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能玩赛的有刷版本

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井明江
2024-06-23 13:11:56 +08:00
parent 66162b9094
commit f04b21f738
2 changed files with 68 additions and 37 deletions
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81
app/jj_motion.c
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@@ -12,6 +12,11 @@ PID_TypeDef str_angle_pid;
PID_TypeDef tur_cal_pid;
PID_TypeDef far_gyro_pid;
PID_TypeDef speed_pid;
PID_TypeDef cir_pos_pid;
float ci_Kp0 = 200.f;
float ci_Ki0 = 0;
float ci_Kd0 = 0;
float out_ci;
// 弯道后面风扇角度环
float an_Kp0 = 40.0f;
float an_Ki0 = 0.0f;
@@ -68,6 +73,7 @@ float set_speed;
float set_speed0 = 800.0f;
float set_speed1 = 1100.0f;
float set_speed2 = 810.f;
float set_speed3 = 1000.f;
int cnt1 = 0;
int cnt2 = 0;
int cnt3 = 0;
@@ -83,8 +89,14 @@ int32_t pwm_duty_rs;
int32_t pwm_duty_lb;
int32_t pwm_duty_rb;
int turn_cnt = 0;
int turn_flag = 0;
/*
0:无状态
1:弯道
2:直道
3:入环
4:环内
5:障碍
*/
static float myclip_f(float x, float low, float up)
{
return (x > up ? up : x < low ? low
@@ -113,9 +125,10 @@ void sport_motion()
imu660ra_get_acc();
in_gyro = imu660ra_gyro_z;
// 抖动停车
if (imu660ra_acc_z <= 1000) {
if (imu660ra_acc_z <= 600) {
bt_fly_flag = bt_run_flag = 0;
bt_printf("ting");
}
// 斑马线停车
if (1 == in_stop) {
@@ -141,11 +154,11 @@ void sport_motion()
PID_SetTunings(&far_angle_pid, an_Kp1, an_Ki1, an_Kd1);
PID_SetTunings(&far_gyro_pid, gy_Kp1, gy_Ki1, gy_Kd1);
}
if ((last_state != in_state) && in_state == 1) { // 弯道
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
bt_printf("to 入弯");
set_speed = set_speed0;
cnt3_flag = 1;
turn_flag = 1;
PID_SetTunings(&far_angle_pid, an_Kp0, an_Ki0, an_Kd0);
PID_SetTunings(&far_gyro_pid, gy_Kp0, gy_Ki0, gy_Kd0);
}
@@ -176,16 +189,16 @@ 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_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_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, 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);
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);
}
by_pwm_power_duty(pwm_duty_ls, pwm_duty_rs, pwm_duty_lb, pwm_duty_rb);
@@ -196,27 +209,40 @@ void sport_motion()
if (bt_fly_flag == 0) {
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);
by_pwm_update_duty(bt_fly + 500 - tt, bt_fly + 500 - tt);
if ((in_state == 1 || in_state == 3 || in_state == 5) && cnt3_flag == 1) {
cnt3++;
if (in_state == 3) {
if (cnt3 >= 1200) // 200ms
if (cnt3 >= 300) // 200ms
{
bt_printf("to 环内");
cnt3_flag = 2;
cnt3 = 0;
}
} else {
if (cnt3 >= 500) // 200ms
} else if (in_state == 1) {
if (cnt3 >= 450) // 200ms
{
bt_printf("to 弯道");
cnt3_flag = 2;
cnt3 = 0;
}
} else if (in_state == 5) {
if (cnt3 >= 200) // 200ms
{
bt_printf("to 障碍");
cnt3_flag = 2;
cnt3 = 0;
}
}
float tt = 6 * fabs(in_pos);
by_pwm_update_duty(bt_fly + 500 - tt, bt_fly + 500 - tt);
} else {
by_pwm_update_duty(bt_fly + 500, bt_fly + 500);
if (in_state == 4) {
by_pwm_update_duty(bt_fly + 515, bt_fly + 515);
set_speed = set_speed3;
} else {
by_pwm_update_duty(bt_fly + 500, bt_fly + 500);
}
}
}
}
@@ -236,21 +262,26 @@ 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, -6000.0f, 6000.0f);
PID_SetOutputLimits(&str_angle_pid, -7000.0f, 7000.0f);
// 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, -8000.0f, 8000.0f);
PID_SetOutputLimits(&tur_cal_pid, -7000.0f, 7000.0f);
// 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);
/* 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, 20);
PID_SetOutputLimits(&far_gyro_pid, -6000.0f, 6000.0f);
PID_SetOutputLimits(&far_gyro_pid, -5500.0f, 5500.0f);
/* 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, 20);
PID_SetOutputLimits(&speed_pid, -2000.0f, 5000.0f);
PID_SetOutputLimits(&speed_pid, -0.0f, 6000.0f);
}