123 lines
3.1 KiB
C
123 lines
3.1 KiB
C
#include "jj_motion.h"
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#include "by_fan_control.h"
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#include "by_imu.h"
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#include "jj_blueteeth.h"
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#include "../3rd-lib/PID-Library/pid.h"
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#include "zf_driver_encoder.h"
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PID_TypeDef far_angle_pid;
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PID_TypeDef far_gyro_pid;
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PID_TypeDef near_pos_pid;
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PID_TypeDef speed_pid;
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float an_Kp = 8.0f;
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float an_Ki = 1.0f;
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float an_Kd = 2.0f;
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float in_angle;
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float set_angle = 0.0f;
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float out_angle;
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float gy_Kp = 1.0f;
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float gy_Ki = 0.0f;
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float gy_Kd = 0.0f;
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float in_gyro;
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float out_gyro;
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// float set_gyro = 0.0f;
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float po_Kp = 1.0f;
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float po_Ki = 0.0f;
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float po_Kd = 0.0f;
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float in_pos;
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float out_pos;
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float set_pos = 0.0f;
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float sp_Kp = 1.0f;
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float sp_Ki = 0.0f;
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float sp_Kd = 0.0f;
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float in_speed;
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float out_speed;
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float set_speed = 0.0f;
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int cnt1 = 0;
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float sport_get_speed(void)
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{
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#define ALPHA (0.97f)
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static float speed_now = 0;
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static float speed_last = 0;
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speed_now = ALPHA * (float)encoder_get_count(TIM5_ENCOEDER) + (1.0f - ALPHA) * speed_last;
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speed_last = speed_now;
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encoder_clear_count(TIM5_ENCOEDER);
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return speed_now;
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#undef ALPHA
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}
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void sport_motion(void)
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{
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cnt1++;
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imu660ra_get_gyro();
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in_gyro = imu660ra_gyro_z; // 陀螺仪输入
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// in_angle = 0; // 图像远端输入
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// in_pos = 0; // 图像近端输入
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// 清除计数
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PID_Compute(&far_gyro_pid);
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if (cnt1 >= 10) {
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PID_Compute(&far_angle_pid);
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PID_Compute(&speed_pid);
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// in_speed = -encoder_get_count(TIM5_ENCOEDER); // 速度输入，m/s
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in_speed = sport_get_speed();
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printf("rate:%d\r\n", (int16_t)in_speed);
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PID_Compute(&near_pos_pid);
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cnt1 = 0;
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}
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if (bt_run_flag == 1) {
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by_pwm_power_duty((int32_t)(500 + out_pos + out_gyro),
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(int32_t)(500 - out_pos - out_gyro),
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(int32_t)(500 + out_speed + out_gyro),
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(int32_t)(500 + out_speed - out_gyro));
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} else {
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by_pwm_power_duty(500, 500, 500, 500);
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}
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if (bt_fly_flag == 0) {
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bt_fly = 0;
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}
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by_pwm_update_duty(bt_fly + 500, bt_fly + 500);
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}
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/**
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* @brief 结构体初始化
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*
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*/
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void sport_pid_init()
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{
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PID(&far_angle_pid, &in_angle, &out_angle, &set_angle, an_Kp, an_Ki, an_Kd, 0, 1);
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PID(&far_gyro_pid, &in_gyro, &out_gyro, &out_angle, gy_Kp, gy_Ki, gy_Kd, 1, 1);
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PID_Init(&far_angle_pid);
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PID_Init(&far_gyro_pid);
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PID_SetOutputLimits(&far_angle_pid, -500.0f, 500.0f);
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PID_SetOutputLimits(&far_gyro_pid, -500.0f, 500.0f);
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PID_SetMode(&far_gyro_pid, 1);
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PID_SetMode(&far_angle_pid, 1);
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PID(&near_pos_pid, &in_pos, &out_pos, &set_pos, po_Kp, po_Ki, po_Kd, 0, 0);
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PID(&speed_pid, &in_speed, &out_speed, &set_speed, sp_Kp, sp_Ki, sp_Kd, 1, 0);
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PID_Init(&near_pos_pid);
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PID_Init(&speed_pid);
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PID_SetOutputLimits(&near_pos_pid, -500.0f, 500.0f);
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PID_SetOutputLimits(&speed_pid, -400.0f, 400.0f);
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PID_SetMode(&near_pos_pid, 1);
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PID_SetMode(&speed_pid, 1);
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}
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