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修复验证bug，arduino程序极对数输入错误的问题，会造成电机无法运行

master
zrg 2021-12-18 19:52:13 +08:00
parent 74d4655d60
commit 3b5ff6d51c
1 changed files with 14 additions and 9 deletions
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23
arduino/main/main.ino
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@ -67,7 +67,7 @@ float LQR_K4_2 = 1.5; //
float LQR_K4_3 = 1.42; // float LQR_K4_3 = 1.42; //
//电机参数 //电机参数
BLDCMotor motor = BLDCMotor(7); BLDCMotor motor = BLDCMotor(5);
BLDCDriver3PWM driver = BLDCDriver3PWM(32, 33, 25, 22); BLDCDriver3PWM driver = BLDCDriver3PWM(32, 33, 25, 22);
float target_velocity = 0; float target_velocity = 0;
float target_angle = 89.3; float target_angle = 89.3;
@ -279,10 +279,11 @@ if(isnan(nan))
Serial.println(F("Motor ready.")); Serial.println(F("Motor ready."));
Serial.println(F("Set the target velocity using serial terminal:")); Serial.println(F("Set the target velocity using serial terminal:"));
//digitalWrite(22,LOW);
} }
char buf[255]; char buf[255];
long loop_count = 0; long loop_count = 0;
double last_pitch;
void loop() { void loop() {
motor.loopFOC(); motor.loopFOC();
if (1) if (1)
@ -303,8 +304,11 @@ void loop() {
double pitch = acc2rotation(accX, accY); double pitch = acc2rotation(accX, accY);
double gyroZrate = gyroZ / 131.0; // Convert to deg/s double gyroZrate = gyroZ / 131.0; // Convert to deg/s
if(abs(pitch-last_pitch)>100)
kalmanZ.setAngle(pitch);
kalAngleZ = kalmanZ.getAngle(pitch, gyroZrate + gyroZ_OFF, dt); kalAngleZ = kalmanZ.getAngle(pitch, gyroZrate + gyroZ_OFF, dt);
last_pitch = pitch;
gyroZangle += (gyroZrate + gyroZ_OFF) * dt; gyroZangle += (gyroZrate + gyroZ_OFF) * dt;
compAngleZ = 0.93 * (compAngleZ + (gyroZrate + gyroZ_OFF) * dt) + 0.07 * pitch; compAngleZ = 0.93 * (compAngleZ + (gyroZrate + gyroZ_OFF) * dt) + 0.07 * pitch;
@ -357,14 +361,15 @@ if (abs(pendulum_angle) < swing_up_angle) // if angle small enough stabilize 0.5
#if 1 #if 1
//Serial.print(gyroZangle);Serial.print("\t"); //Serial.print(gyroZangle);Serial.print("\t");
Serial.print(pitch);Serial.print("\t");
Serial.print(kalAngleZ);Serial.print("\t"); Serial.print(kalAngleZ);Serial.print("\t");
Serial.print(target_voltage);Serial.print("\t"); // Serial.print(target_voltage);Serial.print("\t");
// Serial.print(target_velocity);Serial.print("\t"); //// Serial.print(target_velocity);Serial.print("\t");
Serial.print(motor.shaft_velocity);Serial.print("\t"); // Serial.print(motor.shaft_velocity);Serial.print("\t");
Serial.print(target_angle);Serial.print("\t"); // Serial.print(target_angle);Serial.print("\t");
Serial.print(pendulum_angle);Serial.print("\t"); // Serial.print(pendulum_angle);Serial.print("\t");
Serial.print(gyroZrate);Serial.print("\t"); // Serial.print(gyroZrate);Serial.print("\t");
Serial.print("\r\n"); Serial.print("\r\n");
#endif #endif
// motor.move(target_velocity); // motor.move(target_velocity);