新桨叶完赛

2024-07-01 19:07:11 +08:00
parent 50b5cd3f2d
commit 8b5799302b
6 changed files with 41 additions and 34 deletions
--- a/app/by_fan_control.c
+++ b/app/by_fan_control.c
@@ -6,11 +6,11 @@
 #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_CH2_D3 // 左后
-#define FAN_RB_PWM_B_PIN TIM10_PWM_MAP3_CH4_D7 // 左后
+#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
 // M1
-#define FAN_LB_PWM_A_PIN TIM4_PWM_MAP1_CH1_D12 // 右后
-#define FAN_LB_PWM_B_PIN TIM4_PWM_MAP1_CH3_D14 // 右后
+#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
 // 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
@@ -65,9 +65,9 @@ void by_pwm_init(void)
    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_A_PIN, 20000,1000);
    pwm_init(FAN_LB_PWM_B_PIN, 20000, 0);
-    pwm_init(FAN_RB_PWM_A_PIN, 20000, 0);
+    pwm_init(FAN_RB_PWM_A_PIN, 20000, 1000);
    pwm_init(FAN_RB_PWM_B_PIN, 20000, 0);
    while (1);
 #endif
--- a/app/jj_motion.c
+++ b/app/jj_motion.c
@@ -18,23 +18,23 @@ float ci_Ki0 = 0;
 float ci_Kd0 = 0;
 float out_ci;
 // 弯道后面风扇角度环
-float an_Kp0 = 45.0f;
+float an_Kp0 = 54.0f;
 float an_Ki0 = 0.0f;
 float an_Kd0 = 0.0f;
 // 直道后面风扇角度环
-float an_Kp1 = 35.0f;
+float an_Kp1 = 45.0f;
 float an_Ki1 = 0.0f;
 float an_Kd1 = 0.0f;
 // 圆环后面风扇角度环
-float yu_Kp0 = 51.0f;
+float yu_Kp0 = 53.0f;
 float yu_Ki0 = 0.0f;
 float yu_Kd0 = 0.0f;
 // 弯道侧面风扇角度环
-float cn_Kp1 = 400.0f;
+float cn_Kp1 = 300.0f;
 float cn_Ki1 = 0.f;
 float cn_Kd1 = 0.0f;
 // 直道侧面风扇角度环
-float po_Kp1 = 400.0f;
+float po_Kp1 = 250.0f;
 float po_Ki1 = 0.0f;
 float po_Kd1 = 0.0f;
 // 期望和当前量
@@ -46,15 +46,15 @@ float out_pos;
 float set_pos = 0.0f;
 float out_cal;
 // 弯道角速度环
-float gy_Kp0 = 4.80f;
+float gy_Kp0 = 8.80f;
 float gy_Ki0 = 0.0f;
 float gy_Kd0 = 0.0f;
 // 直道角速度环
-float gy_Kp1 = 6.0f;
+float gy_Kp1 = 7.0f;
 float gy_Ki1 = 0.0f;
 float gy_Kd1 = 0.0f;
 // 圆环角速度环
-float ygy_Kp0 = 6.0f;
+float ygy_Kp0 = 7.0f;
 float ygy_Ki0 = 0.0f;
 float ygy_Kd0 = 0.0f;
 // 当前和输入量
@@ -63,7 +63,7 @@ float out_gyro;
 // float set_gyro = 0.0f;
 // 速度环
 float sp_Kp = 10.0f;
-float sp_Ki = 100.f;
+float sp_Ki = 80.f;
 float sp_Kd = 0.0f;

 float in_speed;
@@ -73,7 +73,7 @@ float set_speed;
 float set_speed0 = 900.0f;
 float set_speed1 = 1100.0f;
 float set_speed2 = 830.f;
-float set_speed3 = 1000.f;
+float set_speed3 = 900.f;
 int cnt1         = 0;
 int cnt2         = 0;
 int cnt3         = 0;
@@ -198,14 +198,14 @@ void sport_motion()
        }
        // 输出限幅
        if (in_state == 0 || in_state == 2) {
-            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_ls = (int32_t)myclip_f(-out_pos, 0.0f, 7000.f);
+            pwm_duty_rs = (int32_t)myclip_f(out_pos, 0.0f, 7000.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);
        } else if (in_state == 1 || in_state == 3 || in_state == 4 || in_state == 5) {

-            pwm_duty_ls = (int32_t)myclip_f(-out_cal, 0.0f, 6500.f);
-            pwm_duty_rs = (int32_t)myclip_f(out_cal, 0.0f, 6500.f);
+            pwm_duty_ls = (int32_t)myclip_f(-out_cal, 0.0f, 7000.f);
+            pwm_duty_rs = (int32_t)myclip_f(out_cal, 0.0f, 7000.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);
        }
@@ -223,14 +223,14 @@ void sport_motion()

            cnt3++;
            if (in_state == 3) {
-                if (cnt3 >= 300) // 200ms
+                if (cnt3 >= 400) // 200ms
                {
                    bt_printf("to 环内");
                    cnt3_flag = 2;
                    cnt3      = 0;
                }
            } else if (in_state == 1) {
-                if (cnt3 >= 450) // 200ms
+                if (cnt3 >= 500) // 200ms
                {
                    bt_printf("to 弯道");
                    cnt3_flag = 2;
@@ -245,19 +245,24 @@ void sport_motion()
                }
            }
            if (in_speed > set_speed - 100) {
-                qd_down = 8* fabs(in_pos);
-            } else if(in_speed > set_speed - 250){
-                qd_down = 4* fabs(in_pos);
-            }else{
-                qd_down=0;
+                qd_down = 5 * fabs(in_pos) + 50;
+            } else if (in_speed > set_speed - 200) {
+                qd_down = 2.5 * fabs(in_pos)+10;
+            } else {
+                qd_down = 0;
            }
            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 + 515, bt_fly + 515);
+                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, bt_fly + 500);
+                by_pwm_update_duty(bt_fly + 500 - qd_down, bt_fly + 500 - qd_down);
            }
        }
    }
@@ -278,12 +283,12 @@ void sport_pid_init()
    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, 20);
-    PID_SetOutputLimits(&str_angle_pid, -6500.0f, 6500.0f);
+    PID_SetOutputLimits(&str_angle_pid, -6000.0f, 6000.0f);
    // 弯道侧面曲率环
    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, 20);
-    PID_SetOutputLimits(&tur_cal_pid, -6500.0f, 6500.0f);
+    PID_SetOutputLimits(&tur_cal_pid, -6000.0f, 6000.0f);
    // // 圆环
    // PID(&cir_pos_pid, &in_angle, &out_ci, &set_pos, ci_Kp0, ci_Ki0, ci_Kd0, _PID_P_ON_E, _PID_CD_REVERSE);
    // PID_SetMode(&cir_pos_pid, _PID_MODE_AUTOMATIC);
--- a/app/jj_motion.h
+++ b/app/jj_motion.h
@@ -45,7 +45,8 @@ extern float out_speed;
 extern float set_speed0;
 extern float set_speed1;
 extern float set_speed2;
-extern float set_speed ;
+extern float set_speed3;
+extern float set_speed;
 extern int32_t pwm_duty_ls;
 extern int32_t pwm_duty_rs;
 extern int32_t pwm_duty_lb;
--- a/app/jj_param.c
+++ b/app/jj_param.c
@@ -61,7 +61,7 @@ void jj_param_eeprom_init(void)
    PARAM_REG(speed_Kd, &sp_Kd, EFLOAT, 1, "sp_D:");

    PARAM_REG(param_set_speed2, &set_speed2, EFLOAT, 1, "rate2:");
-
+    PARAM_REG(param_set_speed3, &set_speed3, EFLOAT, 1, "rate3:");
    jj_param_read(); // 注冊
 }
 /**
--- a/app/jj_param.h
+++ b/app/jj_param.h
@@ -61,6 +61,7 @@ typedef enum {
    speed_Kd,

    param_set_speed2,
+    param_set_speed3,
    DATA_IN_FLASH_NUM,

    delta_x,
--- a/app/jj_voltage.c
+++ b/app/jj_voltage.c
@@ -9,5 +9,5 @@ void vol_init(void)
 }
 void get_vol()
 {
-    now_vol=0.003377f*adc_convert(GET_VOL_PIN)+0.16f;
+    now_vol=0.003377f*adc_convert(GET_VOL_PIN)+0.36f;
 }