From 2b214c4add5e1358c4a636f40879ee01646b192d Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E4=BA=95=E6=98=8E=E6=B1=9F?= <246462502@qq.com>
Date: Thu, 28 Mar 2024 04:30:33 +0800
Subject: [PATCH] =?UTF-8?q?pref:=20=E5=88=86=E6=AE=B5pid=E6=9B=B4=E6=96=B0?=
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---
 app/jj_motion.c        | 45 +++++++++++++++++++++++-------------------
 app/page/page_dparam.c |  2 ++
 2 files changed, 27 insertions(+), 20 deletions(-)

diff --git a/app/jj_motion.c b/app/jj_motion.c
index 2ffa746..a60f9c5 100644
--- a/app/jj_motion.c
+++ b/app/jj_motion.c
@@ -12,46 +12,47 @@ PID_TypeDef far_gyro_pid;
 PID_TypeDef near_pos_pid;
 PID_TypeDef speed_pid;
 
-float an_Kp0 = 8.0f;
-float an_Ki0 = 1.0f;
-float an_Kd0 = 2.0f;
+float an_Kp0 = 80.0f;
+float an_Ki0 = 1.4f;
+float an_Kd0 = 8.0f;
 
-float an_Kp1 = 8.0f;
-float an_Ki1 = 1.0f;
-float an_Kd1 = 2.0f;
+float an_Kp1 = 80.0f;
+float an_Ki1 = 1.4f;
+float an_Kd1 = 8.0f;
 float in_angle;
 float set_angle = 0.0f;
 float out_angle;
 
-float gy_Kp0 = 1.0f;
+float gy_Kp0 = 2.0f;
 float gy_Ki0 = 0.0f;
-float gy_Kd0 = 0.0f;
+float gy_Kd0 = 0.3f;
 
-float gy_Kp1 = 1.0f;
+float gy_Kp1 = 2.0f;
 float gy_Ki1 = 0.0f;
-float gy_Kd1 = 0.0f;
+float gy_Kd1 = 0.3f;
 float in_gyro;
 float out_gyro;
 // float set_gyro = 0.0f;
 
-float po_Kp0 = 1.0f;
-float po_Ki0 = 0.0f;
-float po_Kd0 = 0.0f;
+float po_Kp0 = 827.0f;
+float po_Ki0 = 16.0f;
+float po_Kd0 = 13.0f;
 
-float po_Kp1 = 1.0f;
-float po_Ki1 = 0.0f;
-float po_Kd1 = 0.0f;
+float po_Kp1 = 500.0f;
+float po_Ki1 = 2.0f;
+float po_Kd1 = 1.0f;
 float in_pos;
 float out_pos;
 float set_pos = 0.0f;
 
-float sp_Kp = 1.0f;
-float sp_Ki = 0.0f;
+float sp_Kp = 19.0f;
+float sp_Ki = 0.5f;
 float sp_Kd = 0.0f;
 float in_speed;
 float out_speed;
-float set_speed0  = 0.0f;
-float set_speed1  = 0.0f;
+
+float set_speed0  = 460.0f;
+float set_speed1  = 460.0f;
 int cnt1          = 0;
 int cnt2          = 0;
 uint32_t in_state = 0;
@@ -87,8 +88,12 @@ void sport_motion(void)
 {
     if (1 == in_state) {
         PID_SetTunings(&far_gyro_pid, an_Kp1, an_Ki1, an_Kd1);
+        PID_SetTunings(&near_pos_pid, po_Kp1, po_Ki1, po_Kd1);
+        PID_SetTunings(&far_gyro_pid, gy_Kp1, gy_Ki1, gy_Kd1);
     } else {
         PID_SetTunings(&far_gyro_pid, an_Kp0, an_Ki0, an_Kd0);
+        PID_SetTunings(&near_pos_pid, po_Kp0, po_Ki0, po_Kd0);
+        PID_SetTunings(&far_gyro_pid, gy_Kp0, gy_Ki0, gy_Kd0);
     }
     /* 动力风扇设置 */
     if (1 == bt_run_flag) {
diff --git a/app/page/page_dparam.c b/app/page/page_dparam.c
index 3a588cd..1fc0bdc 100644
--- a/app/page/page_dparam.c
+++ b/app/page/page_dparam.c
@@ -42,6 +42,8 @@ static void Exit()
  */
 static void Loop()
 {
+    ips200_show_string(0, 20, "outsp:");
+    ips200_show_float(80, 20, out_speed, 4, 1);
     ips200_show_string(0, 40, "angle");
     ips200_show_float(80, 40, in_angle, 4, 1);
     ips200_show_string(0, 60, "near");