最新一般有刷加无刷

app/by_fan_control.c

@@ -78,10 +78,10 @@ void by_pwm_init(void)
     // pwm_init(FAN_LS_PWM_B_PIN, 40000, 0);
     // pwm_init(FAN_RS_PWM_A_PIN, 40000, 0);
     // pwm_init(FAN_RS_PWM_B_PIN, 40000, 0);
-    pwm_init(FAN_LB_PWM_A_PIN, 50000, 0);
+    pwm_init(FAN_LB_PWM_A_PIN, 40000, 0);
-    pwm_init(FAN_LB_PWM_B_PIN, 50000, 0);
+    pwm_init(FAN_LB_PWM_B_PIN, 40000, 0);
-    pwm_init(FAN_RB_PWM_A_PIN, 50000, 0);
+    pwm_init(FAN_RB_PWM_A_PIN, 40000, 0);
-    pwm_init(FAN_RB_PWM_B_PIN, 50000, 0);
+    pwm_init(FAN_RB_PWM_B_PIN, 40000, 0);
 }
 
 /**

app/jj_motion.c

@@ -104,7 +104,6 @@ int32_t pwm_duty_ls;
 int32_t pwm_duty_rs;
 int32_t pwm_duty_lb;
 int32_t pwm_duty_rb;
-uint32_t stop_have = 0;
 float qd_down = 0.0f;
 float last_gy = 0.0f;
 /*
@@ -169,11 +168,7 @@ void sport_motion()
         cnt1++;
         cnt2++;
         cnt5++;
-        // 屏蔽斑马线
+
-        if (stop_have == 0) {
-            stop_have = 1;
-            by_frame_send(&stop_have);
-        }
         // pid参数切换
         if ((last_state != in_state) && (in_state == 0 || in_state == 2)) { // 直道
             cnt3_flag = 1;
@@ -255,9 +250,9 @@ void sport_motion()
                     cnt3      = 0;
                 }
                 if (in_speed > set_speed) {
-                    qd_down = 50;
+                    qd_down = 25;
                 } else if (in_speed > set_speed - 100) {
-                    qd_down = 20;
+                    qd_down = 10;
                 } else {
                     qd_down = 0;
                 }
@@ -268,39 +263,29 @@ void sport_motion()
                     cnt3_flag = 2;
                     cnt3      = 0;
                 }
-                if (in_speed > set_speed) {
+                if (in_speed > set_speed)
-                    qd_down = 4 * fabs(in_pos) + 20;
+                    qd_down = (in_speed - set_speed) * 0.5 + 40;
-                } else if (in_speed > set_speed - 100) {
+                else
-                    qd_down = 2 * fabs(in_pos) + 10;
+                    qd_down = -10;
-                } else {
-                    qd_down = 0;
-                }
-            } else if (in_state == 5) {
-                if (cnt3 >= 400) // 200ms
-                {
-                    bt_printf("to 开张");
-                    cnt3_flag = 2;
-                    cnt3      = 0;
-                }
-                if (in_speed > set_speed - 100) {
-                    qd_down = 150;
-                } else if (in_speed > set_speed - 200) {
-                    qd_down = 75;
-                } else {
-                    qd_down = 25;
-                }
             }
 
             by_pwm_update_duty(bt_fly + 500 - qd_down, bt_fly + 500 - qd_down);
         } else {
-            if (in_state == 1) {
+            if (in_state == 1) { // 消除s弯降气垫
-                qd_down = 50;
+                if (in_speed >= set_speed / 1.2) {
-            } else if (in_state == 3) {
+                    qd_down = 40;
+                } else if (in_speed >= set_speed / 1.5) {
+                    qd_down = 25;
+                } else if (in_speed >= set_speed / 2) {
                     qd_down = 10;
                 }else {
                     qd_down = 0;
                 }
 
+            } else {
+                qd_down = 0;
+            }
+
             by_pwm_update_duty(bt_fly + 500 - qd_down, bt_fly + 500 - qd_down);
         }
     }
@@ -327,7 +312,7 @@ void sport_pid_init()
     PID(&far_gyro_pid, &in_gyro, &out_gyro, &out_angle, gy_Kp1, gy_Ki1, gy_Kd1, _PID_P_ON_E, _PID_CD_REVERSE); // m是增量
     PID_SetMode(&far_gyro_pid, _PID_MODE_AUTOMATIC);
     PID_SetSampleTime(&far_gyro_pid, 20);
-    PID_SetOutputLimits(&far_gyro_pid, -6000.0f, 6000.0f);
+    PID_SetOutputLimits(&far_gyro_pid, -4800.0f, 4800.0f);
 
     /* 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);

app/main.c

@@ -37,13 +37,17 @@
 #include "by_rt_button.h"
 #include "by_fan_control.h"
 
+uint32_t send_reset = 0x0D;
 int main(void)
 {
     TYPE_UNION test_data[BY_FRAME_DATA_NUM];
     clock_init(SYSTEM_CLOCK_144M);
     system_delay_init();
     debug_init();
-
+    by_frame_init();
+    for (int i = 0; i < 3; i++) {
+        by_frame_send(&send_reset);
+    }
     encoder_quad_init(TIM3_ENCOEDER, TIM3_ENCOEDER_MAP3_CH1_C6, TIM3_ENCOEDER_MAP3_CH2_C7);
     ips200_init(IPS200_TYPE_SPI);
     while (imu660ra_init());
@@ -52,7 +56,7 @@ int main(void)
     vol_init();
     by_rb_init();
     by_buzzer_init();
-    by_frame_init();
+
     by_pwm_init();
 
     Page_Init();
@@ -63,7 +67,6 @@ int main(void)
     bt_printf("ok\r\n");
 
     while (1) {
-       
         // 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(&test_data[0].u32);

app/page/page_menu.c

@@ -80,6 +80,11 @@ static void Event(page_event event)
         }
     } else if (page_event_press_long == event) {
         go_flag       = 1;
+        uint32_t temp = 0x5c;
+        for (int i = 0; i < 3; i++) {
+            by_frame_send(&temp);
+        }
+
         ips200_clear();
     }