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This commit is contained in:
许晟昊 2024-12-08 16:39:25 +08:00
parent ef8d639bda
commit 6dadcc0914
3 changed files with 673 additions and 691 deletions
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6
MDK-ARM/motor.uvoptx
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@ -213,12 +213,6 @@
<pszMrulep></pszMrulep> <pszMrulep></pszMrulep>
<pSingCmdsp></pSingCmdsp> <pSingCmdsp></pSingCmdsp>
<pMultCmdsp></pMultCmdsp> <pMultCmdsp></pMultCmdsp>
<SystemViewers>
<Entry>
<Name>System Viewer\GPIOB</Name>
<WinId>35905</WinId>
</Entry>
</SystemViewers>
</TargetOption> </TargetOption>
</Target> </Target>

1346
MDK-ARM/motor/motor.hex
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File diff suppressed because it is too large Load Diff

10
User/application/work.c
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@ -56,15 +56,7 @@ static void motor_pos(void)
static void motor_speed(void) static void motor_speed(void)
{ {
int32_t code = work.encoder_cnt; int32_t code = work.encoder_cnt;
if (ABS(work.target_speed - work.encoder_show) > 20)
{
work.target_speed_filter = lpf_update(&work.target_speed_lpf, work.target_speed); work.target_speed_filter = lpf_update(&work.target_speed_lpf, work.target_speed);
}
else
{
work.target_speed_filter = work.target_speed;
}
work.encoder_show = lpf_update(&work.encoder_lpf, work.encoder_cnt); work.encoder_show = lpf_update(&work.encoder_lpf, work.encoder_cnt);
work.encoder_cnt = 0; work.encoder_cnt = 0;
work.pwm_percent = work.pid.pid_u.fuzzy.execute(&work.pid.pid_u.fuzzy, work.target_speed_filter + 1, code); // 补偿1 work.pwm_percent = work.pid.pid_u.fuzzy.execute(&work.pid.pid_u.fuzzy, work.target_speed_filter + 1, code); // 补偿1
@ -226,7 +218,7 @@ void work_init(void)
work.pid.type = PID_TYPE_FUZZY; work.pid.type = PID_TYPE_FUZZY;
work.pid.pid_u.fuzzy.deadzone_dir = DEAD_ZONE_BOTH; work.pid.pid_u.fuzzy.deadzone_dir = DEAD_ZONE_BOTH;
work.pid_params.dead_zone = 1; work.pid_params.dead_zone = 0;
if (work.type == WORK_MOTOR_POS) if (work.type == WORK_MOTOR_POS)
{ {