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[Fixed]: PWM限幅

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This commit is contained in:
but0n 2016-10-10 18:46:12 +08:00
parent 1ffe818e33
commit b509cfb3e9
4 changed files with 15 additions and 6 deletions
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1
libs/STM32_USB-FS-Device_Lib_V4.0.0/Libraries/STM32F10x_StdPeriph_Driver/inc/pid.h
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@ -29,6 +29,7 @@ typedef struct {
float d;
short output;
__IO uint16_t *Channel1;
__IO uint16_t *Channel2;
} pid_st, *pid_pst;
void pid_SingleAxis(pid_pst package, float setPoint);

2
libs/STM32_USB-FS-Device_Lib_V4.0.0/Libraries/STM32F10x_StdPeriph_Driver/inc/tty.h
View File

@ -2,7 +2,7 @@
#define TTY_H
#define TTY_NONE() uart_sendStr("\033[m")
#define TTY_RED() uart_sendStr("\033[0;32;31m")
#define TTY_RED() uart_sendStr("\033[41;30m")
#define TTY_LIGHT_RED() uart_sendStr("\033[1;31m")
#define TTY_GREEN() uart_sendStr("\033[0;32;32m")
#define TTY_LIGHT_GREEN() uart_sendStr("\033[1;32m")

10
libs/STM32_USB-FS-Device_Lib_V4.0.0/Libraries/STM32F10x_StdPeriph_Driver/src/pid.c
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@ -19,10 +19,14 @@ void pid_SingleAxis(pid_pst temp, float setPoint) {
temp->output = INNER_LOOP_KP * temp->p + INNER_LOOP_KD * temp->d;
if (*temp->Channel1+temp->output > MOTOR_MAX) *temp->Channel1 = MOTOR_MAX;
else if (*temp->Channel1 + temp->output < MOTOR_LOW) *temp->Channel1 = MOTOR_LOW;
temp->InnerLast = *temp->Gyro;
else if (*temp->Channel1+temp->output < MOTOR_LOW) *temp->Channel1 = MOTOR_LOW;
else *temp->Channel1 += (short)temp->output;
*temp->Channel1 += (short)temp->output;
if (*temp->Channel2-temp->output > MOTOR_MAX) *temp->Channel2 = MOTOR_MAX;
else if (*temp->Channel2-temp->output < MOTOR_LOW) *temp->Channel2 = MOTOR_LOW;
else *temp->Channel2 -= (short)temp->output;
temp->InnerLast = *temp->Gyro;
}
// float g_iErro, g_sumErro = 0;

8
src/main.c
View File

@ -94,7 +94,8 @@ int main() {
.OutterLast = 0,
.Feedback = &g_Roll,
.i = 0,
.Channel1 = &MOTOR1,
.Channel1 = &MOTOR2,
.Channel2 = &MOTOR4,
.Gyro = &sourceData.gX,
};
@ -133,11 +134,14 @@ int main() {
pid_SingleAxis(&g_pid_roll, 0);
TTY_CLEAR();
TTY_RED();
uart_sendStr(" Motor占空比: ");
TTY_NONE();
TTY_BLUE();
uart_showData(MOTOR1);
uart_showData(*g_pid_roll.Channel1);
uart_sendStr("\t");
uart_showData(*g_pid_roll.Channel2);
TTY_NONE();
uart_sendStr("\n\rRoll:\t");