From 53d06467d646a835f41b5679a8a875a58d467d79 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E4=BA=95=E6=98=8E=E6=B1=9F?= <246462502@qq.com>
Date: Fri, 9 Aug 2024 17:00:24 +0800
Subject: [PATCH] =?UTF-8?q?=E6=9B=B4=E6=94=B9=E9=99=90=E5=B9=85?=
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---
 app/by_fan_control.c   |  4 +--
 app/jj_motion.c        | 74 +++++++++++++++++++++++-------------------
 app/jj_motion.h        |  1 +
 app/jj_param.c         |  2 +-
 app/page/page_dparam.c |  2 ++
 5 files changed, 47 insertions(+), 36 deletions(-)

diff --git a/app/by_fan_control.c b/app/by_fan_control.c
index d9c9bd6..1734a12 100644
--- a/app/by_fan_control.c
+++ b/app/by_fan_control.c
@@ -70,8 +70,8 @@ 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, 500, 1000);
-    bpwm_duty_rs = clip_s32(bpwm_duty_rs, 500, 1000);
+    bpwm_duty_ls = clip_s32(bpwm_duty_ls, 500, 980);
+    bpwm_duty_rs = clip_s32(bpwm_duty_rs, 500, 980);
     bpwm_duty_lb = clip_s32(bpwm_duty_lb, 2500, 6000);
     bpwm_duty_rb = clip_s32(bpwm_duty_rb, 2500, 6000);
     pwm_set_duty(FAN_LS_PWM_PIN, bpwm_duty_ls);
diff --git a/app/jj_motion.c b/app/jj_motion.c
index c7a6d71..33c574f 100644
--- a/app/jj_motion.c
+++ b/app/jj_motion.c
@@ -64,7 +64,7 @@ float ygy_Kp0 = 2.20f;
 float ygy_Ki0 = 0.0f;
 float ygy_Kd0 = 0.0f;
 // 圆环侧面角度环
-float yuc_Kp=4.4f;
+float yuc_Kp = 4.4f;
 // 速度环
 float sp_Kp = 3.40f;
 float sp_Ki = 3.6f;
@@ -81,7 +81,7 @@ float in_pos;
 float out_pos;
 float set_pos = 0.0f;
 // float set_gyro = 0.0f;
-
+float rate_K = 0;
 float in_speed;
 float out_speed;
 float last_angle;
@@ -100,6 +100,7 @@ int cnt6           = 0;
 int cnt7           = 0;
 int cnt8           = 0;
 int cnt9           = 0;
+int cnt10          = 0;
 int if_start       = 0;
 float shock_stop   = 0;
 uint8_t in_state   = 0;
@@ -110,10 +111,11 @@ int32_t pwm_duty_ls;
 int32_t pwm_duty_rs;
 int32_t pwm_duty_lb;
 int32_t pwm_duty_rb;
-float qd_down   = 0.0f;
-float last_gy   = 0.0f;
-int32_t last_lb = 0;
-int32_t last_rb = 0;
+float qd_down    = 0.0f;
+float last_gy    = 0.0f;
+int32_t stop_cnt = 0;
+int32_t last_lb  = 0;
+int32_t last_rb  = 0;
 /*
 0:无状态
 1:弯道
@@ -150,11 +152,6 @@ void sport_motion()
     get_vol();
     in_gyro = imu660ra_gyro_z;
 
-    if (fabs(out_gyro) < 700) {
-        PID_SetOutputLimits(&speed_pid, -0.0f, 2500.0f);
-    } else {
-        PID_SetOutputLimits(&speed_pid, -0.0f, 1800.0f);
-    }
     ////////////////////////////////////////停车任务///////////////////////////////////////////////
     // 抖动停车
     if (imu660ra_acc_z <= 800) {
@@ -162,12 +159,12 @@ void sport_motion()
     } else {
         cnt7 = 0;
     }
-    if (cnt7 >= 50 && ((uint32_t)shock_stop ==1||(uint32_t)shock_stop == 2)) {
+    if (cnt7 >= 50 && ((uint32_t)shock_stop == 1 || (uint32_t)shock_stop == 2)) {
         bt_fly_flag = bt_run_flag = 0;
         bt_printf("up");
     }
     // 異常值停车
-    if (fabs(in_angle - last_angle) > 45.f&&((uint32_t)shock_stop == 1||(uint32_t)shock_stop == 3)) {
+    if (fabs(in_angle - last_angle) > 45.f && ((uint32_t)shock_stop == 1 || (uint32_t)shock_stop == 3)) {
         bt_fly_flag = bt_run_flag = 0;
         bt_printf("bug");
     }
@@ -181,8 +178,14 @@ void sport_motion()
     }
     // 出界停车
     if (2 == in_stop) {
-        bt_printf("out");
-        bt_fly_flag = bt_run_flag = 0;
+        stop_cnt++;
+        if (stop_cnt >= 5) {
+            bt_printf("out");
+            stop_cnt    = 0;
+            bt_fly_flag = bt_run_flag = 0;
+        }
+    } else {
+        stop_cnt = 0;
     }
     //////////////////////////////////////////////// 动力风扇设置 */////////////////////////////////////////////////////////
     if (1 == bt_run_flag) {
@@ -191,7 +194,7 @@ void sport_motion()
         cnt5++;
         if (if_start == 0) {
             cnt8++;
-            if (cnt8 >= 10000) {
+            if (cnt8 >= 5000) {
                 if_start = 1;
             }
         }
@@ -200,19 +203,18 @@ void sport_motion()
 
             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
+        } else if ((last_state != in_state) && in_state == 1) { // 弯道
             bt_printf("to 入弯");
-            set_speed = set_speed0;
+            set_speed = set_speed0 - fabs(rate_K * myclip_f(in_pos, -50.f, 50.f));
 
             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 || in_state == 4)) { // 圆环
+        } else if ((last_state != in_state) && (in_state == 3 || in_state == 4)) { // 圆环
             bt_printf("to 圆环");
             if (in_state == 3)
                 set_speed = set_speed2;
@@ -222,8 +224,7 @@ void sport_motion()
             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, yuc_Kp, cn_Ki1, cn_Kd1);
-        }
-        if ((last_state != in_state) && in_state == 5) { //
+        } else if ((last_state != in_state) && in_state == 5) { //
             bt_printf("to 障碍");
             set_speed = set_speed4;
 
@@ -231,6 +232,11 @@ void sport_motion()
             PID_SetTunings(&far_gyro_pid, zg_Kp, zg_Ki, zg_Kd);
             PID_SetTunings(&pos_pid, zp_Kp, zp_Ki, zp_Kd);
         }
+
+        if (in_state == 1) {
+            set_speed = set_speed0 - fabs(rate_K * myclip_f(in_pos, -50.f, 50.f));
+        }
+
         last_state = in_state;
         // pid计算
         if (cnt1 >= 2) {
@@ -240,17 +246,17 @@ void sport_motion()
         if (cnt2 >= 10) {
             in_speed = sport_get_speed();
             cnt2     = 0;
+            PID_Compute(&far_angle_pid);
         }
         if (cnt5 >= 20) {
 
-            PID_Compute(&far_angle_pid);
             PID_Compute(&pos_pid);
             PID_Compute(&speed_pid);
             cnt5 = 0;
         }
         // 并级pid，限幅
-        pwm_duty_ls = (int32_t)myclip_f(320 - out_pos, 140.0f, 500.f);
-        pwm_duty_rs = (int32_t)myclip_f(320 + out_pos, 140.0f, 500.f);
+        pwm_duty_ls = (int32_t)myclip_f(180 - out_pos, 100.0f, 500.f);
+        pwm_duty_rs = (int32_t)myclip_f(180 + out_pos, 100.0f, 500.f);
         pwm_duty_lb = (int32_t)myclip_f(out_speed + out_gyro, 1000.0f, 3000.f);
         pwm_duty_rb = (int32_t)myclip_f(out_speed - out_gyro, 1000.0f, 3000.f);
         if (pwm_duty_lb - last_lb > 1000) {
@@ -273,8 +279,10 @@ void sport_motion()
     } else {
         by_pwm_update_duty(bt_fly + 500, bt_fly + 500);
         // 防止起步拉满
-        if (bt_run_flag == 0)
-            by_pwm_power_duty(0, 0, 4000, 4000);
+        if (bt_run_flag == 0) {
+
+            by_pwm_power_duty(680, 680, 4000, 4000);
+        }
     }
 }
 
@@ -287,23 +295,23 @@ void sport_pid_init()
     /* 角度控制 */
     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_SetSampleTime(&far_angle_pid, 10);
+    PID_SetOutputLimits(&far_angle_pid, -6000.0f, 6000.0f);
     // 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, -180.0f, 180.0f);
+    PID_SetOutputLimits(&pos_pid, -320.0f, 320.0f);
 
     /* 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, -1500.0f, 1500.0f);
+    PID_SetOutputLimits(&far_gyro_pid, -2100.0f, 2100.0f);
 
     /* 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, 1800.0f);
+    PID_SetOutputLimits(&speed_pid, -0.0f, 2500.0f);
 }
diff --git a/app/jj_motion.h b/app/jj_motion.h
index b7b69ac..a3bb6bb 100644
--- a/app/jj_motion.h
+++ b/app/jj_motion.h
@@ -60,6 +60,7 @@ extern float set_speed4;
 extern float shock_stop;
 extern float last_angle;
 extern float yuc_Kp;
+extern float rate_K;
 extern int32_t pwm_duty_ls;
 extern int32_t pwm_duty_rs;
 extern int32_t pwm_duty_lb;
diff --git a/app/jj_param.c b/app/jj_param.c
index 0d1f4e4..746cc67 100644
--- a/app/jj_param.c
+++ b/app/jj_param.c
@@ -28,7 +28,7 @@ void jj_param_eeprom_init(void)
 
     PARAM_REG(can_Kp1, &cn_Kp1, EFLOAT, 1, "cn_P1:"); // 注冊
     PARAM_REG(can_Ki1, &yuc_Kp, EFLOAT, 1, "yu_P1:"); // 注冊
-    PARAM_REG(can_Kd1, &cn_Kd1, EFLOAT, 1, "cn_D1:");
+    PARAM_REG(can_Kd1, &rate_K, EFLOAT, 1, "ra_K:");
 
     PARAM_REG(fly_pwm, &bt_fly, EFLOAT, 1, "fly:");
 
diff --git a/app/page/page_dparam.c b/app/page/page_dparam.c
index 0539a25..d47b182 100644
--- a/app/page/page_dparam.c
+++ b/app/page/page_dparam.c
@@ -62,6 +62,8 @@ static void Loop()
     ips200_show_float(80, 160, out_pos, 4, 1);
     ips200_show_string(0, 180, "vol");
     ips200_show_float(80, 180, (float)now_vol, 4,2);
+      ips200_show_string(0, 200, "setsp");
+    ips200_show_float(80, 200, set_speed, 4,2);
 
     ips200_show_string(180, 0, "ls");
     ips200_show_float(220, 0, pwm_duty_ls, 4, 1);