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https://gitee.com/yyz_o/bk_bishe_pi.git
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106 lines
3.2 KiB
C++
106 lines
3.2 KiB
C++
#include<iostream>
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#include<string>
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#include<vector>
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#include"eyebot++.h"
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#include"maze_parameter.h"
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#include"maze_func.h"
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using namespace std;
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/*---对PID控制的积分部分I限幅---*/
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void eI_xianfu(int eI_max)
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{
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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
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{
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err_sum = eI_max;
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}
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else if (err_sum <= -eI_max)
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{
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err_sum = -eI_max;
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}
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else
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{
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//此处为空;
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}
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}
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/*---位置式PID算法---*/
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void PID_AL()
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{
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err_sum += err; //积分累计误差值
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eI_xianfu(eI_max); //积分部分限幅
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err_diff = err - err_old; //微分部分误差值
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/*---打印输出PID控制的各项参数1---*/
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cout << "本次误差:" << err << "\t" ;
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cout << "上次误差:" << err_old << "\t" ;
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cout << "误差累计:" << err_sum << "\t" ;
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cout << "误差变化:" << err_diff << "\t" ;
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/*---打印结束---*/
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err_old = err; //将误差幅值到上一次误差
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Kpid = Kp*err + Ki*err_sum + Kd*err_diff; //PID控制算法输出的倍率
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Kpid_speed = Kpid * Kpid_base;
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/*---打印输出PID控制的各项参数2---*/
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cout << "PID输出值:" << Kpid_speed << "\t" ;
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/*---打印结束---*/
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// 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)
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MOTORDriveRaw(1,speed1);
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MOTORDriveRaw(2,speed1 + Kpid_speed);
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}
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/*---PID控制下的直线行驶---*/
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void PIDStraight()
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{
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int DIST_move; //定义基础角速度和速度,和移动距离
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int L_PSD, R_PSD, F_PSD; //定义左侧，右侧，前方的距离值
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int x_1,x_2, y_1,y_2, phi_1,phi_2; //VWGetPosition的参数定义
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speed1 = speed;
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VWGetPosition(&x_1, &y_1, &phi_1); //获取机器人在移动前的x,y,phi值
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MOTORDriveRaw(1,speed1);
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MOTORDriveRaw(2,speed1);
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do
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{
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F_PSD = PSDGetRaw(1); //读取前方和墙壁的距离
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L_PSD = PSDGetRaw(2); //读取左侧和墙壁的距离
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R_PSD = PSDGetRaw(3); //读取右侧和墙壁的距离
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/*---打印输出PSD数值---*/
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// cout << "PSD值L:" << L_PSD << " R:" << R_PSD << " F:" << F_PSD << "\t" ;
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/*---打印结束---*/
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if (30<L_PSD && L_PSD<180 && 30<R_PSD && R_PSD<180) //如果两侧都有墙的情况
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{
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err = L_PSD - R_PSD;
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PID_AL();
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}
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else if (30<L_PSD && L_PSD<180) //只有左侧有墙的情况
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{
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err = L_PSD - DIST_wall_RL;
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PID_AL();
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}
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else if (30<R_PSD && R_PSD<180) //只有右侧有墙的情况
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{
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err = DIST_wall_RL - R_PSD;
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PID_AL();
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}
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else
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{
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L_PSD = L_PSD % DIST_cell;
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R_PSD = R_PSD % DIST_cell;
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err = L_PSD - R_PSD;
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PID_AL();
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}
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VWGetPosition(&x_2, &y_2, &phi_2);
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DIST_move = sqrt(pow(x_2-x_1,2) + pow(y_2-y_1,2));
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cout << "move:" << DIST_move << endl;
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// 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
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// {
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// speed1 = speed2;
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// }
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}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
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MOTORDriveRaw(1,0);
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MOTORDriveRaw(2,0);
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}
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