lijie/Gamble
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

MPU6050串口发送姿态数据由%.3f改为%f,gambal修改接收数据的个位数，和修改PID值

Browse Source
This commit is contained in:
lijie
2023-12-19 09:43:36 +08:00
parent 0f3cf0952c
commit d599512c02
4 changed files with 11 additions and 47 deletions
Download Patch File Download Diff File Expand all files Collapse all files

40
Gambal/User/main.c
View File

@ -163,7 +163,7 @@ void PID_init(void)
// pid_ang_timestamp=SysTick->VAL;
// ////////yyyyyyyyyyyy
pid_vel_P=1.5; //0.1
pid_vel_P=0.8; //0.1
pid_vel_I=0.1; //2
output_vel_ramp=100;
integral_vel_prev=0;
@ -172,30 +172,10 @@ void PID_init(void)
pid_vel_timestamp=SysTick->VAL;
pid_ang_P = 10;
pid_ang_D =0.5;
pid_ang_D =5;
error_ang_prev= 0;
pid_ang_timestamp=SysTick->VAL;
}
//void commander_run(void)
//{
// if((USART_RX_STA&0x8000)!=0)
// {
// switch(USART_RX_BUF[0])
// {
// case 'y': //D
// target = 0 - atof((const char *)(USART_RX_BUF+1));
// break;
// case 'x':
// target =atof((const char *)(USART_RX_BUF+1));
// break;
//
// }
// USART_RX_STA=0;
// }
//}
/******************************************************************************/
float shaftAngle(void)
@ -231,22 +211,6 @@ float LPF_velocity(float x)
return y;
}
/******************************************************************************/
//void PID_init(void)
//{
// pid_vel_P=0.2; //0.1
// pid_vel_I=2.0; //2
// output_vel_ramp=100;
// integral_vel_prev=0;
// error_vel_prev=0;
// output_vel_prev=0;
// pid_vel_timestamp=SysTick->VAL;
//
// pid_ang_P=20;
// pid_ang_D=0.5;
// error_ang_prev=0;
// pid_ang_timestamp=SysTick->VAL;
//}
/******************************************************************************/
float PID_velocity(float error)
{
unsigned long now_us;