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封车版本，应该不会再改了

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井明江
2024-07-13 19:11:12 +08:00
parent 5a0c3ef803
commit 7b6b73d196
3 changed files with 44 additions and 39 deletions
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80
app/jj_motion.c
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@@ -27,19 +27,6 @@ float po_Kp1 = 13.0f;
float po_Ki1 = 0.0f;
float po_Kd1 = 0.0f;
////////////////////////////////////
// 避障后面角度环
float za_Kp = 50.f;
float za_Ki = 0;
float za_Kd = 0;
float zg_Kp = 3.f;
float zg_Ki = 0;
float zg_Kd = 0;
float zp_Kp = 30.f;
float zp_Ki = 0;
float zp_Kd = 0;
///////////////////////////////////////
// 弯道后面风扇角度环
float an_Kp0 = 60.0f;
float an_Ki0 = 0.0f;
@@ -55,7 +42,19 @@ float cn_Kp1 = 25.0f;
float cn_Ki1 = 0.f;
float cn_Kd1 = 0.0f;
////////////////////////////////////////
// 避障后面角度环
float za_Kp = 50.f;
float za_Ki = 0;
float za_Kd = 0;
float zg_Kp = 3.f;
float zg_Ki = 0;
float zg_Kd = 0;
float zp_Kp = 30.f;
float zp_Ki = 0;
float zp_Kd = 0;
///////////////////////////////////////
// 圆环后面风扇角度环
float yu_Kp0 = 60.0f;
float yu_Ki0 = 0.0f;
@@ -64,6 +63,8 @@ float yu_Kd0 = 0.0f;
float ygy_Kp0 = 8.40f;
float ygy_Ki0 = 0.0f;
float ygy_Kd0 = 0.0f;
// 圆环侧面角度环
float yuc_Kp;
// 速度环
float sp_Kp = 2.0f;
float sp_Ki = 4.f;
@@ -109,8 +110,10 @@ 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;
float qd_down = 0.0f;
float last_gy = 0.0f;
int32_t last_lb = 0;
int32_t last_rb = 0;
/*
0:无状态
1:弯道
@@ -147,10 +150,10 @@ void sport_motion()
get_vol();
in_gyro = imu660ra_gyro_z;
if (fabs(out_gyro) < 900) {
PID_SetOutputLimits(&speed_pid, -0.0f, 3000.0f);
if (fabs(out_gyro) < 700) {
PID_SetOutputLimits(&speed_pid, -0.0f, 2500.0f);
} else {
PID_SetOutputLimits(&speed_pid, -0.0f, 2100.0f);
PID_SetOutputLimits(&speed_pid, -0.0f, 1800.0f);
}
////////////////////////////////////////停车任务///////////////////////////////////////////////
// 抖动停车
@@ -178,11 +181,10 @@ void sport_motion()
}
// 出界停车
if (2 == in_stop) {
bt_printf("over");
bt_printf("out");
bt_fly_flag = bt_run_flag = 0;
}
///////////////////////////////////////////////////////////////////////////////////////
/* 动力风扇设置 */
//////////////////////////////////////////////// 动力风扇设置 */////////////////////////////////////////////////////////
if (1 == bt_run_flag) {
cnt1++;
cnt2++;
@@ -219,7 +221,7 @@ 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, cn_Kp1, cn_Ki1, cn_Kd1);
PID_SetTunings(&pos_pid, yuc_Kp, cn_Ki1, cn_Kd1);
}
if ((last_state != in_state) && in_state == 5) { //
bt_printf("to 障碍");
@@ -249,28 +251,30 @@ void sport_motion()
// 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_lb = (int32_t)myclip_f(out_speed + out_gyro, 300.0f, 3000.f);
pwm_duty_rb = (int32_t)myclip_f(out_speed - out_gyro, 300.0f, 3000.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) {
pwm_duty_lb = (pwm_duty_lb + last_lb) / 2;
}
if (pwm_duty_rb - last_rb > 1000) {
pwm_duty_rb = (pwm_duty_rb + last_rb) / 2;
}
by_pwm_power_duty(500 + pwm_duty_ls, 500 + pwm_duty_rs, 3600 + pwm_duty_lb, 3600 + pwm_duty_rb);
last_rb = pwm_duty_rb;
last_lb = pwm_duty_lb;
by_pwm_power_duty(500 + pwm_duty_ls, 500 + pwm_duty_rs, 3000 + pwm_duty_lb, 3000 + pwm_duty_rb);
} else {
by_pwm_power_duty(0, 0, 0, 0);
}
/* 升力风扇设置 */
///////////////////////////////////////////////////* 升力风扇设置 */ /////////////////////////////////////////////////////////////////////////////////////////////////
if (bt_fly_flag == 0) {
by_pwm_update_duty(500, 500);
} else {
if (in_state == 1) {
qd_down = 20;
} else if (in_state == 4) {
qd_down = 20;
}
by_pwm_update_duty(bt_fly + 500 - qd_down, bt_fly + 500 - qd_down);
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);
}
}
@@ -284,7 +288,7 @@ 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, -3000.0f, 3000.0f);
PID_SetOutputLimits(&far_angle_pid, -4000.0f, 4000.0f);
// 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);
@@ -301,5 +305,5 @@ void sport_pid_init()
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, 2100.0f);
PID_SetOutputLimits(&speed_pid, -0.0f, 1800.0f);
}