347 lines
10 KiB
C
347 lines
10 KiB
C
#include "jj_motion.h"
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#include <math.h>
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#include "zf_common_headfile.h"
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#include "pid.h"
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#include "jj_voltage.h"
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#include "jj_blueteeth.h"
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#include "by_fan_control.h"
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#include "by_imu.h"
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#include "by_frame.h"
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PID_TypeDef far_angle_pid;
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PID_TypeDef pos_pid;
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PID_TypeDef far_gyro_pid;
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PID_TypeDef speed_pid;
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PID_TypeDef cir_pos_pid;
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///////////////////////////////////////////
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// 直道后面风扇角度环
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float an_Kp1 = 46.0f;
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float an_Ki1 = 0.0f;
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float an_Kd1 = 0.0f;
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// 直道角速度环
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float gy_Kp1 = 1.530f;
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float gy_Ki1 = 0.0f;
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float gy_Kd1 = 0.0f;
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// 直道侧面风扇角度环
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float po_Kp1 = 2.10f;
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float po_Ki1 = 0.0f;
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float po_Kd1 = 0.0f;
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////////////////////////////////////
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// 弯道后面风扇角度环
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float an_Kp0 = 53.0f;
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float an_Ki0 = 0.0f;
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float an_Kd0 = 0.0f;
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// 弯道角速度环
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float gy_Kp0 = 2.2180f;
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float gy_Ki0 = 0.0f;
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float gy_Kd0 = 0.0f;
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// 弯道侧面风扇角度环
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float cn_Kp1 = 7.0f;
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float cn_Ki1 = 0.f;
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float cn_Kd1 = 0.0f;
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////////////////////////////////////////
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// 避障后面角度环
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float za_Kp = 55.f;
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float za_Ki = 0;
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float za_Kd = 0;
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float zg_Kp = 2.f;
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float zg_Ki = 0;
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float zg_Kd = 0;
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float zp_Kp = 6.f;
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float zp_Ki = 0;
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float zp_Kd = 0;
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///////////////////////////////////////
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// 圆环后面风扇角度环
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float yu_Kp0 = 58.0f;
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float yu_Ki0 = 0.0f;
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float yu_Kd0 = 0.0f;
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// 圆环角速度环
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float ygy_Kp0 = 2.20f;
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float ygy_Ki0 = 0.0f;
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float ygy_Kd0 = 0.0f;
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// 圆环侧面角度环
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float yuc_Kp = 4.4f;
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// 速度环
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float sp_Kp = 3.40f;
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float sp_Ki = 3.6f;
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float sp_Kd = 0.0f;
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////////////////////////////////////////////////////
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// 当前和输入量
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float in_gyro;
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float out_gyro;
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// 期望和当前量
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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 in_pos;
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float out_pos;
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float set_pos = 0.0f;
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// float set_gyro = 0.0f;
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float rate_K = 0;
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float in_speed;
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float out_speed;
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float last_angle;
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float set_speed;
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float set_speed0 = 657.0f;
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float set_speed1 = 1111.0f;
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float set_speed2 = 815.f;
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float set_speed3 = 666.f;
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float set_speed4 = 720.f;
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int cnt1 = 0;
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int cnt2 = 0;
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int cnt3 = 0;
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int cnt4 = 0; //
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int cnt5 = 0;
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int cnt6 = 0; //
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int cnt7 = 0;
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int cnt8 = 0;
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int cnt9 = 0; //
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int cnt10 = 0; //
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int if_start = 0;
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uint8_t in_state = 0;
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uint8_t in_stop = 0;
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uint8_t last_state = 0;
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uint8_t stop_flag = 0;
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int32_t pwm_duty_ls;
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int32_t pwm_duty_rs;
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int32_t pwm_duty_lb;
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int32_t pwm_duty_rb;
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int32_t stop_cnt = 0;
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int32_t last_lb = 0;
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int32_t last_rb = 0;
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float start_dis = 0;
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float set_dis=1.f;
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uint8_t go_cnt = 0; // 0 停车 1 测试侧向风扇 2 启动 3成功运行
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float bug_sw = 0;
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float out_sw = 0;
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float sho_sw = 0;
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/*
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0:无状态
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1:弯道
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2:直道
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3:入环
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4:环内
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5:障碍
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*/
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static float myclip_f(float x, float low, float up)
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{
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return (x > up ? up : x < low ? low
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: x);
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}
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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(TIM3_ENCOEDER) + (1.0f - ALPHA) * speed_last;
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speed_last = speed_now;
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encoder_clear_count(TIM3_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()
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{
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imu660ra_get_gyro();
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imu660ra_get_acc();
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get_vol();
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in_gyro = imu660ra_gyro_z;
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////////////////////////////////////////停车任务///////////////////////////////////////////////
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// 抖动停车，计次50
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if (imu660ra_acc_z <= 800) {
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cnt7++;
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} else {
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cnt7 = 0;
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}
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if (cnt7 >= 50 && (uint8_t)sho_sw == 1) {
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bt_fly_flag = bt_run_flag = 0;
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bt_printf("up");
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go_cnt = 0;
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}
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// 異常值停车
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if (fabs(in_angle - last_angle) > 45.f && (uint8_t)bug_sw == 1) {
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bt_fly_flag = bt_run_flag = 0;
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bt_printf("bug");
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go_cnt = 0;
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}
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// 斑马线停车,摄像头识别，屏蔽发车前的十秒钟
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if (1 == in_stop && if_start == 1) {
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stop_flag = 1;
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}
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if (stop_flag == 1) {
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bt_printf("finish");
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bt_fly_flag = bt_run_flag = 0;
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go_cnt = 0;
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}
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// 出界停车,已经积分路过斑马线，保证斑马线不会触发
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if (2 == in_stop && (start_dis >= set_dis|| bt_run_flag == 0) && (uint8_t)out_sw == 1) {
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bt_printf("out");
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go_cnt = 0;
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bt_fly_flag = bt_run_flag = 0;
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}
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//////////////////////////////////////////////// 动力风扇设置 */////////////////////////////////////////////////////////
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if (1 == bt_run_flag) {
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cnt1++;
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cnt2++;
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cnt5++;
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// 斑马线积分,系数随便给的
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start_dis += in_speed * 0.0000018f;
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if (if_start == 0) {
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cnt8++;
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if (cnt8 >= 5000) {
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if_start = 1;
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}
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}
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// pid参数切换
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if ((last_state != in_state) && (in_state == 2)) { // 直道
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bt_printf("to 直道");
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set_speed = set_speed1;
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PID_SetTunings(&far_angle_pid, an_Kp1, an_Ki1, an_Kd1);
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PID_SetTunings(&far_gyro_pid, gy_Kp1, gy_Ki1, gy_Kd1);
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PID_SetTunings(&pos_pid, po_Kp1, po_Ki1, po_Kd1);
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} else if ((last_state != in_state) && in_state == 1) { // 弯道
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bt_printf("to 入弯");
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set_speed = set_speed0 - fabs(rate_K * myclip_f(in_pos, -50.f, 50.f));
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PID_SetTunings(&far_angle_pid, an_Kp0, an_Ki0, an_Kd0);
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PID_SetTunings(&far_gyro_pid, gy_Kp0, gy_Ki0, gy_Kd0);
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PID_SetTunings(&pos_pid, cn_Kp1, cn_Ki1, cn_Kd1);
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} else if ((last_state != in_state) && (in_state == 3 || in_state == 4)) { // 圆环
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bt_printf("to 圆环");
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if (in_state == 3)
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set_speed = set_speed2;
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else
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set_speed = set_speed3;
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PID_SetTunings(&far_angle_pid, yu_Kp0, yu_Ki0, yu_Kd0);
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PID_SetTunings(&far_gyro_pid, ygy_Kp0, ygy_Ki0, ygy_Kd0);
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PID_SetTunings(&pos_pid, yuc_Kp, cn_Ki1, cn_Kd1);
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} else if ((last_state != in_state) && in_state == 5) { //
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bt_printf("to 障碍");
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set_speed = set_speed4;
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PID_SetTunings(&far_angle_pid, za_Kp, za_Ki, za_Kd);
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PID_SetTunings(&far_gyro_pid, zg_Kp, zg_Ki, zg_Kd);
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PID_SetTunings(&pos_pid, zp_Kp, zp_Ki, zp_Kd);
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}
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if (in_state == 1) {
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if (fabs(in_pos) <= 12.0f) {
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set_speed = set_speed0 - fabs(rate_K / 3 * myclip_f(in_pos, -50.f, 50.f));
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} else {
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set_speed = set_speed0 - fabs(rate_K * myclip_f(in_pos, -50.f, 50.f));
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}
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}
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// 记录上一次状态
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last_state = in_state;
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// pid计算
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if (cnt1 >= 2) {
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PID_Compute(&far_gyro_pid);
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cnt1 = 0;
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}
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if (cnt2 >= 10) {
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in_speed = sport_get_speed();
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cnt2 = 0;
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PID_Compute(&far_angle_pid);
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}
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if (cnt5 >= 20) {
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PID_Compute(&pos_pid);
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PID_Compute(&speed_pid);
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cnt5 = 0;
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}
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// 并级pid，限幅
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pwm_duty_ls = (int32_t)myclip_f(240 - out_pos, 100.0f, 500.f);
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pwm_duty_rs = (int32_t)myclip_f(240 + out_pos, 100.0f, 500.f);
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// 并级pid的缺点补偿
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if (out_speed >= 1000) {
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pwm_duty_lb = (int32_t)myclip_f(out_speed + out_gyro, 1000.0f, 3000.f);
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pwm_duty_rb = (int32_t)myclip_f(out_speed - out_gyro, 1000.0f, 3000.f);
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} else {
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pwm_duty_lb = (int32_t)myclip_f(out_speed + 4 * out_gyro, 1000.0f, 3000.f);
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pwm_duty_rb = (int32_t)myclip_f(out_speed - 4 * out_gyro, 1000.0f, 3000.f);
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}
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if (pwm_duty_lb - last_lb > 1000) {
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pwm_duty_lb = (pwm_duty_lb + last_lb) / 2;
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}
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if (pwm_duty_rb - last_rb > 1000) {
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pwm_duty_rb = (pwm_duty_rb + last_rb) / 2;
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}
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last_rb = pwm_duty_rb;
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last_lb = pwm_duty_lb;
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by_pwm_power_duty(500 + pwm_duty_ls, 500 + pwm_duty_rs, 3000 + pwm_duty_lb, 3000 + pwm_duty_rb);
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} else {
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by_pwm_power_duty(0, 0, 0, 0);
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}
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///////////////////////////////////////////////////* 升力风扇设置 */ /////////////////////////////////////////////////////////////////////////////////////////////////
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if (bt_fly_flag == 1) {
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by_pwm_update_duty(bt_fly + 500, bt_fly + 500);
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if (bt_run_flag == 0) {
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// 测试状态
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if (1 == go_cnt) {
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by_pwm_power_duty(600, 600, 3000, 3000);
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} else if (2 == go_cnt) {
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cnt3++;
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if (cnt3 < 2000) {
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by_pwm_power_duty(600, 600, 3000, 3000);
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} else if (cnt3 >= 2000 && cnt3 < 3000) {
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by_pwm_power_duty(600, 600, 4000, 4000);
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} else if (cnt3 >= 3000) {
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bt_run_flag = 1;
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go_cnt = 3;
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cnt3 = 0;
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}
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}
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}
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} else {
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by_pwm_update_duty(500, 500);
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}
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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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/* 角度控制 */
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PID(&far_angle_pid, &in_angle, &out_angle, &set_angle, an_Kp1, an_Ki1, an_Kd1, _PID_P_ON_E, _PID_CD_REVERSE);
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PID_SetMode(&far_angle_pid, _PID_MODE_AUTOMATIC);
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PID_SetSampleTime(&far_angle_pid, 10);
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PID_SetOutputLimits(&far_angle_pid, -6000.0f, 6000.0f);
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// 侧面位置环
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PID(&pos_pid, &in_angle, &out_pos, &set_pos, po_Kp1, po_Ki1, po_Kd1, _PID_P_ON_E, _PID_CD_REVERSE);
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PID_SetMode(&pos_pid, _PID_MODE_AUTOMATIC);
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PID_SetSampleTime(&pos_pid, 20);
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PID_SetOutputLimits(&pos_pid, -260.0f, 260.0f);
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/* 角速度控制 */
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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
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PID_SetMode(&far_gyro_pid, _PID_MODE_AUTOMATIC);
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PID_SetSampleTime(&far_gyro_pid, 20);
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PID_SetOutputLimits(&far_gyro_pid, -2100.0f, 2100.0f);
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/* 速度控制 */
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PID(&speed_pid, &in_speed, &out_speed, &set_speed, sp_Kp, sp_Ki, sp_Kd, _PID_P_ON_M, _PID_CD_DIRECT);
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PID_SetMode(&speed_pid, _PID_MODE_AUTOMATIC);
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PID_SetSampleTime(&speed_pid, 20);
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PID_SetOutputLimits(&speed_pid, -0.0f, 2500.0f);
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}
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