From 2e8aec0cf5fe3a4f1c097ff5f4969a08add1eca3 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E4=BA=95=E6=98=8E=E6=B1=9F?= <246462502@qq.com> Date: Sun, 24 Mar 2024 18:24:32 +0800 Subject: [PATCH] =?UTF-8?q?pref:=20=E4=BC=98=E5=8C=96=E6=8E=A7=E5=88=B6pid?= =?UTF-8?q?=EF=BC=8C=E5=B0=86=E8=A7=92=E9=80=9F=E5=BA=A6=E7=8E=AF=E8=BE=93?= =?UTF-8?q?=E5=87=BA=E5=8A=A0=E5=88=B0=E4=BE=A7=E9=9D=A2=E9=A3=8E=E6=89=87?= =?UTF-8?q?=E4=B8=8A?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- 3rd-lib/PID-Library/pid.c | 1 - 3rd-lib/PID-Library/pid.h | 2 +- app/by_fan_control.c | 34 ++++++++++++----- app/by_fan_control.h | 9 ++++- app/jj_blueteeth.c | 4 ++ app/jj_motion.c | 78 ++++++++++++++++++++------------------- app/main.c | 3 +- 7 files changed, 79 insertions(+), 52 deletions(-) diff --git a/3rd-lib/PID-Library/pid.c b/3rd-lib/PID-Library/pid.c index 650e38a..8bae2e6 100644 --- a/3rd-lib/PID-Library/pid.c +++ b/3rd-lib/PID-Library/pid.c @@ -39,7 +39,6 @@ void PID_Init(PID_TypeDef *uPID) } - void PID(PID_TypeDef *uPID, float *Input, float *Output, float *Setpoint, float Kp, float Ki, float Kd, PIDPON_TypeDef POn, PIDCD_TypeDef ControllerDirection) { /* ~~~~~~~~~~ Set parameter ~~~~~~~~~~ */ diff --git a/3rd-lib/PID-Library/pid.h b/3rd-lib/PID-Library/pid.h index 3a05b6f..91efd7f 100644 --- a/3rd-lib/PID-Library/pid.h +++ b/3rd-lib/PID-Library/pid.h @@ -141,7 +141,7 @@ typedef struct /* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Prototype ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */ /* :::::::::::::: Init ::::::::::::: */ void PID_Init(PID_TypeDef *uPID); - +void PID_I_Clear(PID_TypeDef *uPID); void PID(PID_TypeDef *uPID, float *Input, float *Output, float *Setpoint, float Kp, float Ki, float Kd, PIDPON_TypeDef POn, PIDCD_TypeDef ControllerDirection); void PID2(PID_TypeDef *uPID, float *Input, float *Output, float *Setpoint, float Kp, float Ki, float Kd, PIDCD_TypeDef ControllerDirection); diff --git a/app/by_fan_control.c b/app/by_fan_control.c index bbd46ee..8a3dc53 100644 --- a/app/by_fan_control.c +++ b/app/by_fan_control.c @@ -1,3 +1,4 @@ +#include #include "by_fan_control.h" #include "zf_common_headfile.h" @@ -8,7 +9,18 @@ #define FAN_LB_PWM_PIN TIM4_PWM_MAP1_CH2_D13 // 左后动力风扇 #define FAN_RB_PWM_PIN TIM4_PWM_MAP1_CH1_D12 // 右后动力风扇 -uint32_t myclip(uint32_t x, uint32_t low, uint32_t up) +uint32_t pwm_duty_ls_g; +uint32_t pwm_duty_rs_g; +uint32_t pwm_duty_lb_g; +uint32_t pwm_duty_rb_g; + +static uint32_t myclip(uint32_t x, uint32_t low, uint32_t up) +{ + return (x > up ? up : x < low ? low + : x); +} + +static float myclip_f(float x, float low, float up) { return (x > up ? up : x < low ? low : x); @@ -19,10 +31,10 @@ void by_pwm_init(void) pwm_init(FAN_LL_PWM_PIN, 50, 500); pwm_init(FAN_RL_PWM_PIN, 50, 500); - pwm_init(FAN_LS_PWM_PIN, 4000, 500); - pwm_init(FAN_RS_PWM_PIN, 4000, 500); - pwm_init(FAN_LB_PWM_PIN, 4000, 500); - pwm_init(FAN_RB_PWM_PIN, 4000, 500); + pwm_init(FAN_LS_PWM_PIN, 4000, 0); + pwm_init(FAN_RS_PWM_PIN, 4000, 0); + pwm_init(FAN_LB_PWM_PIN, 4000, 0); + pwm_init(FAN_RB_PWM_PIN, 4000, 0); // system_delay_ms(3000); // // pwm_init(FAN_LS_PWM_PIN, 50, 1000); // 动力风扇左 1 // // pwm_init(FAN_RS_PWM_PIN, 50, 1000); // 动力风扇右 1 @@ -60,11 +72,15 @@ void by_pwm_update_duty(uint32_t update_pwm_duty1, uint32_t update_pwm_duty2) */ void by_pwm_power_duty(uint32_t pwm_duty_ls, uint32_t pwm_duty_rs, uint32_t pwm_duty_lb, uint32_t pwm_duty_rb) { + pwm_duty_ls = myclip(pwm_duty_ls, 0, 5000); + pwm_duty_rs = myclip(pwm_duty_rs, 0, 5000); + pwm_duty_lb = myclip(pwm_duty_lb, 0, 5000); + pwm_duty_rb = myclip(pwm_duty_rb, 0, 5000); - pwm_duty_ls = myclip(pwm_duty_ls, 500, 3000); - pwm_duty_rs = myclip(pwm_duty_rs, 500, 3000); - pwm_duty_lb = myclip(pwm_duty_lb, 500, 3000); - pwm_duty_rb = myclip(pwm_duty_rb, 500, 3000); + pwm_duty_ls_g = pwm_duty_ls; + pwm_duty_rs_g = pwm_duty_rs; + pwm_duty_lb_g = pwm_duty_lb; + pwm_duty_rb_g = pwm_duty_rb; pwm_set_duty(FAN_LS_PWM_PIN, pwm_duty_ls); pwm_set_duty(FAN_RS_PWM_PIN, pwm_duty_rs); diff --git a/app/by_fan_control.h b/app/by_fan_control.h index d06fd22..cf574ff 100644 --- a/app/by_fan_control.h +++ b/app/by_fan_control.h @@ -4,8 +4,13 @@ #include "stdio.h" #include "ch32v30x.h" +extern uint32_t pwm_duty_ls_g; +extern uint32_t pwm_duty_rs_g; +extern uint32_t pwm_duty_lb_g; +extern uint32_t pwm_duty_rb_g; + extern void by_pwm_init(void); -void by_pwm_update_duty(uint32_t update_pwm_duty1,uint32_t update_pwm_duty2); -void by_pwm_power_duty(uint32_t power_pwm_duty_l1, uint32_t power_pwm_duty_r1,uint32_t power_pwm_duty_l2, uint32_t power_pwm_duty_r2); +extern void by_pwm_update_duty(uint32_t update_pwm_duty1,uint32_t update_pwm_duty2); +extern void by_pwm_power_duty(uint32_t power_pwm_duty_l1, uint32_t power_pwm_duty_r1,uint32_t power_pwm_duty_l2, uint32_t power_pwm_duty_r2); #endif \ No newline at end of file diff --git a/app/jj_blueteeth.c b/app/jj_blueteeth.c index f159da4..85d59ea 100644 --- a/app/jj_blueteeth.c +++ b/app/jj_blueteeth.c @@ -14,6 +14,7 @@ enum bt_order { Speed_up = 0x04, // 加速 Speed_down = 0x05, // 减速 Speed_ctrl = 0x06, // 速度开关 + Reset, }; /** * @brief 蓝牙初始化 @@ -50,6 +51,9 @@ void jj_bt_run() case Speed_down: bt_run -= 50; break; + case Reset: + NVIC_SystemReset(); + break; default: break; } diff --git a/app/jj_motion.c b/app/jj_motion.c index 423dccc..568ad8e 100644 --- a/app/jj_motion.c +++ b/app/jj_motion.c @@ -42,6 +42,13 @@ float set_speed = 0.0f; int cnt1 = 0; int cnt2 = 0; + +static float myclip_f(float x, float low, float up) +{ + return (x > up ? up : x < low ? low + : x); +} + float sport_get_speed(void) { #define ALPHA (0.97f) @@ -60,56 +67,51 @@ float sport_get_speed(void) 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) { - in_speed = -1 * sport_get_speed(); - PID_Compute(&speed_pid); - - PID_Compute(&near_pos_pid); - - cnt1 = 0; - } - - if (cnt2 >= 20) { - cnt2 = 0; - PID_Compute(&far_angle_pid); - } - /* 动力风扇设置 */ if (1 == bt_run_flag) { - 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)); + cnt1++; + cnt2++; - } 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)); + 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) { + in_speed = -1 * sport_get_speed(); + PID_Compute(&speed_pid); + + PID_Compute(&near_pos_pid); + + cnt1 = 0; } + if (cnt2 >= 20) { + cnt2 = 0; + PID_Compute(&far_angle_pid); + } + uint32_t pwm_duty_ls = (uint32_t)myclip_f(-1 * out_pos + 1.5 * out_gyro, 0.0f, 5000.f); + uint32_t pwm_duty_rs = (uint32_t)myclip_f(1 * out_pos - 1.5 * out_gyro, 0.0f, 5000.f); + uint32_t pwm_duty_lb = (uint32_t)myclip_f(1 * out_speed + out_gyro, 0.0f, 5000.f); + uint32_t pwm_duty_rb = (uint32_t)myclip_f(1 * out_speed - out_gyro, 0.0f, 5000.f); + by_pwm_power_duty(pwm_duty_ls, pwm_duty_rs, pwm_duty_lb, pwm_duty_rb); + // 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); + by_pwm_power_duty(0, 0, 0, 0); } /* 升力风扇设置 */ if (bt_fly_flag == 0) { by_pwm_update_duty(0 + 500, 0 + 500); } else { - by_pwm_update_duty(bt_fly + 500, bt_fly + 500); + if (in_angle > 7.5 || in_angle < -7.5) { + by_pwm_update_duty(bt_fly + 450, bt_fly + 450); + } else { + by_pwm_update_duty(bt_fly + 500, bt_fly + 500); + } } } @@ -137,7 +139,7 @@ void sport_pid_init() PID(&near_pos_pid, &in_pos, &out_pos, &set_pos, po_Kp, po_Ki, po_Kd, _PID_P_ON_E, _PID_CD_DIRECT); PID_SetMode(&near_pos_pid, _PID_MODE_AUTOMATIC); PID_SetSampleTime(&near_pos_pid, 10); - PID_SetOutputLimits(&near_pos_pid, -3000.0f, 3000.0f); + PID_SetOutputLimits(&near_pos_pid, -5000.0f, 5000.0f); // PID_Init(&near_pos_pid); /* 速度控制 */ diff --git a/app/main.c b/app/main.c index 2c5991d..344fb46 100644 --- a/app/main.c +++ b/app/main.c @@ -62,13 +62,14 @@ int main(void) pit_ms_init(TIM1_PIT, 1); // 运动解算，编码器 - // printf("ok\r\n"); + printf("ok\r\n"); by_vofa_init(&vofa_test, BT_UART_INDEX, sizeof(debug_array) / sizeof(debug_array[0]), debug_array); while (1) { debug_array[0] = in_pos; debug_array[1] = out_pos; // by_vofa_send(&vofa_test); // 发送数据 + printf("pwm:%lu,%lu,%lu,%lu\r\n", pwm_duty_ls_g, pwm_duty_rs_g, pwm_duty_lb_g, pwm_duty_rb_g); Page_Run(); by_frame_parse(2, &test_data[0].u32); by_buzzer_run();