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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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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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24
bot_code_turn/maze_parameter.cpp
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@@ -9,9 +9,10 @@ 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_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_move = 340; //移动的单元格距离
const int DIST_wall_F = 85; //与墙壁的距离
//~ const int DIST_wall_RL = 90; //与左右墙壁的距离 1
const int DIST_wall_RL = 87; //与左右墙壁的距离
/*---定义全局变量---*/
/*---容器类---*/
@@ -29,15 +30,20 @@ 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 = 0.825, 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
/*--成功过的方案--*/
//~ const float Kp = 2.8, Ki = 0.006, Kd = 0.08; //定义PD的参数16-2此方案成功过，就是有点摇摇晃晃 墙壁为1
/*--在尝试的方案--*/
const float Kp = 2.82, Ki =0.006, Kd = 0.08; //定义PD的参数16-2
//~ const float Kp = 5, Ki = 0, Kd = 0.1; //定义PD的参数16-3
//~ const float Kp = 2.4, Ki = 0.006, Kd = 0.125; //定义PID的参数16-2
//~ const float Kp = 2.6, Ki = 0.006, Kd = 0.12; //定义PD的参数?
//~ const float Kp = 2.5, Ki = 0.01, Kd = 0.2; //定义PID的参数16-3
//~ 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
const int speed_l = 16; //定义基本左轮速度
//~ const int speed_r = speed_l - 2; //定义基本右轮速度
int speed_r = speed_l - 2; //定义基本右轮速度
const int speed_l = 15; //定义基本左轮速度
const int speed_r = speed_l - 1; //定义基本右轮速度
//~ int speed_r = speed_l - 1; //定义基本右轮速度
const int speed_xianfu = 2; //定义kpid限幅
int err, err_old, err_sum, err_diff; //定义误差，上一次误差，积分误差，微分误差
const int eI_max = 200; //定义积分限幅