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feat:增加圆环参数

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井明江
2024-06-07 21:55:55 +08:00
parent 5dd6ddd802
commit 81f0e13eae
13 changed files with 354 additions and 199 deletions
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139
app/jj_motion.c
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@@ -10,58 +10,62 @@
PID_TypeDef far_angle_pid;
PID_TypeDef angle_pid;
PID_TypeDef far_gyro_pid;
PID_TypeDef near_pos_pid;
PID_TypeDef speed_pid;
float an_Kp0 = 45.0f;
// 弯道后面风扇角度环
float an_Kp0 = 51.0f;
float an_Ki0 = 0.0f;
float an_Kd0 = 0.0f;
float an_Kp1 = 45.0f;
// 直道后面风扇角度环
float an_Kp1 = 42.0f;
float an_Ki1 = 0.0f;
float an_Kd1 = 0.0f;
// 圆环后面风扇角度环
float yu_Kp0 = 40.0f;
float yu_Ki0 = 0.0f;
float yu_Kd0 = 0.0f;
// 弯道侧面风扇角度环
float cn_Kp1 = 420.0f;
float cn_Ki1 = 0.f;
float cn_Kd1 = 0.0f;
// 直道侧面风扇角度环
float po_Kp1 = 600.0f;
float po_Ki1 = 0.0f;
float po_Kd1 = 0.0f;
// 期望和当前量
float in_angle;
float set_angle = 0.0f;
float out_angle;
float cn_Kp1 = 45.0f;
float cn_Ki1 = 0.f;
float cn_Kd1 = 0.0f;
float out_cangle;
float gy_Kp0 = 4.0f;
float gy_Ki0 = 0.0f;
float gy_Kd0 = 0.0f;
float gy_Kp1 = 4.0f;
float gy_Ki1 = 0.0f;
float gy_Kd1 = 0.0f;
float in_gyro;
float out_gyro;
// float set_gyro = 0.0f;
float po_Kp0 = 0.0f;
float po_Ki0 = 0.0f;
float po_Kd0 = 0.0f;
float po_Kp1 = 200.0f;
float po_Ki1 = 2.0f;
float po_Kd1 = 0.0f;
float in_pos;
float out_pos;
float set_pos = 0.0f;
// 弯道角速度环
float gy_Kp0 = 2.50f;
float gy_Ki0 = 0.0f;
float gy_Kd0 = 0.0f;
// 直道角速度环
float gy_Kp1 = 4.2f;
float gy_Ki1 = 0.0f;
float gy_Kd1 = 0.0f;
// 圆环角速度环
float ygy_Kp0 = 0.0f;
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 = 16.0f;
float sp_Ki = 10.f;
float sp_Ki = 42.f;
float sp_Kd = 0.0f;
float in_speed;
float out_speed;
float temp_data = 0;
float set_speed = 100.0f;
float set_speed0 = 200.0f;
float set_speed1 = 300.0f;
float set_speed2 = 500.f;
float set_speed;
float set_speed0 = 520.0f;
float set_speed1 = 900.0f;
float set_speed2 = 550.f;
int cnt1 = 0;
int cnt2 = 0;
int cnt3 = 0;
@@ -70,7 +74,7 @@ uint8_t cnt3_flag = 0;
uint8_t in_state = 0;
uint8_t in_stop = 0;
uint8_t last_state = 0;
uint8_t stop_flag = 0;
uint32_t pwm_duty_ls;
uint32_t pwm_duty_rs;
uint32_t pwm_duty_lb;
@@ -97,20 +101,29 @@ float sport_get_speed(void)
#undef ALPHA
}
void sport_motion(void)
void sport_motion()
{
imu660ra_get_gyro();
imu660ra_get_acc();
in_gyro = imu660ra_gyro_z;
// 停车
if (1 == in_stop) {
if (imu660ra_acc_z <= 1000) {
bt_fly_flag = bt_run_flag = 0;
}
if (1 == in_stop) {
stop_flag = 1;
}
if (stop_flag == 1) {
cnt4++;
if (cnt4 >= 200) {
bt_fly_flag = bt_run_flag = 0;
}
}
/* 动力风扇设置 */
if (1 == bt_run_flag) {
cnt1++;
cnt2++;
cnt4++;
// pid参数切换
if ((last_state != in_state) && (in_state == 0 || in_state == 2)) { // 直道
cnt3_flag = 0;
@@ -119,6 +132,8 @@ void sport_motion(void)
set_speed = set_speed1;
PID_SetTunings(&far_angle_pid, an_Kp1, an_Ki1, an_Kd1);
PID_SetTunings(&far_gyro_pid, gy_Kp1, gy_Ki1, gy_Kd1);
PID_SetTunings(&angle_pid, po_Kp1, po_Ki1, po_Kd1);
}
if ((last_state != in_state) && in_state == 1) { // 弯道
bt_printf("to 入弯");
@@ -126,13 +141,17 @@ void sport_motion(void)
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(&angle_pid, cn_Kp1, cn_Ki1, cn_Kd1);
}
if ((last_state != in_state) && in_state == 3) { // 弯道
if ((last_state != in_state) && in_state == 3) { // 圆环
bt_printf("to 圆环");
set_speed = set_speed2;
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(&far_angle_pid, an_Kp0, an_Ki0, an_Kd0);
PID_SetTunings(&angle_pid, cn_Kp1, cn_Ki1, cn_Kd1);
}
last_state = in_state;
if (cnt3_flag == 1 && (in_state == 1 || in_state == 3)) {
@@ -150,43 +169,25 @@ void sport_motion(void)
cnt1 = 0;
}
if (cnt2 >= 10) {
cnt2 = 0;
PID_Compute(&near_pos_pid);
}
if (cnt4 >= 10) {
in_speed = sport_get_speed();
PID_Compute(&speed_pid);
PID_Compute(&far_angle_pid);
PID_Compute(&angle_pid);
cnt4 = 0;
cnt2 = 0;
}
if (in_state == 0 || in_state == 2) {
pwm_duty_ls = (int32_t)myclip_f(-out_pos, 0.0f, 6000.f);
pwm_duty_rs = (int32_t)myclip_f(out_pos, 0.0f, 6000.f);
pwm_duty_lb = (int32_t)myclip_f(out_speed + out_gyro, 0.0f, 6000.f);
pwm_duty_rb = (int32_t)myclip_f(out_speed - out_gyro, 0.0f, 6000.f);
} else if (in_state == 1||in_state == 3) {
} else if (in_state == 1 || in_state == 3) {
pwm_duty_ls = (int32_t)myclip_f(-out_cangle, -6000.0f, 6000.f);
pwm_duty_rs = (int32_t)myclip_f(out_cangle, -6000.0f, 6000.f);
pwm_duty_ls = (int32_t)myclip_f(-out_pos, -6000.0f, 6000.f);
pwm_duty_rs = (int32_t)myclip_f(out_pos, -6000.0f, 6000.f);
pwm_duty_lb = (int32_t)myclip_f(out_speed + out_gyro, -6000.0f, 6000.f);
pwm_duty_rb = (int32_t)myclip_f(out_speed - out_gyro, -6000.0f, 6000.f);
}
// else if (in_state == 3) {
// if (out_gyro > 0) {
// pwm_duty_ls = (int32_t)myclip_f(-out_cangle, -6000.0f, 6000.f);
// pwm_duty_rs = (int32_t)myclip_f(out_cangle, -6000.0f, 6000.f);
// pwm_duty_lb = (int32_t)myclip_f(out_speed + out_gyro, 0.0f, 6000.f);
// pwm_duty_rb = (int32_t)myclip_f(out_speed, 0.0f, 6000.f);
// } else {
// pwm_duty_ls = (int32_t)myclip_f(-out_cangle, -6000.0f, 6000.f);
// pwm_duty_rs = (int32_t)myclip_f(out_cangle, -6000.0f, 6000.f);
// pwm_duty_lb = (int32_t)myclip_f(out_speed, 0.0f, 6000.f);
// pwm_duty_rb = (int32_t)myclip_f(out_speed - out_gyro, 0.0f, 6000.f);
// }
// }
by_pwm_power_duty((int32_t)pwm_duty_ls, (int32_t)pwm_duty_rs, (int32_t)pwm_duty_lb, (int32_t)pwm_duty_rb);
} else {
@@ -218,7 +219,7 @@ void sport_pid_init()
PID_SetSampleTime(&far_angle_pid, 10);
PID_SetOutputLimits(&far_angle_pid, -3000.0f, 3000.0f);
PID(&angle_pid, &in_angle, &out_cangle, &set_angle, cn_Kp1, cn_Ki1, cn_Kd1, _PID_P_ON_E, _PID_CD_REVERSE);
PID(&angle_pid, &in_angle, &out_pos, &set_pos, po_Kp1, po_Ki1, po_Kd1, _PID_P_ON_E, _PID_CD_REVERSE);
PID_SetMode(&angle_pid, _PID_MODE_AUTOMATIC);
PID_SetSampleTime(&angle_pid, 10);
PID_SetOutputLimits(&angle_pid, -6000.0f, 6000.0f);
@@ -229,17 +230,9 @@ void sport_pid_init()
PID_SetSampleTime(&far_gyro_pid, 10);
PID_SetOutputLimits(&far_gyro_pid, -5000.0f, 5000.0f);
/* 近点控制 */
PID(&near_pos_pid, &in_angle, &out_pos, &set_pos, po_Kp1, po_Ki1, po_Kd1, _PID_P_ON_E, _PID_CD_REVERSE);
PID_SetMode(&near_pos_pid, _PID_MODE_AUTOMATIC);
PID_SetSampleTime(&near_pos_pid, 10);
PID_SetOutputLimits(&near_pos_pid, -5000.0f, 5000.0f);
// PID_Init(&near_pos_pid);
/* 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, 10);
PID_SetOutputLimits(&speed_pid, -4000.0f, 5000.0f);
// PID_Init(&speed_pid);
}