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2025.5.18第一次提交，包括17号和今天上午对实机的调试

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Ñõԭ×Ó
2025-05-18 11:35:02 +08:00
parent 47a4473330
commit df42d6ce7f
14 changed files with 232 additions and 103 deletions
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67
bot_code/maze_func_pid.cpp
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@@ -7,7 +7,7 @@ using namespace std;
/*---对PID控制的积分部分I限幅---*/
void eI_xianfu(int eI_max)
void eI_xianfu()
{
if (err_sum >= eI_max) //如果err_sum大于限幅，则直接让err_sum=限幅，防止err_sum过大，影响PID控制
{
@@ -23,13 +23,13 @@ void eI_xianfu(int eI_max)
}
}
void pid_speed_xianfu(int Kpid_speed)
void pid_speed_xianfu()
{
if (Kpid_speed > speed_xianfu)
if (Kpid_speed >= speed_xianfu)
{
Kpid_speed = speed_xianfu;
}
else if (Kpid_speed < -speed_xianfu)
else if (Kpid_speed <= -speed_xianfu)
{
Kpid_speed = -speed_xianfu;
}
@@ -42,81 +42,84 @@ void pid_speed_xianfu(int Kpid_speed)
/*---位置式PID算法---*/
void PID_AL()
{
err_sum += err; //积分累计误差值
eI_xianfu(eI_max); //积分部分限幅
//~ err_sum += err; //积分累计误差值
//~ eI_xianfu(); //积分部分限幅
err_diff = err - err_old; //微分部分误差值
/*---打印输出PID控制的各项参数1---*/
cout << "本次误差:" << err << "\t" ;
cout << "上次误差:" << err_old << "\t" ;
cout << "误差累计:" << err_sum << "\t" ;
cout << "误差变化:" << err_diff << "\t" ;
//~ cout << "err:" << err << " " ;
//~ cout << "old_err:" << err_old << " " ;
//~ cout << "err_sum:" << err_sum << " " ;
//~ cout << "err_diff:" << err_diff << " " ;
/*---打印结束---*/
err_old = err; //将误差幅值到上一次误差
Kpid = Kp*err + Ki*err_sum + Kd*err_diff; //PID控制算法输出的倍率
Kpid_speed = Kpid * Kpid_base;
//~ Kpid = Kp*err + Ki*err_sum + Kd*err_diff; //PID控制算法输出的倍率
//~ Kpid_speed = (Kp*err + Ki*err_sum + Kd*err_diff) * Kpid_base;
Kpid_speed = (Kp*err + Kd*err_diff) * Kpid_base;
pid_speed_xianfu();
speed_r = speed_l + Kpid_speed;
pid_speed_xianfu(Kpid_speed);
/*---打印输出PID控制的各项参数2---*/
cout << "PID输出值:" << Kpid_speed << "\t" ;
cout << "PID_out:" << Kpid_speed << endl ;
/*---打印结束---*/
// VWSetSpeed(speed,Kpid*Kpid_base); //控制小车的行驶速度，角速度(模拟器可以用，实物no)
MOTORDriveRaw(1,speed1);
MOTORDriveRaw(2,speed2 + Kpid_speed);
MOTORDriveRaw(2,speed_r);
MOTORDriveRaw(1,speed_l);
}
/*---PID控制下的直线行驶---*/
void PIDStraight()
{
int DIST_move; //定义基础角速度和速度,和移动距离
int bot_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 x_1,x_2, y_1,y_2, phi_1,phi_2; //VWGetPosition的参数定义
speed1 = speed;
VWGetPosition(&x_1, &y_1, &phi_1); //获取机器人在移动前的x,y,phi值
MOTORDriveRaw(1,speed1);
MOTORDriveRaw(2,speed2);
MOTORDriveRaw(2,speed_r);
MOTORDriveRaw(1,speed_l);
do
{
F_PSD = PSDGetRaw(1) - 5; //读取前方和墙壁的距离
L_PSD = PSDGetRaw(2) - 8; //读取左侧和墙壁的距离
F_PSD = PSDGetRaw(1) - 2; //读取前方和墙壁的距离
L_PSD = PSDGetRaw(2) - 16; //读取左侧和墙壁的距离
R_PSD = PSDGetRaw(3); //读取右侧和墙壁的距离
/*---打印输出PSD数值---*/
// cout << "PSD值L:" << L_PSD << " R:" << R_PSD << " F:" << F_PSD << "\t" ;
cout << "PSD L:" << L_PSD << " R:" << R_PSD << " F:" << F_PSD << "\t" ;
/*---打印结束---*/
if (30<L_PSD && L_PSD<180 && 30<R_PSD && R_PSD<180) //如果两侧都有墙的情况
if (20<L_PSD && L_PSD<140 && 20<R_PSD && R_PSD<140) //如果两侧都有墙的情况
{
err = L_PSD - R_PSD;
PID_AL();
}
else if (30<L_PSD && L_PSD<180) //只有左侧有墙的情况
else if (20<L_PSD && L_PSD<140) //只有左侧有墙的情况
{
err = L_PSD - DIST_wall_RL;
PID_AL();
}
else if (30<R_PSD && R_PSD<180) //只有右侧有墙的情况
else if (20<R_PSD && R_PSD<140) //只有右侧有墙的情况
{
err = DIST_wall_RL - R_PSD;
PID_AL();
}
else
{
L_PSD = L_PSD % DIST_cell;
R_PSD = R_PSD % DIST_cell;
L_PSD = L_PSD % 300;
R_PSD = R_PSD % 300;
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));
cout << "move:" << DIST_move << endl;
bot_move = sqrt(pow(x_2-x_1,2) + pow(y_2-y_1,2));
//~ cout << "move:" << bot_move << endl;
}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 (bot_move < DIST_move && 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(1,0);
MOTORDriveRaw(2,0);
}