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日常更新，适配3.5寸桨叶版，新加障碍分段参数

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井明江
2024-07-02 20:32:08 +08:00
parent 8b5799302b
commit e842452ec6
11 changed files with 271 additions and 75 deletions
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144
app/jj_motion.c
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@@ -8,8 +8,7 @@
#include "by_imu.h"
PID_TypeDef far_angle_pid;
PID_TypeDef str_angle_pid;
PID_TypeDef tur_cal_pid;
PID_TypeDef pos_pid;
PID_TypeDef far_gyro_pid;
PID_TypeDef speed_pid;
PID_TypeDef cir_pos_pid;
@@ -25,16 +24,29 @@ float an_Kd0 = 0.0f;
float an_Kp1 = 45.0f;
float an_Ki1 = 0.0f;
float an_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 = 7.f;
float zg_Ki = 0;
float zg_Kd = 0;
float zp_Kp = 300.f;
float zp_Ki = 0;
float zp_Kd = 0;
// 圆环后面风扇角度环
float yu_Kp0 = 53.0f;
float yu_Kp0 = 60.0f;
float yu_Ki0 = 0.0f;
float yu_Kd0 = 0.0f;
// 弯道侧面风扇角度环
float cn_Kp1 = 300.0f;
float cn_Kp1 = 400.0f;
float cn_Ki1 = 0.f;
float cn_Kd1 = 0.0f;
// 直道侧面风扇角度环
float po_Kp1 = 250.0f;
float po_Kp1 = 200.0f;
float po_Ki1 = 0.0f;
float po_Kd1 = 0.0f;
// 期望和当前量
@@ -44,7 +56,6 @@ float out_angle;
float in_pos;
float out_pos;
float set_pos = 0.0f;
float out_cal;
// 弯道角速度环
float gy_Kp0 = 8.80f;
float gy_Ki0 = 0.0f;
@@ -54,7 +65,7 @@ float gy_Kp1 = 7.0f;
float gy_Ki1 = 0.0f;
float gy_Kd1 = 0.0f;
// 圆环角速度环
float ygy_Kp0 = 7.0f;
float ygy_Kp0 = 6.0f;
float ygy_Ki0 = 0.0f;
float ygy_Kd0 = 0.0f;
// 当前和输入量
@@ -63,7 +74,7 @@ float out_gyro;
// float set_gyro = 0.0f;
// 速度环
float sp_Kp = 10.0f;
float sp_Ki = 80.f;
float sp_Ki = 60.f;
float sp_Kd = 0.0f;
float in_speed;
@@ -71,9 +82,10 @@ float out_speed;
float set_speed;
float set_speed0 = 900.0f;
float set_speed1 = 1100.0f;
float set_speed2 = 830.f;
float set_speed1 = 1200.0f;
float set_speed2 = 700.f;
float set_speed3 = 900.f;
float set_speed4 = 500.f;
int cnt1 = 0;
int cnt2 = 0;
int cnt3 = 0;
@@ -129,13 +141,11 @@ void sport_motion()
imu660ra_get_acc();
get_vol();
in_gyro = imu660ra_gyro_z;
// last_gy=in_gyro;
// 抖动停车
// if (imu660ra_acc_z <= 300) {
if (imu660ra_acc_z <= 800) {
// bt_fly_flag = bt_run_flag = 0;
// bt_printf("ting");
// }
bt_fly_flag = bt_run_flag = 0;
bt_printf("ting");
}
// 斑马线停车
if (1 == in_stop) {
stop_flag = 1;
@@ -160,14 +170,18 @@ void sport_motion()
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 || in_state == 5)) { // 弯道或者障碍物，暂时没加障碍物的分段
if ((last_state != in_state) && in_state == 1) { // 弯道
bt_printf("to 入弯");
set_speed = set_speed0;
cnt3_flag = 1;
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) { // 圆环
bt_printf("to 圆环");
@@ -176,6 +190,18 @@ void sport_motion()
cnt3_flag = 1;
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);
}
if ((last_state != in_state) && in_state == 5) { // 圆环
bt_printf("to 障碍");
set_speed = set_speed4;
cnt3_flag = 1;
PID_SetTunings(&far_angle_pid, za_Kp, za_Ki, za_Kd);
PID_SetTunings(&far_gyro_pid, zg_Kp, zg_Ki, zg_Kd);
PID_SetTunings(&pos_pid, zp_Kp, zp_Ki, zp_Kd);
}
last_state = in_state;
// pid计算
@@ -185,30 +211,20 @@ void sport_motion()
}
if (cnt2 >= 10) {
in_speed = sport_get_speed();
cnt2 = 0;
cnt2 = 0;
}
if (cnt5 >= 20) {
PID_Compute(&far_angle_pid);
PID_Compute(&str_angle_pid);
PID_Compute(&tur_cal_pid);
PID_Compute(&pos_pid);
PID_Compute(&speed_pid);
cnt5 = 0;
}
// 输出限幅
if (in_state == 0 || in_state == 2) {
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, 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);
}
pwm_duty_ls = (int32_t)myclip_f(-out_pos, 0.0f, 5000.f);
pwm_duty_rs = (int32_t)myclip_f(out_pos, 0.0f, 5000.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);
by_pwm_power_duty(pwm_duty_ls, pwm_duty_rs, pwm_duty_lb, pwm_duty_rb);
@@ -223,12 +239,19 @@ void sport_motion()
cnt3++;
if (in_state == 3) {
if (cnt3 >= 400) // 200ms
if (cnt3 >= 250) // 200ms
{
bt_printf("to 环内");
cnt3_flag = 2;
cnt3 = 0;
}
if (in_speed > set_speed - 100) {
qd_down = 5 * fabs(in_pos) + 75;
} else if (in_speed > set_speed - 200) {
qd_down = 2.5 * fabs(in_pos) + 30;
} else {
qd_down = 0;
}
} else if (in_state == 1) {
if (cnt3 >= 500) // 200ms
{
@@ -236,27 +259,35 @@ void sport_motion()
cnt3_flag = 2;
cnt3 = 0;
}
if (in_speed > set_speed - 100) {
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;
}
} else if (in_state == 5) {
if (cnt3 >= 200) // 200ms
if (cnt3 >= 400) // 200ms
{
bt_printf("to 障碍");
bt_printf("to 开张");
cnt3_flag = 2;
cnt3 = 0;
}
if (in_speed > set_speed - 100) {
qd_down = 150;
} else if (in_speed > set_speed - 200) {
qd_down = 75;
} else {
qd_down = 25;
}
}
if (in_speed > set_speed - 100) {
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) {
if (in_state == 1) {
qd_down = 15;
}else{
qd_down=0;
} else {
qd_down = 0;
}
if (in_state == 4) {
by_pwm_update_duty(bt_fly + 500 - qd_down, bt_fly + 500 - qd_down);
@@ -279,21 +310,12 @@ void sport_pid_init()
PID_SetMode(&far_angle_pid, _PID_MODE_AUTOMATIC);
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, 20);
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, -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);
// PID_SetSampleTime(&cir_pos_pid, 20);
// PID_SetOutputLimits(&cir_pos_pid, -7000.0f, 7000.0f);
// 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, -5000.0f, 5000.0f);
/* 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);