = set_speed4; - cnt3_flag = 1; PID_SetTunings(&far_angle_pid, za_Kp, za_Ki, za_Kd); PID_SetTunings(&far_gyro_pid, zg_Kp, zg_Ki, zg_Kd); - PID_SetTunings(&pos_pid, zp_Kp, zp_Ki, zp_Kd); } last_state = in_state; @@ -220,49 +228,50 @@ void sport_motion() PID_Compute(&speed_pid); cnt5 = 0; } + // 并级pid，限幅 + pwm_duty_ls = (int32_t)myclip_f(300 - out_pos, 100.0f, 500.f); + pwm_duty_rs = (int32_t)myclip_f(300 + out_pos, 100.0f, 500.f); + pwm_duty_lb = (int32_t)myclip_f(out_speed + out_gyro, 0.0f, 5000.f); + pwm_duty_rb = (int32_t)myclip_f(out_speed - out_gyro, 0.0f, 5000.f); - pwm_duty_ls = (int32_t)myclip_f(-out_pos, 0.0f, 5000.f); - pwm_duty_rs = (int32_t)myclip_f(out_pos, 0.0f, 5000.f); - pwm_duty_lb = (int32_t)myclip_f(out_speed + out_gyro, 0.0f, 7000.f); - pwm_duty_rb = (int32_t)myclip_f(out_speed - out_gyro, 0.0f, 7000.f); - - by_pwm_power_duty(pwm_duty_ls, pwm_duty_rs, pwm_duty_lb, pwm_duty_rb); + by_pwm_power_duty(500 + pwm_duty_ls, 500 + pwm_duty_rs, pwm_duty_lb, pwm_duty_rb); } else { by_pwm_power_duty(0, 0, 0, 0); } /* 升力风扇设置 */ if (bt_fly_flag == 0) { - by_pwm_update_duty(0 + 500, 0 + 500); + by_pwm_update_duty(500, 500); } else { if ((in_state == 1 || in_state == 3 || in_state == 5) && cnt3_flag == 1) { cnt3++; + if (in_state == 3) { - if (cnt3 >= 250) // 200ms + if (cnt3 >= 100) // 200ms { bt_printf("to 环内"); cnt3_flag = 2; cnt3 = 0; } - if (in_speed > set_speed - 100) { - qd_down = 5 * fabs(in_pos) + 75; - } else if (in_speed > set_speed - 200) { - qd_down = 2.5 * fabs(in_pos) + 30; + if (in_speed > set_speed) { + qd_down = 50; + } else if (in_speed > set_speed - 100) { + qd_down = 20; } else { qd_down = 0; } } else if (in_state == 1) { - if (cnt3 >= 500) // 200ms + if (cnt3 >= 300) // 200ms { bt_printf("to 弯道"); cnt3_flag = 2; cnt3 = 0; } - if (in_speed > set_speed - 100) { - qd_down = 5 * fabs(in_pos) + 50; - } else if (in_speed > set_speed - 200) { - qd_down = 2.5 * fabs(in_pos) + 10; + if (in_speed > set_speed) { + qd_down = 4 * fabs(in_pos) + 20; + } else if (in_speed > set_speed - 100) { + qd_down = 2 * fabs(in_pos) + 10; } else { qd_down = 0; } @@ -284,17 +293,15 @@ void sport_motion() by_pwm_update_duty(bt_fly + 500 - qd_down, bt_fly + 500 - qd_down); } else { - if (in_state == 1) { - qd_down = 15; - } else { - qd_down = 0; - } - if (in_state == 4) { - by_pwm_update_duty(bt_fly + 500 - qd_down, bt_fly + 500 - qd_down); - set_speed = set_speed3; - } else { - by_pwm_update_duty(bt_fly + 500 - qd_down, bt_fly + 500 - qd_down); + if (in_state == 1 ) { + qd_down = 40; + } else if(in_state == 3){ + qd_down = 70; + }else{ + qd_down=0; } + + by_pwm_update_duty(bt_fly + 500 - qd_down, bt_fly + 500 - qd_down); } } } @@ -309,22 +316,22 @@ void sport_pid_init() PID(&far_angle_pid, &in_angle, &out_angle, &set_angle, an_Kp1, an_Ki1, an_Kd1, _PID_P_ON_E, _PID_CD_REVERSE); PID_SetMode(&far_angle_pid, _PID_MODE_AUTOMATIC); PID_SetSampleTime(&far_angle_pid, 20); - PID_SetOutputLimits(&far_angle_pid, -4000.0f, 4000.0f); + PID_SetOutputLimits(&far_angle_pid, -3000.0f, 3000.0f); // 侧面位置环 PID(&pos_pid, &in_angle, &out_pos, &set_pos, po_Kp1, po_Ki1, po_Kd1, _PID_P_ON_E, _PID_CD_REVERSE); PID_SetMode(&pos_pid, _PID_MODE_AUTOMATIC); PID_SetSampleTime(&pos_pid, 20); - PID_SetOutputLimits(&pos_pid, -5000.0f, 5000.0f); + PID_SetOutputLimits(&pos_pid, -200.0f, 200.0f); /* 角速度控制 */ PID(&far_gyro_pid, &in_gyro, &out_gyro, &out_angle, gy_Kp1, gy_Ki1, gy_Kd1, _PID_P_ON_E, _PID_CD_REVERSE); // m是增量 PID_SetMode(&far_gyro_pid, _PID_MODE_AUTOMATIC); PID_SetSampleTime(&far_gyro_pid, 20); - PID_SetOutputLimits(&far_gyro_pid, -7000.0f, 7000.0f); + PID_SetOutputLimits(&far_gyro_pid, -5000.0f, 5000.0f); /* 速度控制 */ PID(&speed_pid, &in_speed, &out_speed, &set_speed, sp_Kp, sp_Ki, sp_Kd, _PID_P_ON_M, _PID_CD_DIRECT); PID_SetMode(&speed_pid, _PID_MODE_AUTOMATIC); PID_SetSampleTime(&speed_pid, 20); - PID_SetOutputLimits(&speed_pid, -0.0f, 7000.0f); + PID_SetOutputLimits(&speed_pid, -0.0f, 4500.0f); } diff --git a/app/main.c b/app/main.c index b84f829..426d609 100644 --- a/app/main.c +++ b/app/main.c @@ -46,20 +46,19 @@ int main(void) encoder_quad_init(TIM3_ENCOEDER, TIM3_ENCOEDER_MAP3_CH1_C6, TIM3_ENCOEDER_MAP3_CH2_C7); ips200_init(IPS200_TYPE_SPI); - while (imu660ra_init()) - ; + while (imu660ra_init()); jj_param_eeprom_init(); jj_bt_init(); vol_init(); by_rb_init(); - by_pwm_init(); by_buzzer_init(); by_frame_init(); + by_pwm_init(); Page_Init(); sport_pid_init(); - pit_ms_init(TIM1_PIT, 1); // 运动解算，编码器 + pit_ms_init(TIM6_PIT, 1); // 运动解算，编码器 bt_printf("ok\r\n"); @@ -68,7 +67,7 @@ int main(void) Page_Run(); by_frame_parse(&test_data[0].u32); jj_bt_run(); - in_pos =1000.f* test_data[1].f32; + in_pos = 1000.f * test_data[1].f32; in_angle = test_data[0].f32; in_state = test_data[2].u8[0]; in_stop = test_data[2].u8[1];