btl143/QD4C-firmware
4
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

六无刷完赛版

Browse Source
This commit is contained in:
井明江
2024-07-07 23:08:49 +08:00
parent 9f9aa26197
commit 0313c90c28
6 changed files with 90 additions and 190 deletions
Download Patch File Download Diff File Expand all files Collapse all files

179
app/jj_motion.c
View File

@@ -13,43 +13,65 @@ PID_TypeDef pos_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 = 54.0f;
float an_Ki0 = 0.0f;
float an_Kd0 = 0.0f;
///////////////////////////////////////////
// 直道后面风扇角度环
float an_Kp1 = 45.0f;
float an_Kp1 = 50.0f;
float an_Ki1 = 0.0f;
float an_Kd1 = 0.0f;
// 直道角速度环
float gy_Kp1 = 6.0f;
float gy_Ki1 = 0.0f;
float gy_Kd1 = 0.0f;
// 直道侧面风扇角度环
float po_Kp1 = 13.0f;
float po_Ki1 = 0.0f;
float po_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_Kp = 3.f;
float zg_Ki = 0;
float zg_Kd = 0;
float zp_Kp = 300.f;
float zp_Kp = 30.f;
float zp_Ki = 0;
float zp_Kd = 0;
///////////////////////////////////////
// 弯道后面风扇角度环
float an_Kp0 = 60.0f;
float an_Ki0 = 0.0f;
float an_Kd0 = 0.0f;
// 弯道角速度环
float gy_Kp0 = 10.80f;
float gy_Ki0 = 0.0f;
float gy_Kd0 = 0.0f;
// 弯道侧面风扇角度环
float cn_Kp1 = 25.0f;
float cn_Ki1 = 0.f;
float cn_Kd1 = 0.0f;
////////////////////////////////////////
// 圆环后面风扇角度环
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 = 400.0f;
float cn_Ki1 = 0.f;
float cn_Kd1 = 0.0f;
// 直道侧面风扇角度环
float po_Kp1 = 200.0f;
float po_Ki1 = 0.0f;
float po_Kd1 = 0.0f;
// 圆环角速度环
float ygy_Kp0 = 8.40f;
float ygy_Ki0 = 0.0f;
float ygy_Kd0 = 0.0f;
// 速度环
float sp_Kp = 2.0f;
float sp_Ki = 4.f;
float sp_Kd = 0.0f;
////////////////////////////////////////////////////
// 当前和输入量
float in_gyro;
float out_gyro;
// 期望和当前量
float in_angle;
float set_angle = 0.0f;
@@ -57,36 +79,18 @@ float out_angle;
float in_pos;
float out_pos;
float set_pos = 0.0f;
// 弯道角速度环
float gy_Kp0 = 8.80f;
float gy_Ki0 = 0.0f;
float gy_Kd0 = 0.0f;
// 直道角速度环
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_Ki0 = 0.0f;
float ygy_Kd0 = 0.0f;
// 当前和输入量
float in_gyro;
float out_gyro;
// float set_gyro = 0.0f;
// 速度环
float sp_Kp = 10.0f;
float sp_Ki = 60.f;
float sp_Kd = 0.0f;
float in_speed;
float out_speed;
float set_speed;
float set_speed0 = 900.0f;
float set_speed1 = 1200.0f;
float set_speed2 = 700.f;
float set_speed3 = 900.f;
float set_speed4 = 500.f;
float set_speed0 = 657.0f;
float set_speed1 = 1111.0f;
float set_speed2 = 815.f;
float set_speed3 = 666.f;
float set_speed4 = 720.f;
int cnt1 = 0;
int cnt2 = 0;
int cnt3 = 0;
@@ -95,7 +99,8 @@ int cnt5 = 0;
int cnt6 = 0;
int cnt7 = 0;
int cnt8 = 0;
uint8_t cnt3_flag = 0;
int if_start = 0;
float shock_stop=0;
uint8_t in_state = 0;
uint8_t in_stop = 0;
uint8_t last_state = 0;
@@ -149,17 +154,17 @@ void sport_motion()
} else {
cnt7 = 0;
}
if (cnt7 >= 100) {
if (cnt7 >= 100&&shock_stop==1) {
bt_fly_flag = bt_run_flag = 0;
bt_printf("ting");
}
// 斑马线停车
if (1 == in_stop) {
// 斑马线停车,摄像头识别
if (1 == in_stop && if_start == 1) {
stop_flag = 1;
}
if (stop_flag == 1) {
cnt4++;
if (cnt4 >= 200) {
if (cnt4 >= 100) {
bt_fly_flag = bt_run_flag = 0;
}
}
@@ -168,11 +173,15 @@ void sport_motion()
cnt1++;
cnt2++;
cnt5++;
if (if_start == 0) {
cnt8++;
if (cnt8 >= 10000) {
if_start = 1;
}
}
// pid参数切换
if ((last_state != in_state) && (in_state == 0 || in_state == 2)) { // 直道
cnt3_flag = 1;
cnt3 = 0;
bt_printf("to 直道");
set_speed = set_speed1;
PID_SetTunings(&far_angle_pid, an_Kp1, an_Ki1, an_Kd1);
@@ -182,7 +191,7 @@ void sport_motion()
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);
@@ -193,7 +202,7 @@ void sport_motion()
set_speed = set_speed2;
else
set_speed = set_speed3;
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);
@@ -201,7 +210,7 @@ void sport_motion()
if ((last_state != in_state) && in_state == 5) { //
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);
@@ -226,10 +235,10 @@ void sport_motion()
// 并级pid，限幅
pwm_duty_ls = (int32_t)myclip_f(300 - out_pos, 100.0f, 500.f);
pwm_duty_rs = (int32_t)myclip_f(300 + out_pos, 100.0f, 500.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_lb = (int32_t)myclip_f(out_speed + out_gyro, 300.0f, 3000.f);
pwm_duty_rb = (int32_t)myclip_f(out_speed - out_gyro, 300.0f, 3000.f);
by_pwm_power_duty(500 + pwm_duty_ls, 500 + pwm_duty_rs, pwm_duty_lb, pwm_duty_rb);
by_pwm_power_duty(500 + pwm_duty_ls, 500 + pwm_duty_rs, 3600 + pwm_duty_lb, 3600 + pwm_duty_rb);
} else {
by_pwm_power_duty(0, 0, 0, 0);
@@ -238,56 +247,16 @@ void sport_motion()
if (bt_fly_flag == 0) {
by_pwm_update_duty(500, 500);
} else {
if ((in_state == 1 || in_state == 3 || in_state == 5) && cnt3_flag == 1) {
cnt3++;
if (in_state == 1) {
if (in_state == 3) {
if (cnt3 >= 1000) // 200ms
{
bt_printf("to 环内");
cnt3_flag = 2;
cnt3 = 0;
}
if (in_speed > set_speed) {
qd_down = 25;
} else if (in_speed > set_speed - 100) {
qd_down = 10;
} else {
qd_down = 0;
}
} else if (in_state == 1) {
if (cnt3 >= 300) // 200ms
{
bt_printf("to 弯道");
cnt3_flag = 2;
cnt3 = 0;
}
if (in_speed > set_speed)
qd_down = (in_speed - set_speed) * 0.5 + 40;
else
qd_down = -10;
}
qd_down = 20;
by_pwm_update_duty(bt_fly + 500 - qd_down, bt_fly + 500 - qd_down);
} else {
if (in_state == 1) { // 消除s弯降气垫
if (in_speed >= set_speed / 1.2) {
qd_down = 40;
} else if (in_speed >= set_speed / 1.5) {
qd_down = 25;
} else if (in_speed >= set_speed / 2) {
qd_down = 10;
}else {
qd_down = 0;
}
} else {
qd_down = 0;
}
by_pwm_update_duty(bt_fly + 500 - qd_down, bt_fly + 500 - qd_down);
} else if (in_state == 4) {
qd_down = 20;
}
by_pwm_update_duty(bt_fly + 500 - qd_down, bt_fly + 500 - qd_down);
}
}
@@ -312,11 +281,11 @@ void sport_pid_init()
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, -4800.0f, 4800.0f);
PID_SetOutputLimits(&far_gyro_pid, -1200.0f, 1200.0f);
/* 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, -0.0f, 6000.0f);
PID_SetOutputLimits(&speed_pid, -0.0f, 1800.0f);
}