QD4C-firmware/app/jj_motion.c

#include "jj_motion.h"
#include "by_fan_control.h"
#include "by_imu.h"
#include "jj_blueteeth.h"
#include "../3rd-lib/PID-Library/pid.h"
#include "zf_driver_encoder.h"

PID_TypeDef far_angle_pid;
PID_TypeDef far_gyro_pid;
PID_TypeDef near_pos_pid;
PID_TypeDef speed_pid;

float an_Kp = 8.0f;
float an_Ki = 1.0f;
float an_Kd = 2.0f;
float in_angle;
float set_angle = 0.0f;
float out_angle;

float gy_Kp = 1.0f;
float gy_Ki = 0.0f;
float gy_Kd = 0.0f;
float in_gyro;
float out_gyro;
// float set_gyro = 0.0f;

float po_Kp = 1.0f;
float po_Ki = 0.0f;
float po_Kd = 0.0f;
float in_pos;
float out_pos;
float set_pos = 0.0f;

float sp_Kp = 1.0f;
float sp_Ki = 0.0f;
float sp_Kd = 0.0f;
float in_speed;
float out_speed;
float set_speed = 0.0f;

int cnt1 = 0;
int cnt2 = 0;
float sport_get_speed(void)
{
#define ALPHA (0.97f)
    static float speed_now  = 0;
    static float speed_last = 0;

    speed_now  = ALPHA * (float)encoder_get_count(TIM5_ENCOEDER) + (1.0f - ALPHA) * speed_last;
    speed_last = speed_now;

    encoder_clear_count(TIM5_ENCOEDER);

    return speed_now;

#undef ALPHA
}

void sport_motion(void)
{

    cnt1++;
    cnt2++;
    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
    //  清除计数
    PID_Compute(&far_gyro_pid);

    if (cnt1 >= 10) {

        PID_Compute(&speed_pid);
        in_speed = -sport_get_speed();
        // printf("rate:%d\r\n", (int16_t)in_speed);
        PID_Compute(&near_pos_pid);
        cnt1 = 0;
    }
    if (cnt2 >= 20) {
        cnt2 = 0;
        PID_Compute(&far_angle_pid);
    }
    if (bt_run_flag == 1) {
        if (out_gyro > 0) {
            by_pwm_power_duty((int32_t)(500 - 1 * out_pos + 0 * out_gyro),
                              (int32_t)(500 + 1 * out_pos - 0 * out_gyro),
                              (int32_t)(500 + out_speed + out_gyro),
                              (int32_t)(500 + out_speed - out_gyro));

        } else if (out_gyro <= 0) {
            by_pwm_power_duty((int32_t)(500 - 1 * out_pos + 0 * out_gyro),
                              (int32_t)(500 + 1 * out_pos - 0 * out_gyro),
                              (int32_t)(500 + out_speed + out_gyro),
                              (int32_t)(500 + out_speed - out_gyro));
        }

        // by_pwm_power_duty(500+out_gyro, 500-out_gyro, 500+out_gyro , 500-out_gyro);
    } else {
        by_pwm_power_duty(500, 500, 500, 500);
    }
    if (bt_fly_flag == 0) {
        by_pwm_update_duty(0 + 500, 0 + 500);
    } else {
        by_pwm_update_duty(bt_fly + 500, bt_fly + 500);
    }
}

/**
 * @brief 结构体初始化
 *
 */
void sport_pid_init()
{

    PID(&far_angle_pid, &in_angle, &out_angle, &set_angle, an_Kp, an_Ki, an_Kd, 1, 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);

    PID_SetOutputLimits(&far_angle_pid, -500.0f, 500.0f);
    PID_SetOutputLimits(&far_gyro_pid, -500.0f, 500.0f);

    PID_SetMode(&far_gyro_pid, 1);
    PID_SetMode(&far_angle_pid, 1);

    PID(&near_pos_pid, &in_pos, &out_pos, &set_pos, po_Kp, po_Ki, po_Kd, 1, 0);
    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);

    PID_SetOutputLimits(&near_pos_pid, -500.0f, 500.0f);
    PID_SetOutputLimits(&speed_pid, 0.0f, 400.0f);

    PID_SetMode(&near_pos_pid, 1);
    PID_SetMode(&speed_pid, 1);
}