封车版本，应该不会再改了

app/jj_motion.c

@@ -27,19 +27,6 @@ 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 = 3.f;
-float zg_Ki = 0;
-float zg_Kd = 0;
-
-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;
@@ -55,7 +42,19 @@ float cn_Kp1 = 25.0f;
 float cn_Ki1 = 0.f;
 float cn_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 = 3.f;
+float zg_Ki = 0;
+float zg_Kd = 0;
+
+float zp_Kp = 30.f;
+float zp_Ki = 0;
+float zp_Kd = 0;
+///////////////////////////////////////
 // 圆环后面风扇角度环
 float yu_Kp0 = 60.0f;
 float yu_Ki0 = 0.0f;
@@ -64,6 +63,8 @@ float yu_Kd0 = 0.0f;
 float ygy_Kp0 = 8.40f;
 float ygy_Ki0 = 0.0f;
 float ygy_Kd0 = 0.0f;
+// 圆环侧面角度环
+float yuc_Kp;
 // 速度环
 float sp_Kp = 2.0f;
 float sp_Ki = 4.f;
@@ -111,6 +112,8 @@ int32_t pwm_duty_lb;
 int32_t pwm_duty_rb;
 float qd_down   = 0.0f;
 float last_gy   = 0.0f;
+int32_t last_lb = 0;
+int32_t last_rb = 0;
 /*
 0:无状态
 1:弯道
@@ -147,10 +150,10 @@ void sport_motion()
     get_vol();
     in_gyro = imu660ra_gyro_z;
 
-    if (fabs(out_gyro) < 900) {
+    if (fabs(out_gyro) < 700) {
-        PID_SetOutputLimits(&speed_pid, -0.0f, 3000.0f);
+        PID_SetOutputLimits(&speed_pid, -0.0f, 2500.0f);
     } else {
-        PID_SetOutputLimits(&speed_pid, -0.0f, 2100.0f);
+        PID_SetOutputLimits(&speed_pid, -0.0f, 1800.0f);
     }
     ////////////////////////////////////////停车任务///////////////////////////////////////////////
     // 抖动停车
@@ -178,11 +181,10 @@ void sport_motion()
     }
     // 出界停车
     if (2 == in_stop) {
-        bt_printf("over");
+        bt_printf("out");
         bt_fly_flag = bt_run_flag = 0;
     }
-    ///////////////////////////////////////////////////////////////////////////////////////
+    //////////////////////////////////////////////// 动力风扇设置 */////////////////////////////////////////////////////////
-    /* 动力风扇设置 */
     if (1 == bt_run_flag) {
         cnt1++;
         cnt2++;
@@ -219,7 +221,7 @@ void sport_motion()
 
             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);
+            PID_SetTunings(&pos_pid, yuc_Kp, cn_Ki1, cn_Kd1);
         }
         if ((last_state != in_state) && in_state == 5) { //
             bt_printf("to 障碍");
@@ -249,28 +251,30 @@ void sport_motion()
         // 并级pid，限幅
         pwm_duty_ls = (int32_t)myclip_f(320 - out_pos, 140.0f, 500.f);
         pwm_duty_rs = (int32_t)myclip_f(320 + out_pos, 140.0f, 500.f);
-        pwm_duty_lb = (int32_t)myclip_f(out_speed + out_gyro, 300.0f, 3000.f);
+        pwm_duty_lb = (int32_t)myclip_f(out_speed + out_gyro, 1000.0f, 3000.f);
-        pwm_duty_rb = (int32_t)myclip_f(out_speed - out_gyro, 300.0f, 3000.f);
+        pwm_duty_rb = (int32_t)myclip_f(out_speed - out_gyro, 1000.0f, 3000.f);
+        if (pwm_duty_lb - last_lb > 1000) {
+            pwm_duty_lb = (pwm_duty_lb + last_lb) / 2;
+        }
+        if (pwm_duty_rb - last_rb > 1000) {
+            pwm_duty_rb = (pwm_duty_rb + last_rb) / 2;
+        }
 
-        by_pwm_power_duty(500 + pwm_duty_ls, 500 + pwm_duty_rs, 3600 + pwm_duty_lb, 3600 + pwm_duty_rb);
+        last_rb = pwm_duty_rb;
+        last_lb = pwm_duty_lb;
 
+        by_pwm_power_duty(500 + pwm_duty_ls, 500 + pwm_duty_rs, 3000 + pwm_duty_lb, 3000 + pwm_duty_rb);
     } else {
         by_pwm_power_duty(0, 0, 0, 0);
     }
-    /* 升力风扇设置 */
+    ///////////////////////////////////////////////////* 升力风扇设置 */ /////////////////////////////////////////////////////////////////////////////////////////////////
     if (bt_fly_flag == 0) {
         by_pwm_update_duty(500, 500);
     } else {
-
+        by_pwm_update_duty(bt_fly + 500, bt_fly + 500);
-        if (in_state == 1) {
+        // 防止起步拉满
-
+        if (bt_run_flag == 0)
-            qd_down = 20;
+            by_pwm_power_duty(0, 0, 4000, 4000);
-
-        } else if (in_state == 4) {
-            qd_down = 20;
-        }
-
-        by_pwm_update_duty(bt_fly + 500 - qd_down, bt_fly + 500 - qd_down);
     }
 }
 
@@ -284,7 +288,7 @@ void sport_pid_init()
     PID(&far_angle_pid, &in_angle, &out_angle, &set_angle, an_Kp1, an_Ki1, an_Kd1, _PID_P_ON_E, _PID_CD_REVERSE);
     PID_SetMode(&far_angle_pid, _PID_MODE_AUTOMATIC);
     PID_SetSampleTime(&far_angle_pid, 20);
-    PID_SetOutputLimits(&far_angle_pid, -3000.0f, 3000.0f);
+    PID_SetOutputLimits(&far_angle_pid, -4000.0f, 4000.0f);
     // 侧面位置环
     PID(&pos_pid, &in_angle, &out_pos, &set_pos, po_Kp1, po_Ki1, po_Kd1, _PID_P_ON_E, _PID_CD_REVERSE);
     PID_SetMode(&pos_pid, _PID_MODE_AUTOMATIC);
@@ -301,5 +305,5 @@ void sport_pid_init()
     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, 2100.0f);
+    PID_SetOutputLimits(&speed_pid, -0.0f, 1800.0f);
 }

app/jj_motion.h

@@ -59,6 +59,7 @@ extern float set_speed;
 extern float set_speed4;
 extern float shock_stop;
 extern float last_angle;
+extern float yuc_Kp;
 extern int32_t pwm_duty_ls;
 extern int32_t pwm_duty_rs;
 extern int32_t pwm_duty_lb;

app/jj_param.c

@@ -27,7 +27,7 @@ void jj_param_eeprom_init(void)
     PARAM_REG(gyro_Kd0, &gy_Kd0, EFLOAT, 1, "gy_D0:");
 
     PARAM_REG(can_Kp1, &cn_Kp1, EFLOAT, 1, "cn_P1:"); // 注冊
-    PARAM_REG(can_Ki1, &cn_Ki1, EFLOAT, 1, "cn_I1:"); // 注冊
+    PARAM_REG(can_Ki1, &yuc_Kp, EFLOAT, 1, "yu_P1:"); // 注冊
     PARAM_REG(can_Kd1, &cn_Kd1, EFLOAT, 1, "cn_D1:");
 
     PARAM_REG(fly_pwm, &bt_fly, EFLOAT, 1, "fly:");