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井明江
2024-07-05 03:29:56 +08:00
parent e842452ec6
commit 34aae6602a
4 changed files with 123 additions and 110 deletions
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121
app/jj_motion.c
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@@ -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);
}