六无刷完赛版

app/by_fan_control.c

@@ -6,19 +6,8 @@
 #define FAN_LL_PWM_PIN TIM8_PWM_MAP1_CH1_B6 // 左升力风扇
 #define FAN_RL_PWM_PIN TIM8_PWM_MAP1_CH2_B7 // 右升力风扇
 // M4
-#define FAN_RB_PWM_A_PIN TIM10_PWM_MAP3_CH2_D3 // 后
+#define FAN_RB_PWM_PIN TIM10_PWM_MAP3_CH4_D7
-#define FAN_RB_PWM_B_PIN TIM10_PWM_MAP3_CH4_D7  // you后
+#define FAN_LB_PWM_PIN TIM4_PWM_MAP1_CH2_D13
-// M1
-#define FAN_LB_PWM_A_PIN TIM4_PWM_MAP1_CH1_D12  // zuo后
-#define FAN_LB_PWM_B_PIN  TIM4_PWM_MAP1_CH3_D14// 后
-// M3
-// #define FAN_RS_PWM_B_PIN TIM10_PWM_MAP3_CH1_D1 // 右侧
-// #define FAN_RS_PWM_A_PIN TIM10_PWM_MAP3_CH3_D5 // you侧
-// // M2
-// #define FAN_LS_PWM_B_PIN TIM4_PWM_MAP1_CH4_D15 // 左侧
-// #define FAN_LS_PWM_A_PIN TIM4_PWM_MAP1_CH2_D13  // 左侧
-
-//
 #define FAN_LS_PWM_PIN TIM1_PWM_MAP0_CH4_A11
 #define FAN_RS_PWM_PIN TIM1_PWM_MAP0_CH1_A8
 int32_t pwm_duty_ls_g;
@@ -53,35 +42,8 @@ void by_pwm_init(void)
     pwm_init(FAN_RL_PWM_PIN, 50, 500);
     pwm_init(FAN_LS_PWM_PIN, 50, 500);
     pwm_init(FAN_RS_PWM_PIN, 50, 500);
-#if FIX_DRIVE == 1
+    pwm_init(FAN_LB_PWM_PIN, 300, 300);
-    pwm_init(FAN_LS_PWM_A_PIN, 20000, 7000);
+    pwm_init(FAN_RB_PWM_PIN, 300, 300);
-    pwm_init(FAN_LS_PWM_B_PIN, 20000, 7000);
-    pwm_init(FAN_RS_PWM_A_PIN, 20000, 7000);
-    pwm_init(FAN_RS_PWM_B_PIN, 20000, 7000);
-    pwm_init(FAN_LB_PWM_A_PIN, 20000, 7000);
-    pwm_init(FAN_LB_PWM_B_PIN, 20000, 7000);
-    pwm_init(FAN_RB_PWM_A_PIN, 20000, 7000);
-    pwm_init(FAN_RB_PWM_B_PIN, 20000, 7000);
-    while (1);
-#elif FIX_DRIVE == 2
-    // pwm_init(FAN_LS_PWM_A_PIN, 30000, 1000);
-    // pwm_init(FAN_LS_PWM_B_PIN, 30000, 0);
-    // pwm_init(FAN_RS_PWM_A_PIN, 30000, 1000);
-    // pwm_init(FAN_RS_PWM_B_PIN, 30000, 0);
-    pwm_init(FAN_LB_PWM_A_PIN, 30000, 1000);
-    pwm_init(FAN_LB_PWM_B_PIN, 30000, 0);
-    pwm_init(FAN_RB_PWM_A_PIN, 30000, 1000);
-    pwm_init(FAN_RB_PWM_B_PIN, 30000, 0);
-    while (1);
-#endif
-    // pwm_init(FAN_LS_PWM_A_PIN, 40000, 0);
-    // pwm_init(FAN_LS_PWM_B_PIN, 40000, 0);
-    // pwm_init(FAN_RS_PWM_A_PIN, 40000, 0);
-    // pwm_init(FAN_RS_PWM_B_PIN, 40000, 0);
-    pwm_init(FAN_LB_PWM_A_PIN, 40000, 0);
-    pwm_init(FAN_LB_PWM_B_PIN, 40000, 0);
-    pwm_init(FAN_RB_PWM_A_PIN, 40000, 0);
-    pwm_init(FAN_RB_PWM_B_PIN, 40000, 0);
 }
 
 /**
@@ -110,46 +72,10 @@ void by_pwm_power_duty(int32_t bpwm_duty_ls, int32_t bpwm_duty_rs, int32_t bpwm_
 {
     bpwm_duty_ls = clip_s32(bpwm_duty_ls, 500, 1000);
     bpwm_duty_rs = clip_s32(bpwm_duty_rs, 500, 1000);
-    // if(1000==bpwm_duty_ls)bpwm_duty_rs=600;
+    bpwm_duty_lb = clip_s32(bpwm_duty_lb, 2500, 6000);
-    // if(1000==bpwm_duty_rs)bpwm_duty_ls=600;
+    bpwm_duty_rb = clip_s32(bpwm_duty_rb, 2500, 6000);
-    bpwm_duty_lb = clip_s32(bpwm_duty_lb, 0, 7000);
-    bpwm_duty_rb = clip_s32(bpwm_duty_rb, 0, 7000);
     pwm_set_duty(FAN_LS_PWM_PIN, bpwm_duty_ls);
     pwm_set_duty(FAN_RS_PWM_PIN, bpwm_duty_rs);
-    // pwm_duty_ls_g = pwm_duty_ls;
+    pwm_set_duty(FAN_LB_PWM_PIN, bpwm_duty_lb);
-    // pwm_duty_rs_g = pwm_duty_rs;
+    pwm_set_duty(FAN_RB_PWM_PIN, bpwm_duty_rb);
-    // pwm_duty_lb_g = pwm_duty_lb;
-    // pwm_duty_rb_g = pwm_duty_rb;
-
-    // if (bpwm_duty_ls >= 0) {
-
-    //     pwm_set_duty(FAN_LS_PWM_B_PIN, 0);
-    // } else {
-    //     pwm_set_duty(FAN_LS_PWM_A_PIN, 0);
-    //     pwm_set_duty(FAN_LS_PWM_B_PIN, -1 * pwm_duty_ls);
-    // }
-
-    // if (bpwm_duty_rs >= 0) {
-
-    //     pwm_set_duty(FAN_RS_PWM_B_PIN, 0);
-    // } else {
-    //     pwm_set_duty(FAN_RS_PWM_A_PIN, 0);
-    //     pwm_set_duty(FAN_RS_PWM_B_PIN, -1 * pwm_duty_rs);
-    // }
-
-    if (bpwm_duty_lb >= 0) {
-        pwm_set_duty(FAN_LB_PWM_A_PIN, bpwm_duty_lb);
-        pwm_set_duty(FAN_LB_PWM_B_PIN, 0);
-    } else {
-        pwm_set_duty(FAN_LB_PWM_A_PIN, 0);
-        pwm_set_duty(FAN_LB_PWM_B_PIN, -1 * bpwm_duty_lb);
-    }
-
-    if (bpwm_duty_rb >= 0) {
-        pwm_set_duty(FAN_RB_PWM_A_PIN, bpwm_duty_rb);
-        pwm_set_duty(FAN_RB_PWM_B_PIN, 0);
-    } else {
-        pwm_set_duty(FAN_RB_PWM_A_PIN, 0);
-        pwm_set_duty(FAN_RB_PWM_B_PIN, -1 * bpwm_duty_rb);
-    }
 }

app/jj_blueteeth.c

@@ -6,7 +6,7 @@ uint8_t bt_buffer; // 接收字符存入
 uint8_t bt_run_flag = 0;
 uint8_t  bt_fly_flag  = 0;
 uint32_t bt_run      = 0;
-float bt_fly      = 250.f;
+float bt_fly      = 160.f;
 enum bt_order {
     Fly_ctrl   = 0x01, // 起飞转换
     Fly_up     = 0x02, // 起飞程度增加

app/jj_motion.c

@@ -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
+// 圆环角速度环
-float cn_Kp1 = 400.0f;
+float ygy_Kp0 = 8.40f;
-float cn_Ki1 = 0.f;
+float ygy_Ki0 = 0.0f;
-float cn_Kd1 = 0.0f;
+float ygy_Kd0 = 0.0f;
-// 直道侧面风扇角度环
+// 速度环
-float po_Kp1 = 200.0f;
+float sp_Kp = 2.0f;
-float po_Ki1 = 0.0f;
+float sp_Ki = 4.f;
-float po_Kd1 = 0.0f;
+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_speed0   = 657.0f;
-float set_speed1   = 1200.0f;
+float set_speed1   = 1111.0f;
-float set_speed2   = 700.f;
+float set_speed2   = 815.f;
-float set_speed3   = 900.f;
+float set_speed3   = 666.f;
-float set_speed4   = 500.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
+    // 斑马线停车,摄像头识别
-    if (1 == in_stop) {
+    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_lb = (int32_t)myclip_f(out_speed + out_gyro, 300.0f, 3000.f);
-        pwm_duty_rb = (int32_t)myclip_f(out_speed - out_gyro, 0.0f, 6000.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) {
+            qd_down = 20;
-                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;
-            }
 
-            by_pwm_update_duty(bt_fly + 500 - qd_down, bt_fly + 500 - qd_down);
+        } else if (in_state == 4) {
-        } else {
+            qd_down = 20;
-            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);
         }
+
+        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);
 }

app/jj_motion.h

@@ -57,6 +57,7 @@ extern float set_speed2;
 extern float set_speed3;
 extern float set_speed;
 extern float set_speed4;
+extern float shock_stop;
 extern int32_t pwm_duty_ls;
 extern int32_t pwm_duty_rs;
 extern int32_t pwm_duty_lb;

app/jj_param.c

@@ -76,6 +76,8 @@ void jj_param_eeprom_init(void)
     PARAM_REG(zhpo_Kd, &zp_Kd, EFLOAT, 1, "po_D1:");
 
     PARAM_REG(param_set_speed4, &set_speed4, EFLOAT, 1, "rate4:");
+    
+    PARAM_REG(shock, &shock_stop, EFLOAT, 1, "shock:");
     jj_param_read(); // 注冊
 }
 /**

app/jj_param.h

@@ -76,6 +76,8 @@ typedef enum {
     zhpo_Ki,
     zhpo_Kd,
 
+    shock,
+
     param_set_speed4,
     DATA_IN_FLASH_NUM,