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2025.5.17第一次提交，包括16号和今天，在实机上，对代码修改后的结果

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2025-05-17 15:04:27 +08:00
parent 137218ebe5
commit 5ce7796b14
7 changed files with 300 additions and 74 deletions
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105
robot_test_code/PID/PID.cpp
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@@ -4,24 +4,27 @@
#include"PID.h"
using namespace std;
float Kp = 0.2, Ki = 0.1, Kd = 0.1; //定义PID的参数
float Kp = 0.79, Ki = 0.009, Kd = 0.14; //定义PID的参数
float Kpid;
int Kpid_speed;
const int speed = 18;
const float Kpid_base = 0.4;
const int speed_l = 17;
const int speed_r = speed_l - 2;
const int speed_err = 2;
const float Kpid_base = 1;
// const int speed2 = 0.75*speed;
// int speed1;
//int speed2 = speed;
/*---定义全局变量---*/
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 = 20;
const int eI_max = 200;
/*---定义全局常量---*/
/*---定义全局常量---*/
// const int DIST_cell = 300 ;
// const int DIST_wall = 100 ;
const int DIST_cell = 300;
const int DIST_wall_f = 80;
const int DIST_wall_rl = 87;
const int DIST_cell = 310;
const int DIST_wall_f = 120;
const int DIST_wall_rl = 90;
/*---全局各种变量与常量定义完成---*/
@@ -58,13 +61,13 @@ void PID_AL()
Kpid = Kp*err + Ki*err_sum + Kd*err_diff; //PID控制算法输出的倍率
Kpid_speed = Kpid * Kpid_base;
if (Kpid_speed >= 6) //对pid输出值进行限制，防止过大电机过快，或者减的过小使电机不转动
if (Kpid_speed >= speed_err) //对pid输出值进行限制，防止过大电机过快，或者减的过小使电机不转动
{
Kpid_speed = 6;
Kpid_speed = speed_err;
}
else if (Kpid_speed <= -6)
else if (Kpid_speed <= -speed_err)
{
Kpid_speed = -6;
Kpid_speed = -speed_err;
}
else
{
@@ -73,9 +76,10 @@ void PID_AL()
/*---打印输出PID控制的各项参数2---*/
cout << "PID_out:" << Kpid_speed << " " ;
/*---打印结束---*/
MOTORDriveRaw(2,Kpid_speed + speed_r); //控制小车的行驶速度，角速度
MOTORDriveRaw(1,speed_l);
MOTORDriveRaw(2,speed + Kpid_speed); //控制小车的行驶速度，角速度
MOTORDriveRaw(1,speed);
}
/*---PID控制下的直线行驶---*/
@@ -83,48 +87,56 @@ void PIDStraight()
{
int DIST_move; //定义基础角速度和速度,和移动距离
int L_PSD, R_PSD, F_PSD; //定义左侧，右侧，前方的距离值
int DIST_move_x1;
int DIST_move_x2;
// int L_PSD_old, R_PSD_old, F_PSD_old;
// int x_1,x_2, y_1,y_2, phi_1,phi_2; //VWGetPosition的参数定义
//~ int DIST_move_x1;
//~ int DIST_move_x2;
//~ int L_PSD_old, R_PSD_old, F_PSD_old;
int x_1,x_2, y_1,y_2, phi_1,phi_2; //VWGetPosition的参数定义
// speed1 = speed;
F_PSD = PSDGetRaw(1);
// F_PSD_old = F_PSD;
// L_PSD = PSDGetRaw(2) - 18;
// L_PSD_old = L_PSD;
// R_PSD = PSDGetRaw(3);
// R_PSD_old = R_PSD;
//~ F_PSD = PSDGetRaw(1);
//~ F_PSD_old = F_PSD;
//~ L_PSD = PSDGetRaw(2) - 8;
//~ L_PSD_old = L_PSD;
//~ R_PSD = PSDGetRaw(3);
//~ R_PSD_old = R_PSD;
VWGetPosition(&x_1, &y_1, &phi_1); //获取机器人在移动前的x,y,phi值
//~ DIST_move_x1 = F_PSD;
MOTORDriveRaw(2,speed_r);
MOTORDriveRaw(1,speed_l);
// VWGetPosition(&x_1, &y_1, &phi_1); //获取机器人在移动前的x,y,phi值
DIST_move_x1 = F_PSD;
MOTORDriveRaw(1,speed);
MOTORDriveRaw(2,speed);
do
{
F_PSD = PSDGetRaw(1); //读取前方和墙壁的距离
// F_PSD = F_PSD * 0.4 + F_PSD_old * 0.6;
// F_PSD_old = F_PSD;
L_PSD = PSDGetRaw(2) - 18; //读取左侧和墙壁的距离
// L_PSD = L_PSD * 0.4 + L_PSD_old * 0.6;
// L_PSD_old = L_PSD;
F_PSD = PSDGetRaw(1) - 5; //读取前方和墙壁的距离
//~ F_PSD = PSDGetRaw(1) * 0.3 + F_PSD_old * 0.7;
//~ F_PSD_old = F_PSD;
L_PSD = PSDGetRaw(2) - 10; //读取左侧和墙壁的距离
//~ L_PSD = PSDGetRaw(2) * 0.3 + L_PSD_old * 0.7;
//~ L_PSD_old = L_PSD;
R_PSD = PSDGetRaw(3); //读取右侧和墙壁的距离
// R_PSD = R_PSD * 0.4 + R_PSD_old * 0.6;
// R_PSD_old = R_PSD;
//~ R_PSD = PSDGetRaw(3) * 0.3 + R_PSD_old * 0.7;
//~ R_PSD_old = R_PSD;
/*---打印输出PSD数值---*/
cout << "PSD L:" << L_PSD << " R:" << R_PSD << " F:" << F_PSD << " " ;
/*---打印结束---*/
if (25<L_PSD && L_PSD<180 && 50<R_PSD && R_PSD<180) //如果两侧都有墙的情况
if (20<L_PSD && L_PSD<180 && 50<R_PSD && R_PSD<180) //如果两侧都有墙的情况
{
err = L_PSD - R_PSD;
PID_AL();
}
else if (25<L_PSD && L_PSD<180) //只有左侧有墙的情况
else if (20<L_PSD && L_PSD<180) //只有左侧有墙的情况
{
err = L_PSD - DIST_wall_rl;
PID_AL();
}
else if (25<R_PSD && R_PSD<180) //只有右侧有墙的情况
else if (20<R_PSD && R_PSD<180) //只有右侧有墙的情况
{
err = DIST_wall_rl - R_PSD;
PID_AL();
@@ -136,16 +148,25 @@ void PIDStraight()
err = L_PSD - R_PSD;
PID_AL();
}
// VWGetPosition(&x_2, &y_2, &phi_2);
// DIST_move = sqrt(pow(x_2-x_1,2) + pow(y_2-y_1,2));
DIST_move_x2 = F_PSD;
DIST_move = DIST_move_x1 - DIST_move_x2;
VWGetPosition(&x_2, &y_2, &phi_2);
DIST_move = sqrt(pow(x_2-x_1,2) + pow(y_2-y_1,2));
//~ DIST_move_x2 = F_PSD;
//~ DIST_move = DIST_move_x1 - DIST_move_x2;
cout << "move: " << DIST_move << endl;
// if (DIST_move > (DIST_cell -50)) //当移动距离只剩下最后的50mm的时候降点速度
// {
// speed1 = speed2;
// }
}while (DIST_move < DIST_cell && F_PSD > DIST_wall_f); //当移动到指定距离，或者检测到小车前方的距离小于检测距离的时候，停止运行
//~ }while (F_PSD > DIST_wall_f); //当移动到指定距离，或者检测到小车前方的距离小于检测距离的时候，停止运行
//~ MOTORDriveRaw(1,-15);
//~ MOTORDriveRaw(2,-15);
MOTORDriveRaw(1,0);
MOTORDriveRaw(2,0);
//VWSetSpeed(0,0);