btl143/QD4C-firmware
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井明江
2024-06-19 20:55:36 +08:00
parent ad2ba36b54
commit 66162b9094
4 changed files with 44 additions and 39 deletions
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36
app/jj_motion.c
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@@ -164,28 +164,28 @@ void sport_motion()
}
if (cnt2 >= 10) {
in_speed = sport_get_speed();
cnt2 = 0;
}
if (cnt5 >= 20) {
PID_Compute(&speed_pid);
PID_Compute(&far_angle_pid);
PID_Compute(&str_angle_pid);
PID_Compute(&tur_cal_pid);
cnt2 = 0;
}
if (cnt5 >= 50) {
cnt5 = 0;
}
// 输出限幅
if (in_state == 0 || in_state == 2) {
pwm_duty_ls = (int32_t)myclip_f(-out_pos, 0.0f, 6000.f);
pwm_duty_rs = (int32_t)myclip_f(out_pos, 0.0f, 6000.f);
pwm_duty_ls = (int32_t)myclip_f(-out_pos, 0.0f, 6500.f);
pwm_duty_rs = (int32_t)myclip_f(out_pos, 0.0f, 6500.f);
pwm_duty_lb = (int32_t)myclip_f(out_speed + out_gyro, 0.0f, 6000.f);
pwm_duty_rb = (int32_t)myclip_f(out_speed - out_gyro, 0.0f, 6000.f);
} else if (in_state == 1 || in_state == 3) {
pwm_duty_ls = (int32_t)myclip_f(-out_cal, -5000.0f, 6000.f);
pwm_duty_rs = (int32_t)myclip_f(out_cal, -5000.0f, 6000.f);
pwm_duty_lb = (int32_t)myclip_f(out_speed + out_gyro, -6000.0f, 6000.f);
pwm_duty_rb = (int32_t)myclip_f(out_speed - out_gyro, -6000.0f, 6000.f);
pwm_duty_ls = (int32_t)myclip_f(-out_cal, 0.0f, 8000.f);
pwm_duty_rs = (int32_t)myclip_f(out_cal, 0.0f, 8000.f);
pwm_duty_lb = (int32_t)myclip_f(out_speed + out_gyro, 0.0f, 6000.f);
pwm_duty_rb = (int32_t)myclip_f(out_speed - out_gyro, 0.0f, 6000.f);
}
by_pwm_power_duty(pwm_duty_ls, pwm_duty_rs, pwm_duty_lb, pwm_duty_rb);
@@ -197,7 +197,7 @@ void sport_motion()
by_pwm_update_duty(0 + 500, 0 + 500);
} else {
if ((in_state == 1 || in_state == 3) && cnt3_flag == 1) {
float tt = 3 * fabs(in_pos);
float tt = 3 * fabs(in_pos);
by_pwm_update_duty(bt_fly + 500 - tt, bt_fly + 500 - tt);
cnt3++;
if (in_state == 3) {
@@ -230,27 +230,27 @@ 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, 10);
PID_SetSampleTime(&far_angle_pid, 20);
PID_SetOutputLimits(&far_angle_pid, -4000.0f, 4000.0f);
// 直道侧面位置环
PID(&str_angle_pid, &in_angle, &out_pos, &set_pos, po_Kp1, po_Ki1, po_Kd1, _PID_P_ON_E, _PID_CD_REVERSE);
PID_SetMode(&str_angle_pid, _PID_MODE_AUTOMATIC);
PID_SetSampleTime(&str_angle_pid, 10);
PID_SetSampleTime(&str_angle_pid, 20);
PID_SetOutputLimits(&str_angle_pid, -6000.0f, 6000.0f);
// 弯道侧面曲率环
PID(&tur_cal_pid, &in_pos, &out_cal, &set_pos, cn_Kp1, cn_Ki1, cn_Kd1, _PID_P_ON_E, _PID_CD_DIRECT);
PID(&tur_cal_pid, &in_angle, &out_cal, &set_pos, cn_Kp1, cn_Ki1, cn_Kd1, _PID_P_ON_E, _PID_CD_REVERSE);
PID_SetMode(&tur_cal_pid, _PID_MODE_AUTOMATIC);
PID_SetSampleTime(&tur_cal_pid, 10);
PID_SetOutputLimits(&tur_cal_pid, -6000.0f, 6000.0f);
PID_SetSampleTime(&tur_cal_pid, 20);
PID_SetOutputLimits(&tur_cal_pid, -8000.0f, 8000.0f);
/* 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, 10);
PID_SetSampleTime(&far_gyro_pid, 20);
PID_SetOutputLimits(&far_gyro_pid, -6000.0f, 6000.0f);
/* 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, 10);
PID_SetSampleTime(&speed_pid, 20);
PID_SetOutputLimits(&speed_pid, -2000.0f, 5000.0f);
}