btl143/QD4C-firmware
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This commit is contained in:
井明江
2024-03-10 08:34:33 +08:00
parent bab1667efb
commit 14441fb25f
3 changed files with 29 additions and 15 deletions
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2
app/by_frame.c
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@@ -49,7 +49,7 @@ void by_frame_parse(uint8_t data_num, uint32_t *data_array)
uint16_t crc_cal = 0;
uint32_t read_length = 50;
if (fifo_used(&frame_fifo)) {
if (fifo_used(&frame_fifo) >= 4 + 4 * data_num) {
fifo_read_buffer(&frame_fifo, frame_buffer_parse, &read_length, FIFO_READ_AND_CLEAN);
while (1) {
if (cnt_ptr < 50) {

36
app/jj_motion.c
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@@ -39,7 +39,7 @@ float out_speed;
float set_speed = 0.0f;
int cnt1 = 0;
int cnt2 = 0;
float sport_get_speed(void)
{
#define ALPHA (0.97f)
@@ -60,6 +60,7 @@ 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
@@ -68,20 +69,33 @@ void sport_motion(void)
PID_Compute(&far_gyro_pid);
if (cnt1 >= 10) {
PID_Compute(&far_angle_pid);
PID_Compute(&speed_pid);
in_speed = -sport_get_speed();
// printf("rate:%d\r\n", (int16_t)in_speed);
PID_Compute(&near_pos_pid);
PID_Compute(&near_pos_pid);
cnt1 = 0;
}
if (cnt2 >= 20) {
cnt2 = 0;
PID_Compute(&far_angle_pid);
}
if (bt_run_flag == 1) {
// by_pwm_power_duty((int32_t)(500 + out_pos + out_gyro),
// (int32_t)(500 - out_pos - out_gyro),
// (int32_t)(500 + out_speed + out_gyro),
// (int32_t)(500 + out_speed - out_gyro));
by_pwm_power_duty(500, 500, 500 + out_speed, 500 + out_speed);
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);
}
@@ -99,7 +113,7 @@ void sport_motion(void)
void sport_pid_init()
{
PID(&far_angle_pid, &in_angle, &out_angle, &set_angle, an_Kp, an_Ki, an_Kd, 0, 1);
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);
@@ -110,13 +124,13 @@ void sport_pid_init()
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, 0, 0);
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, -400.0f, 400.0f);
PID_SetOutputLimits(&speed_pid, 0.0f, 400.0f);
PID_SetMode(&near_pos_pid, 1);
PID_SetMode(&speed_pid, 1);

6
app/jj_param.c
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@@ -21,9 +21,9 @@ void jj_param_eeprom_init(void)
PARAM_REG(angle_Ki, &an_Ki, EFLOAT, 1, "an_I:"); // 注冊
PARAM_REG(angle_Kd, &an_Kd, EFLOAT, 1, "an_D:");
PARAM_REG(gyro_Kp, &gy_Kp, EFLOAT, 1, "im_P:"); // 注冊
PARAM_REG(gyro_Ki, &gy_Ki, EFLOAT, 1, "im_I:"); // 注冊
PARAM_REG(gyro_Kd, &gy_Kd, EFLOAT, 1, "im_D:");
PARAM_REG(gyro_Kp, &gy_Kp, EFLOAT, 1, "gy_P:"); // 注冊
PARAM_REG(gyro_Ki, &gy_Ki, EFLOAT, 1, "gy_I:"); // 注冊
PARAM_REG(gyro_Kd, &gy_Kd, EFLOAT, 1, "gy_D:");
PARAM_REG(speed_Kp, &sp_Kp, EFLOAT, 1, "sp_P:"); // 注冊
PARAM_REG(speed_Ki, &sp_Ki, EFLOAT, 1, "sp_I:"); // 注冊