From 4d406fcf97cf8b34951c0ab398a06888148ea51e Mon Sep 17 00:00:00 2001 From: xushenghao Date: Sun, 8 Dec 2024 10:30:14 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BD=8D=E7=BD=AE=E5=BC=8F=E5=AE=8C=E6=88=90?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- MDK-ARM/motor/motor.hex | 1666 ++++++++++++++++++++------------------- User/application/app.c | 7 +- User/application/work.c | 43 +- User/application/work.h | 5 +- 4 files changed, 891 insertions(+), 830 deletions(-) diff --git a/MDK-ARM/motor/motor.hex b/MDK-ARM/motor/motor.hex index c42aede..e8bd8d6 100644 --- a/MDK-ARM/motor/motor.hex +++ b/MDK-ARM/motor/motor.hex @@ -14,7 +14,7 @@ :1000C0001F0100081F0100081F0100081F01000890 :1000D0001F010008F51F00081F0100081F0100088C :1000E0001F0100081F0100081F010008DFF810D0E1 -:1000F00000F01AFC0048004749390008AFF30080BF +:1000F00000F01AFC004800479D390008AFF300806B :10010000002000200648804706480047FEE7FEE73B :10011000FEE7FEE7FEE7FEE7FEE7FEE7FEE7FEE7B7 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a/User/application/app.c +++ b/User/application/app.c @@ -24,7 +24,12 @@ static uint8_t business_inspection(struct flow *fl) ssd1306_update_screen(); break; case WORK_MOTOR_POS: - /* code */ + ssd1306_clear_buffer(); + ssd1306_f8x16_string(0, 0, " TAR:"); + ssd1306_f8x16_number(48, 0, work.target_pos, 1); + ssd1306_f8x16_string(0, 2, " CUR:"); + ssd1306_f8x16_number(48, 2, work.encoder_cnt, 1); + ssd1306_update_screen(); break; case WORK_MOTOR_SPEED: /* code */ diff --git a/User/application/work.c b/User/application/work.c index 98d29c3..e255c17 100644 --- a/User/application/work.c +++ b/User/application/work.c @@ -11,6 +11,8 @@ static void pwm_map(void) static void motor_pos(void) { work.pid.sub_type = PID_SUB_TYPE_POSITION; + work.pwm_percent = work.pid.pid_u.fuzzy.execute(&work.pid.pid_u.fuzzy, work.target_pos, work.encoder_cnt); + set_motor_pwm(work.pwm_percent); } static void motor_speed(void) @@ -46,6 +48,33 @@ static void pwm_map_key_handle(button_id_e id) static void motot_pos_key_handle(button_id_e id) { + int8_t min = -100, max = 100; + int8_t step = 10; + switch (id) + { + case KEY_ADD: + if (work.target_pos < max) + { + work.target_pos += step; + } + break; + case KEY_SUB: + if (work.target_pos > min) + { + work.target_pos -= step; + } + break; + case KEY_S: + work.target_pos = 50; + break; + default: + break; + } + + if (work.target_pos == 0) + { + work.encoder_cnt = 0; + } } static void motor_speed_key_handle(button_id_e id) @@ -110,11 +139,11 @@ void work_init(void) PWM_SET_DUTY(PWM_TIM, PWM_CHANNEL, 0); work.pwm_feq = PWM_GET_FREQ(PWM_TIM); - work.type = WORK_PWM_MAP; - work.pid_params.kp = 100; - work.pid_params.ki = 0.01; - work.pid_params.kd = 50; - work.pid_params.dead_zone = 0; + work.type = WORK_MOTOR_POS; + work.pid_params.kp = 1; + work.pid_params.ki = 0.01f; + work.pid_params.kd = 5; + work.pid_params.dead_zone = 0.5f; // PID初始化 { @@ -123,8 +152,10 @@ void work_init(void) work.pid.pid_u.fuzzy.deadzone_dir = DEAD_ZONE_BOTH; pid_constructor(&work.pid); work.pid.pid_u.fuzzy.set_ctrl_prm(&work.pid.pid_u.fuzzy, work.pid_params.kp, work.pid_params.ki, - work.pid_params.kd, work.pid_params.dead_zone, 0, -100, 100); + work.pid_params.kd, work.pid_params.dead_zone, 0, -90, 90); // 电机输出不要超过90 work.pid.pid_u.fuzzy.set_kd_enable(&work.pid.pid_u.fuzzy, TRUE); } + + work.target_pos = 20; return; } diff --git a/User/application/work.h b/User/application/work.h index 355f1d4..38014bd 100644 --- a/User/application/work.h +++ b/User/application/work.h @@ -23,7 +23,6 @@ typedef struct uint32_t pwm_feq; // PWM频率 pid_t pid; - struct { float32 kp; @@ -31,6 +30,10 @@ typedef struct float32 kd; float32 dead_zone; } pid_params; + + float32 target_pos; // 目标位置 + float32 target_speed; // 目标速度 + } work_t; extern work_t work;