btl143/QD4C-firmware
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This commit is contained in:
井明江
2024-03-04 22:33:43 +08:00
parent 4cc3fd8864
commit 8c21e784d8
6 changed files with 32 additions and 28 deletions
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15
app/jj_motion.c
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@@ -44,6 +44,7 @@ void sport_motion(void)
{
cnt1++;
imu660ra_get_gyro();
in_gyro = imu660ra_gyro_z; // 陀螺仪输入
// in_angle = 0; // 图像远端输入
// in_pos = 0; // 图像近端输入
@@ -53,15 +54,14 @@ void sport_motion(void)
if (cnt1 >= 10) {
PID_Compute(&far_angle_pid);
PID_Compute(&speed_pid);
in_speed = encoder_get_count(TIM5_ENCOEDER); // 速度输入，m/s
// printf("rate:%d\r\n", (int16)in_speed);
in_speed = -encoder_get_count(TIM5_ENCOEDER); // 速度输入，m/s
// printf("rate:%d\r\n", (int16)in_speed);
encoder_clear_count(TIM5_ENCOEDER);
PID_Compute(&near_pos_pid);
cnt1 = 0;
}
PID_Compute(&near_pos_pid);
if (bt_run_flag == 1) {
if (bt_run_flag == 1) {
by_pwm_power_duty((int32_t)(500 + out_pos + out_gyro),
(int32_t)(500 - out_pos - out_gyro),
(int32_t)(500 + out_speed + out_gyro),
@@ -72,7 +72,6 @@ void sport_motion(void)
if (bt_fly_flag == 0) {
bt_fly = 0;
}
by_pwm_update_duty(bt_fly + 500, bt_fly + 500);
}
/**
@@ -82,7 +81,7 @@ void sport_motion(void)
void sport_pid_init()
{
PID(&far_angle_pid, &in_angle, &out_angle, &set_angle, an_Kp, an_Ki, an_Kd, 0, 0);
PID(&far_angle_pid, &in_angle, &out_angle, &set_angle, an_Kp, an_Ki, an_Kd, 0, 1);
PID(&far_gyro_pid, &in_gyro, &out_gyro, &out_angle, gy_Kp, gy_Ki, gy_Kd, 1, 1);
PID_Init(&far_angle_pid);
PID_Init(&far_gyro_pid);
@@ -94,7 +93,7 @@ void sport_pid_init()
PID_SetMode(&far_angle_pid, 1);
PID(&near_pos_pid, &in_pos, &out_pos, &set_pos, po_Kp, po_Ki, po_Kd, 0, 0);
PID(&speed_pid, &in_speed, &out_speed, &out_speed, sp_Kp, sp_Ki, sp_Kd, 1, 1);
PID(&speed_pid, &in_speed, &out_speed, &set_speed, sp_Kp, sp_Ki, sp_Kd, 1, 0);
PID_Init(&near_pos_pid);
PID_Init(&speed_pid);