btl143/QD4C-firmware
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修改电机和pid限幅

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井明江
2024-03-27 13:26:35 +08:00
parent 2e8aec0cf5
commit 9dfb7e8dc6
2 changed files with 12 additions and 16 deletions
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20
app/jj_motion.c
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@@ -92,10 +92,10 @@ void sport_motion(void)
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);
uint32_t pwm_duty_ls = (uint32_t)myclip_f(-1 * out_pos + out_gyro, 0.0f, 8000.f);
uint32_t pwm_duty_rs = (uint32_t)myclip_f(1 * out_pos - out_gyro, 0.0f, 8000.f);
uint32_t pwm_duty_lb = (uint32_t)myclip_f(1 * out_speed + out_gyro, 0.0f, 6000.f);
uint32_t pwm_duty_rb = (uint32_t)myclip_f(1 * out_speed - out_gyro, 0.0f, 6000.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);
@@ -107,11 +107,7 @@ void sport_motion(void)
if (bt_fly_flag == 0) {
by_pwm_update_duty(0 + 500, 0 + 500);
} else {
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);
}
by_pwm_update_duty(bt_fly + 500, bt_fly + 500);
}
}
@@ -132,20 +128,20 @@ void sport_pid_init()
PID(&far_gyro_pid, &in_gyro, &out_gyro, &out_angle, gy_Kp, gy_Ki, gy_Kd, _PID_P_ON_E, _PID_CD_REVERSE);
PID_SetMode(&far_gyro_pid, _PID_MODE_AUTOMATIC);
PID_SetSampleTime(&far_gyro_pid, 1);
PID_SetOutputLimits(&far_gyro_pid, -3000.0f, 3000.0f);
PID_SetOutputLimits(&far_gyro_pid, -4000.0f, 4000.0f);
// PID_Init(&far_gyro_pid);
/* 近点控制 */
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, -5000.0f, 5000.0f);
PID_SetOutputLimits(&near_pos_pid, -4000.0f, 4000.0f);
// 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_E, _PID_CD_DIRECT);
PID_SetMode(&speed_pid, _PID_MODE_AUTOMATIC);
PID_SetSampleTime(&speed_pid, 10);
PID_SetOutputLimits(&speed_pid, 0.0f, 2500.0f);
PID_SetOutputLimits(&speed_pid, 0.0f, 2000.0f);
// PID_Init(&speed_pid);
}