yyz/bk_bishe_pi
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2025.5.18晚上提交，实机调试后的代码，有一次成功了，但是后面没复现了，很奇怪

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Ñõԭ×Ó
2025-05-18 22:47:24 +08:00
parent 1155ae6f6d
commit 00e0d9366d
13 changed files with 129 additions and 124 deletions
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7
bot_code/maze_parameter.cpp
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@@ -9,9 +9,9 @@ using namespace std;
/*---定义数据---*/
/*---定义全局常量---*/
const int DIST_cell = 240; //单元格长度
const int DIST_move = 292; //移动的单元格距离
const int DIST_move = 330; //移动的单元格距离
const int DIST_wall_F = 90; //与墙壁的距离
const int DIST_wall_RL = 88; //与左右墙壁的距离
const int DIST_wall_RL = 90; //与左右墙壁的距离
/*---定义全局变量---*/
/*---容器类---*/
@@ -29,9 +29,10 @@ int rob_dir = 0; //机器人当前的朝向（初始为0）
/*---PID算法---*/
const float Kp = 0.4, Ki = 0, Kd = 0.25; //定义PID的参数17
//~ const float Kp = 0.4, Ki = 0, Kd = 0.25; //定义PID的参数17
//~ const float Kp = 0.825, Ki = 0.0081, Kd = 0.175; //定义PID的参数17
//~ const float Kp = 0.80, Ki = 0.0076, Kd = 0.2; //定义PID的参数18
const float Kp = 1.6, Ki = 0.008, Kd = 0.18; //定义PID的参数18
//~ float Kpid; //定义PID计算后输出的倍率
int Kpid_speed;
const float Kpid_base = 1; //定义基本角速度和速度