zcy
/
triangle
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

自平衡莱洛三角形 RGB版 HW:Ver 1.5 FW:Ver 1.1.1 

RGB版本程序 https://gitee.com/muyan3000/RGBFOC 基于45°(https://gitee.com/coll45/foc/)程序修改
master
慕炎 2022-01-01 11:48:37 +00:00 committed by Gitee
parent f3efa8eb12
commit e36bb8fbf5
No known key found for this signature in database
GPG Key ID: 173E9B9CA92EEF8F
8 changed files with 1948 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

28
arduino/Betas/RGB_V1.1.1/main/Command.cpp Normal file
View File

@ -0,0 +1,28 @@
#include "Command.h"
void Command::run(char* str){
for(int i=0; i < call_count; i++){
if(isSentinel(call_ids[i],str)){ // case : call_ids = "T2" str = "T215.15"
call_list[i](str+strlen(call_ids[i])); // get 15.15 input function
break;
}
}
}
void Command::add(char* id, CommandCallback onCommand){
call_list[call_count] = onCommand;
call_ids[call_count] = id;
call_count++;
}
void Command::scalar(float* value, char* user_cmd){
*value = atof(user_cmd);
}
bool Command::isSentinel(char* ch,char* str)
{
char s[strlen(ch)+1];
strncpy(s,str,strlen(ch));
s[strlen(ch)] = '\0'; //strncpy need add end '\0'
if(strcmp(ch, s) == 0)
return true;
else
return false;
}

17
arduino/Betas/RGB_V1.1.1/main/Command.h Normal file
View File

@ -0,0 +1,17 @@
#include <Arduino.h>
// callback function pointer definiton
typedef void (* CommandCallback)(char*); //!< command callback function pointer
class Command
{
public:
void add(char* id , CommandCallback onCommand);
void run(char* str);
void scalar(float* value, char* user_cmd);
bool isSentinel(char* ch,char* str);
private:
// Subscribed command callback variables
CommandCallback call_list[20];//!< array of command callback pointers - 20 is an arbitrary number
char* call_ids[20]; //!< added callback commands
int call_count;//!< number callbacks that are subscribed
};

93
arduino/Betas/RGB_V1.1.1/main/Kalman.cpp Normal file
View File

@ -0,0 +1,93 @@
/* Copyright (C) 2012 Kristian Lauszus, TKJ Electronics. All rights reserved.
This software may be distributed and modified under the terms of the GNU
General Public License version 2 (GPL2) as published by the Free Software
Foundation and appearing in the file GPL2.TXT included in the packaging of
this file. Please note that GPL2 Section 2[b] requires that all works based
on this software must also be made publicly available under the terms of
the GPL2 ("Copyleft").
Contact information
-------------------
Kristian Lauszus, TKJ Electronics
Web : http://www.tkjelectronics.com
e-mail : kristianl@tkjelectronics.com
*/
#include "Kalman.h"
Kalman::Kalman() {
/* We will set the variables like so, these can also be tuned by the user */
Q_angle = 0.001f;
Q_bias = 0.003f;
R_measure = 0.03f;
angle = 0.0f; // Reset the angle
bias = 0.0f; // Reset bias
P[0][0] = 0.0f; // Since we assume that the bias is 0 and we know the starting angle (use setAngle), the error covariance matrix is set like so - see: http://en.wikipedia.org/wiki/Kalman_filter#Example_application.2C_technical
P[0][1] = 0.0f;
P[1][0] = 0.0f;
P[1][1] = 0.0f;
};
// The angle should be in degrees and the rate should be in degrees per second and the delta time in seconds
float Kalman::getAngle(float newAngle, float newRate, float dt) {
// KasBot V2 - Kalman filter module - http://www.x-firm.com/?page_id=145
// Modified by Kristian Lauszus
// See my blog post for more information: http://blog.tkjelectronics.dk/2012/09/a-practical-approach-to-kalman-filter-and-how-to-implement-it
// Discrete Kalman filter time update equations - Time Update ("Predict")
// Update xhat - Project the state ahead
/* Step 1 */
rate = newRate - bias;
angle += dt * rate;
// Update estimation error covariance - Project the error covariance ahead
/* Step 2 */
P[0][0] += dt * (dt*P[1][1] - P[0][1] - P[1][0] + Q_angle);
P[0][1] -= dt * P[1][1];
P[1][0] -= dt * P[1][1];
P[1][1] += Q_bias * dt;
// Discrete Kalman filter measurement update equations - Measurement Update ("Correct")
// Calculate Kalman gain - Compute the Kalman gain
/* Step 4 */
float S = P[0][0] + R_measure; // Estimate error
/* Step 5 */
float K[2]; // Kalman gain - This is a 2x1 vector
K[0] = P[0][0] / S;
K[1] = P[1][0] / S;
// Calculate angle and bias - Update estimate with measurement zk (newAngle)
/* Step 3 */
float y = newAngle - angle; // Angle difference
/* Step 6 */
angle += K[0] * y;
bias += K[1] * y;
// Calculate estimation error covariance - Update the error covariance
/* Step 7 */
float P00_temp = P[0][0];
float P01_temp = P[0][1];
P[0][0] -= K[0] * P00_temp;
P[0][1] -= K[0] * P01_temp;
P[1][0] -= K[1] * P00_temp;
P[1][1] -= K[1] * P01_temp;
return angle;
};
void Kalman::setAngle(float angle) { this->angle = angle; }; // Used to set angle, this should be set as the starting angle
float Kalman::getRate() { return this->rate; }; // Return the unbiased rate
/* These are used to tune the Kalman filter */
void Kalman::setQangle(float Q_angle) { this->Q_angle = Q_angle; };
void Kalman::setQbias(float Q_bias) { this->Q_bias = Q_bias; };
void Kalman::setRmeasure(float R_measure) { this->R_measure = R_measure; };
float Kalman::getQangle() { return this->Q_angle; };
float Kalman::getQbias() { return this->Q_bias; };
float Kalman::getRmeasure() { return this->R_measure; };

59
arduino/Betas/RGB_V1.1.1/main/Kalman.h Normal file
View File

@ -0,0 +1,59 @@
/* Copyright (C) 2012 Kristian Lauszus, TKJ Electronics. All rights reserved.
This software may be distributed and modified under the terms of the GNU
General Public License version 2 (GPL2) as published by the Free Software
Foundation and appearing in the file GPL2.TXT included in the packaging of
this file. Please note that GPL2 Section 2[b] requires that all works based
on this software must also be made publicly available under the terms of
the GPL2 ("Copyleft").
Contact information
-------------------
Kristian Lauszus, TKJ Electronics
Web : http://www.tkjelectronics.com
e-mail : kristianl@tkjelectronics.com
*/
#ifndef _Kalman_h_
#define _Kalman_h_
class Kalman {
public:
Kalman();
// The angle should be in degrees and the rate should be in degrees per second and the delta time in seconds
float getAngle(float newAngle, float newRate, float dt);
void setAngle(float angle); // Used to set angle, this should be set as the starting angle
float getRate(); // Return the unbiased rate
/* These are used to tune the Kalman filter */
void setQangle(float Q_angle);
/**
* setQbias(float Q_bias)
* Default value (0.003f) is in Kalman.cpp.
* Raise this to follow input more closely,
* lower this to smooth result of kalman filter.
*/
void setQbias(float Q_bias);
void setRmeasure(float R_measure);
float getQangle();
float getQbias();
float getRmeasure();
private:
/* Kalman filter variables */
float Q_angle; // Process noise variance for the accelerometer
float Q_bias; // Process noise variance for the gyro bias
float R_measure; // Measurement noise variance - this is actually the variance of the measurement noise
float angle; // The angle calculated by the Kalman filter - part of the 2x1 state vector
float bias; // The gyro bias calculated by the Kalman filter - part of the 2x1 state vector
float rate; // Unbiased rate calculated from the rate and the calculated bias - you have to call getAngle to update the rate
float P[2][2]; // Error covariance matrix - This is a 2x2 matrix
};
#endif

314
arduino/Betas/RGB_V1.1.1/main/data/index.html Normal file
View File

@ -0,0 +1,314 @@
<!--
自平衡莱洛三角形 RGB版
HW:Ver 1.5
FW:Ver 1.2
-->
<html lang="zh-cn">
<head>
<title>自平衡莱洛三角形</title>
<meta charset="utf-8">
<meta content="width=device-width, initial-scale=1.0, minimum-scale=1.0, maximum-scale=1.0, user-scalable=no" name="viewport">
<style>
/*input框*/
input, button {
border: none;
outline: none;
}
.tl-input{
width: 100%;
border: 1px solid #ccc;
padding: 7px 0;
background: #F4F4F7;
border-radius: 3px;
padding-left:5px;
-webkit-box-shadow: inset 0 1px 1px rgba(0,0,0,.075);
box-shadow: inset 0 1px 1px rgba(0,0,0,.075);
-webkit-transition: border-color ease-in-out .15s,-webkit-box-shadow ease-in-out .15s;
-o-transition: border-color ease-in-out .15s,box-shadow ease-in-out .15s;
transition: border-color ease-in-out .15s,box-shadow ease-in-out .15s
}
.tl-input:focus{
border-color: #66afe9;
outline: 0;
-webkit-box-shadow: inset 0 1px 1px rgba(0,0,0,.075),0 0 8px rgba(102,175,233,.6);
box-shadow: inset 0 1px 1px rgba(0,0,0,.075),0 0 8px rgba(102,175,233,.6)
}
.ant-btn {
line-height: 1.499;
position: relative;
display: inline-block;
font-weight: 400;
white-space: nowrap;
text-align: center;
background-image: none;
border: 1px solid transparent;
-webkit-box-shadow: 0 2px 0 rgba(0,0,0,0.015);
box-shadow: 0 2px 0 rgba(0,0,0,0.015);
cursor: pointer;
-webkit-transition: all .3s cubic-bezier(.645, .045, .355, 1);
transition: all .3s cubic-bezier(.645, .045, .355, 1);
-webkit-user-select: none;
-moz-user-select: none;
-ms-user-select: none;
user-select: none;
-ms-touch-action: manipulation;
touch-action: manipulation;
height: 32px;
padding: 0 15px;
font-size: 14px;
border-radius: 4px;
color: rgba(0,0,0,0.65);
background-color: #fff;
border-color: #d9d9d9;
}
.ant-btn-primary {
color: #fff;
background-color: #1890ff;
border-color: #1890ff;
text-shadow: 0 -1px 0 rgba(0,0,0,0.12);
-webkit-box-shadow: 0 2px 0 rgba(0,0,0,0.045);
box-shadow: 0 2px 0 rgba(0,0,0,0.045);
}
.ant-btn-red {
color: #fff;
background-color: #FF5A44;
border-color: #FF5A44;
text-shadow: 0 -1px 0 rgba(0,0,0,0.12);
-webkit-box-shadow: 0 2px 0 rgba(0,0,0,0.045);
box-shadow: 0 2px 0 rgba(0,0,0,0.045);
}
</style>
<script>
function loadXMLDoc(path,element)
{
var xmlhttp;
if (window.XMLHttpRequest)
{
// IE7+, Firefox, Chrome, Opera, Safari 浏览器执行代码
xmlhttp=new XMLHttpRequest();
}
else
{
// IE6, IE5 浏览器执行代码
xmlhttp=new ActiveXObject("Microsoft.XMLHTTP");
}
xmlhttp.onreadystatechange=function()
{
if (xmlhttp.readyState==4 && xmlhttp.status==200)
{
document.getElementById(element).innerHTML=xmlhttp.responseText;
}
}
xmlhttp.open("GET",path,true);
xmlhttp.send();
}
function UpdateInfo()
{
var xmlhttp;
if (window.XMLHttpRequest)
{
// IE7+, Firefox, Chrome, Opera, Safari 浏览器执行代码
xmlhttp=new XMLHttpRequest();
}
else
{
// IE6, IE5 浏览器执行代码
xmlhttp=new ActiveXObject("Microsoft.XMLHTTP");
}
xmlhttp.onreadystatechange=function()
{
if (xmlhttp.readyState==4 && xmlhttp.status==200)
{
var arr=xmlhttp.responseText.split(",");
document.getElementById('TimeDiv').innerHTML=arr[0];
document.getElementById('CurrentMillis').innerHTML=arr[1];
document.getElementById('BAT_VOLTAGE').innerHTML=arr[2];
if(document.getElementById('log_control').value=="1"){
document.getElementById('Shaft_Velocity').innerHTML =arr[3]+"<br>"+document.getElementById('Shaft_Velocity').innerHTML;
document.getElementById('motor_voltage_q').innerHTML=arr[4]+"<br>"+document.getElementById('motor_voltage_q').innerHTML;
document.getElementById('target_velocity').innerHTML=arr[5]+"<br>"+document.getElementById('target_velocity').innerHTML;
document.getElementById('pendulum_angle').innerHTML=arr[6]+"<br>"+document.getElementById('pendulum_angle').innerHTML;
document.getElementById('target_angle').innerHTML=arr[7]+"<br>"+document.getElementById('target_angle').innerHTML;
document.getElementById('kalAngleZ').innerHTML=arr[8]+"<br>"+document.getElementById('kalAngleZ').innerHTML;
document.getElementById('gyroZrate').innerHTML=arr[9]+"<br>"+document.getElementById('gyroZrate').innerHTML;
}
document.getElementById('target_angle_ROM').innerHTML=arr[10];
document.getElementById('swing_up_voltage').innerHTML=arr[11];
document.getElementById('swing_up_angle').innerHTML=arr[12];
document.getElementById('v_i_1').innerHTML=arr[13];
document.getElementById('v_p_1').innerHTML=arr[14];
document.getElementById('v_i_2').innerHTML=arr[15];
document.getElementById('v_p_2').innerHTML=arr[16];
if(document.getElementById('target_angle_ROM2').value=="") document.getElementById('target_angle_ROM2').value=arr[10];
if(document.getElementById('swing_up_voltage2').value=="") document.getElementById('swing_up_voltage2').value=arr[11];
if(document.getElementById('swing_up_angle2').value=="") document.getElementById('swing_up_angle2').value=arr[12];
if(document.getElementById('v_i_12').value=="") document.getElementById('v_i_12').value=arr[13];
if(document.getElementById('v_p_12').value=="") document.getElementById('v_p_12').value=arr[14];
if(document.getElementById('v_i_22').value=="") document.getElementById('v_i_22').value=arr[15];
if(document.getElementById('v_p_22').value=="") document.getElementById('v_p_22').value=arr[16];
}
}
xmlhttp.open("GET",'/update',true);
xmlhttp.send();
}
function MyAutoRun()
{
UpdateInfo();
}
setInterval("MyAutoRun()",1000);
function clearLog()
{
document.getElementById('Shaft_Velocity').innerHTML ="";
document.getElementById('motor_voltage_q').innerHTML ="";
document.getElementById('target_velocity').innerHTML ="";
document.getElementById('pendulum_angle').innerHTML ="";
document.getElementById('target_angle').innerHTML ="";
document.getElementById('kalAngleZ').innerHTML ="";
document.getElementById('gyroZrate').innerHTML ="";
}
function checkNum(obj) {
//检查是否是非数字值
if (isNaN(obj.value)) {
obj.value = "";
}
if (obj != null) {
//检查小数点后是否对于两位
if (obj.value.toString().split(".").length > 1 && obj.value.toString().split(".")[1].length > 2) {
//alert("小数点后多于两位！");
obj.value = Number(obj.value).toPrecision(2);
}
}
};
</script>
</head>
<body style="background-color:black;color:white">
<font size=6>自平衡莱洛三角形
<div id="TimeDiv" hidden>datetime</div>
</font>
</div>
<div id="OperationHit"><h2></h2></div>
<table border="0">
<tr>
<td height="50">已启动：<span id=CurrentMillis></span> &nbsp;&nbsp;&nbsp;&nbsp;电池电压：<span id="BAT_VOLTAGE" style="color:#de87b8;"></span> V
</td>
</tr>
<tr>
<td height="50">
<button type="button" onclick="loadXMLDoc('/Control?Type=0&Index=0&Operation=0','OperationHit')" class="ant-btn ant-btn-red">开灯</button>
<button type="button" onclick="loadXMLDoc('/Control?Type=0&Index=0&Operation=1','OperationHit')" class="ant-btn ant-btn-red">+</button>
<button type="button" onclick="loadXMLDoc('/Control?Type=0&Index=0&Operation=2','OperationHit')" class="ant-btn ant-btn-red">-</button>
<button type="button" onclick="loadXMLDoc('/Control?Type=0&Index=0&Operation=3','OperationHit')" class="ant-btn ant-btn-red">关灯</button>
<button type="button" onclick="loadXMLDoc('/Control?Type=1&Index=99&Operation=0','OperationHit')" class="ant-btn ant-btn-red">电机启停</button>
<button type="button" onclick="loadXMLDoc('/Control?Type=0&Index=0&Operation=4','OperationHit')" class="ant-btn ant-btn-red">重启</button>
</td>
</tr>
<tr>
<td align="left">
<table border="1" cellspacing="0" cellpadding="0">
<tr>
<td align="center"><span style="color:#398ad9;">期望角度TA</span></td>
<td align="center"><span style="color:#5bec8d;">摇摆电压SV</span></td>
<td align="center"><span style="color:#fd42ac;">摇摆角度SA</span></td>
<td align="center"><span style="color:#4b8200;">速度环P1</span></td>
<td align="center"><span style="color:#ff33ff;">速度环I1</span></td>
<td align="center"><span style="color:#4b8200;">速度环P2</span></td>
<td align="center"><span style="color:#ff33ff;">速度环I2</span></td>
</tr>
<tr>
<td align="center"><span style="color:#ff5c5c;" id="target_angle_ROM"></span></td>
<td align="center"><span style="color:#5bec8d;" id="swing_up_voltage"></span></td>
<td align="center"><span style="color:#fd42ac;" id="swing_up_angle"></span></td>
<td align="center"><span style="color:#4b8200;" id="v_p_1"></span></td>
<td align="center"><span style="color:#ff33ff;" id="v_i_1"></span></td>
<td align="center"><span style="color:#4b8200;" id="v_p_2"></span></td>
<td align="center"><span style="color:#ff33ff;" id="v_i_2"></span></td>
</tr>
<tr>
<td align="center">
<div style="width: 90px;float: left"><input class="tl-input" type="text" name="target_angle_ROM" id="target_angle_ROM2" size="2" onchange="checkNum(this)"><button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('target_angle_ROM2').value=Number(document.getElementById('target_angle_ROM2').value)+0.5;">+</button>
<button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('target_angle_ROM2').value=Number(document.getElementById('target_angle_ROM2').value)-0.5;">-</button><br>
<button type="button" class="ant-btn ant-btn-red" onclick="loadXMLDoc('/Control?Type=1&Index=0&Operation='+document.getElementById('target_angle_ROM2').value,'OperationHit')">发送</button></td>
<td align="center">
<div style="width: 90px;float: left"><input class="tl-input" name="swing_up_voltage" id="swing_up_voltage2" size="2" onchange="checkNum(this)"><button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('swing_up_voltage2').value=Number(Number(document.getElementById('swing_up_voltage2').value)+0.10).toPrecision(2);">+</button>
<button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('swing_up_voltage2').value=Number(Number(document.getElementById('swing_up_voltage2').value)-0.10).toPrecision(2);">-</button><br>
<button type="button" class="ant-btn ant-btn-red" onclick="loadXMLDoc('/Control?Type=1&Index=1&Operation='+document.getElementById('swing_up_voltage2').value,'OperationHit')">发送</button>
</td>
<td align="center">
<div style="width: 90px;float: left"><input class="tl-input" name="swing_up_angle" id="swing_up_angle2" size="2" onchange="checkNum(this)"><button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('swing_up_angle2').value=Number(document.getElementById('swing_up_angle2').value)+1;">+</button>
<button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('swing_up_angle2').value=Number(document.getElementById('swing_up_angle2').value)-1;">-</button><br>
<button type="button" class="ant-btn ant-btn-red" onclick="loadXMLDoc('/Control?Type=1&Index=2&Operation='+document.getElementById('swing_up_angle2').value,'OperationHit')">发送</button>
</td>
<td align="center">
<div style="width: 90px;float: left"><input class="tl-input" name="v_p_1" id="v_p_12" size="2" onchange="checkNum(this)"><button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('v_p_12').value=Number(Number(document.getElementById('v_p_12').value)+0.1).toPrecision(2);">+</button>
<button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('v_p_12').value=Number(Number(document.getElementById('v_p_12').value)-0.1).toPrecision(2);">-</button><br>
<button type="button" class="ant-btn ant-btn-red" onclick="loadXMLDoc('/Control?Type=1&Index=3&Operation='+document.getElementById('v_p_12').value,'OperationHit')">发送</button>
</td>
<td align="center">
<div style="width: 90px;float: left"><input class="tl-input" name="v_i_1" id="v_i_12" size="2" onchange="checkNum(this)"><button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('v_i_12').value=Number(document.getElementById('v_i_12').value)+0.5;">+</button>
<button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('v_i_12').value=Number(document.getElementById('v_i_12').value)-0.5;">-</button><br>
<button type="button" class="ant-btn ant-btn-red" onclick="loadXMLDoc('/Control?Type=1&Index=4&Operation='+document.getElementById('v_i_12').value,'OperationHit')">发送</button>
</td>
<td align="center">
<div style="width: 90px;float: left"><input class="tl-input" name="v_p_2" id="v_p_22" size="2" onchange="checkNum(this)"><button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('v_p_22').value=Number(Number(document.getElementById('v_p_22').value)+0.1).toPrecision(2);">+</button>
<button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('v_p_22').value=Number(Number(document.getElementById('v_p_22').value)-0.1).toPrecision(2);">-</button><br>
<button type="button" class="ant-btn ant-btn-red" onclick="loadXMLDoc('/Control?Type=1&Index=5&Operation='+document.getElementById('v_p_22').value,'OperationHit')">发送</button>
</td>
<td align="center">
<div style="width: 90px;float: left"><input class="tl-input" name="v_i_2" id="v_i_22" size="2" onchange="checkNum(this)"><button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('v_i_22').value=Number(document.getElementById('v_i_22').value)+0.5;">+</button>
<button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('v_i_22').value=Number(document.getElementById('v_i_22').value)-0.5;">-</button><br>
<button type="button" class="ant-btn ant-btn-red" onclick="loadXMLDoc('/Control?Type=1&Index=6&Operation='+document.getElementById('v_i_22').value,'OperationHit')">发送</button>
</td>
</tr>
</table>
</td>
</tr>
<tr>
<td height="50">
<button type="button" onclick="document.getElementById('loglist').style.display='block';">显示记录</button>
<button type="button" onclick="document.getElementById('loglist').style.display='none';">隐藏记录</button>
<button type="button" onclick="clearLog()">清除记录</button>
<button type="button" onclick="document.getElementById('log_control').value=1;loadXMLDoc('/Control?Type=0&Index=5&Operation=1','OperationHit')">开启记录</button>
<button type="button" onclick="document.getElementById('log_control').value=0;loadXMLDoc('/Control?Type=0&Index=5&Operation=0','OperationHit')">停止记录</button>
<input type="hidden" name="log_control" id="log_control" value="1">
</td>
</tr>
<tr>
<td align="left">
<table border="1" cellspacing="0" cellpadding="0" ID="loglist" width="100%">
<tr>
<td align="center"><span style="color:#ff5c5c;">Shaft Velocity</span></td>
<td align="center"><span style="color:#398ad9;">motor voltage q</span></td>
<td align="center"><span style="color:#ff5c5c;">target_velocity</span></td>
<td align="center"><span style="color:#5bec8d;">pendulum_angle</span></td>
<td align="center"><span style="color:#fd42ac;">target_angle</span></td>
<td align="center"><span style="color:#ff33ff;">kalAngleZ</span></td>
<td align="center"><span style="color:#4b8200;">gyroZrate</span></td>
</tr>
<tr>
<td align="center"><span style="color:#ff5c5c;" id="Shaft_Velocity"></span></td>
<td align="center"><span style="color:#398ad9;" id="motor_voltage_q"></span></td>
<td align="center"><span style="color:#ff5c5c;" id="target_velocity"></span></td>
<td align="center"><span style="color:#5bec8d;" id="pendulum_angle"></span></td>
<td align="center"><span style="color:#fd42ac;" id="target_angle"></span></td>
<td align="center"><span style="color:#ff33ff;" id="kalAngleZ"></span></td>
<td align="center"><span style="color:#4b8200;" id="gyroZrate"></span></td>
</tr>
</table>
</td>
</tr>
</table>
</body>
</html>

199
arduino/Betas/RGB_V1.1.1/main/data/teset.html Normal file
View File

@ -0,0 +1,199 @@
<html>
<head>
<title>根据JAVASCRIPT设置innerHTML</title>
<meta http-equiv="Content-Type" content="text/html; charset=gb2312">
<style>
/*input框*/
input, button {
border: none;
outline: none;
}
.tl-input{
width: 100%;
border: 1px solid #ccc;
padding: 7px 0;
background: #F4F4F7;
border-radius: 3px;
padding-left:5px;
-webkit-box-shadow: inset 0 1px 1px rgba(0,0,0,.075);
box-shadow: inset 0 1px 1px rgba(0,0,0,.075);
-webkit-transition: border-color ease-in-out .15s,-webkit-box-shadow ease-in-out .15s;
-o-transition: border-color ease-in-out .15s,box-shadow ease-in-out .15s;
transition: border-color ease-in-out .15s,box-shadow ease-in-out .15s
}
.tl-input:focus{
border-color: #66afe9;
outline: 0;
-webkit-box-shadow: inset 0 1px 1px rgba(0,0,0,.075),0 0 8px rgba(102,175,233,.6);
box-shadow: inset 0 1px 1px rgba(0,0,0,.075),0 0 8px rgba(102,175,233,.6)
}
.ant-btn {
line-height: 1.499;
position: relative;
display: inline-block;
font-weight: 400;
white-space: nowrap;
text-align: center;
background-image: none;
border: 1px solid transparent;
-webkit-box-shadow: 0 2px 0 rgba(0,0,0,0.015);
box-shadow: 0 2px 0 rgba(0,0,0,0.015);
cursor: pointer;
-webkit-transition: all .3s cubic-bezier(.645, .045, .355, 1);
transition: all .3s cubic-bezier(.645, .045, .355, 1);
-webkit-user-select: none;
-moz-user-select: none;
-ms-user-select: none;
user-select: none;
-ms-touch-action: manipulation;
touch-action: manipulation;
height: 32px;
padding: 0 15px;
font-size: 14px;
border-radius: 4px;
color: rgba(0,0,0,0.65);
background-color: #fff;
border-color: #d9d9d9;
}
.ant-btn-primary {
color: #fff;
background-color: #1890ff;
border-color: #1890ff;
text-shadow: 0 -1px 0 rgba(0,0,0,0.12);
-webkit-box-shadow: 0 2px 0 rgba(0,0,0,0.045);
box-shadow: 0 2px 0 rgba(0,0,0,0.045);
}
.ant-btn-red {
color: #fff;
background-color: #FF5A44;
border-color: #FF5A44;
text-shadow: 0 -1px 0 rgba(0,0,0,0.12);
-webkit-box-shadow: 0 2px 0 rgba(0,0,0,0.045);
box-shadow: 0 2px 0 rgba(0,0,0,0.045);
}
</style>
</head>
<body bgcolor="#FFFFFF" text="#000000">
<form name=form1>
<br>
<table id="loglist">
<tr align="left" valign="middle" bgcolor="#eeeeee">
<td bgcolor="#eeeeee" height="92">
<li> 设置个数<br>
<span id="Shaft_Velocity"></span>
<input type="text" name="upcount" value="1" id="Shaft_Velocity2">
<input type="button" name="Button" οnclick="setid();" value="· 设定 ·">
<input type="button" name="ButtonAdd" οnclick="setSetAddOne();" value="· 增加 ·">
</li>
</td>
</tr>
<tr align="center" valign="middle">
<td align="left" id="upid" height="122">
请选择操作项：<select name=select1><option value=1>中国人打死日本人</option><option value=2>中国人踢死日本人</option><option value=3>中国人玩死日本人</option></select>
</td>
</tr>
</table>
</form>
<div>
<div style="width: 90px;float: left"><input class="tl-input" type="text" placeholder="最低价"></div>
<div style="width: 20px;float: left;text-align: center">-</div>
<div style="width: 90px;float: left"><input class="tl-input" type="text" placeholder="最高价"></div>
<div style="width: 60px;float: left;margin-left: 20px"><button class="ant-btn ant-btn-red">确定</button></div>
</div>
<button type="button" onclick="loadXMLDoc('/Control?Type=0&Index=0&Operation=0','OperationHit')" class="ant-btn ant-btn-red">开灯</button>
<button type="button" onclick="loadXMLDoc('/Control?Type=0&Index=0&Operation=1','OperationHit')" class="ant-btn ant-btn-red">+</button>
<button type="button" onclick="loadXMLDoc('/Control?Type=0&Index=0&Operation=2','OperationHit')" class="ant-btn ant-btn-red">-</button>
<button type="button" onclick="loadXMLDoc('/Control?Type=0&Index=0&Operation=3','OperationHit')" class="ant-btn ant-btn-red">关灯</button>
<button type="button" onclick="loadXMLDoc('/Control?Type=0&Index=0&Operation=4','OperationHit')" class="ant-btn ant-btn-red">重启</button>
<table border="0">
<tr>
<td height="50">已启动：<span id=CurrentMillis></span> &nbsp;&nbsp;&nbsp;&nbsp;电池电压：<span id="BAT_VOLTAGE" style="color:#de87b8;"></span> V
</td>
</tr>
<tr>
<td height="50">
<button type="button" onclick="loadXMLDoc('/Control?Type=0&Index=0&Operation=0','OperationHit')" class="ant-btn ant-btn-red">开灯</button>
<button type="button" onclick="loadXMLDoc('/Control?Type=0&Index=0&Operation=1','OperationHit')" class="ant-btn ant-btn-red">+</button>
<button type="button" onclick="loadXMLDoc('/Control?Type=0&Index=0&Operation=2','OperationHit')" class="ant-btn ant-btn-red">-</button>
<button type="button" onclick="loadXMLDoc('/Control?Type=0&Index=0&Operation=3','OperationHit')" class="ant-btn ant-btn-red">关灯</button>
<button type="button" onclick="loadXMLDoc('/Control?Type=1&Index=99&Operation=0','OperationHit')" class="ant-btn ant-btn-red">电机启停</button>
<button type="button" onclick="loadXMLDoc('/Control?Type=0&Index=0&Operation=4','OperationHit')" class="ant-btn ant-btn-red">重启</button>
</td>
</tr>
<tr>
<td align="left">
<table border="1" cellspacing="0" cellpadding="0">
<tr>
<td align="center"><span style="color:#398ad9;">期望角度TA</span></td>
<td align="center"><span style="color:#5bec8d;">摇摆电压SV</span></td>
<td align="center"><span style="color:#fd42ac;">摇摆角度SA</span></td>
<td align="center"><span style="color:#4b8200;">速度环P1</span></td>
<td align="center"><span style="color:#ff33ff;">速度环I1</span></td>
<td align="center"><span style="color:#4b8200;">速度环P2</span></td>
<td align="center"><span style="color:#ff33ff;">速度环I2</span></td>
</tr>
<tr>
<td align="center"><span style="color:#ff5c5c;" id="target_velocity"></span></td>
<td align="center"><span style="color:#5bec8d;" id="swing_up_voltage"></span></td>
<td align="center"><span style="color:#fd42ac;" id="swing_up_angle"></span></td>
<td align="center"><span style="color:#4b8200;" id="v_p_1"></span></td>
<td align="center"><span style="color:#ff33ff;" id="v_i_1"></span></td>
<td align="center"><span style="color:#4b8200;" id="v_p_2"></span></td>
<td align="center"><span style="color:#ff33ff;" id="v_i_2"></span></td>
</tr>
<tr>
<td align="center">
<div style="width: 90px;float: left"><input class="tl-input" type="text" name="target_velocity" id="target_velocity2" size="2" onchange="checkNum(this)"><button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('target_velocity2').value=Number(document.getElementById('target_velocity2').value)+0.5;">+</button>
<button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('target_velocity2').value=Number(document.getElementById('target_velocity2').value)-0.5;">-</button><br>
<button type="button" class="ant-btn ant-btn-red" onclick="alert('/Control?Type=1&Index=0&Operation='+document.getElementById('target_velocity2').value)">发送</button></td>
<td align="center">
<div style="width: 90px;float: left"><input class="tl-input" name="swing_up_voltage" id="swing_up_voltage2" size="2" onchange="checkNum(this)"><button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('swing_up_voltage2').value=Number(Number(document.getElementById('swing_up_voltage2').value)+0.10).toPrecision(2);">+</button><button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('swing_up_voltage2').value=Number(Number(document.getElementById('swing_up_voltage2').value)-0.10).toPrecision(2);">-</button><br>
<button type="button" class="ant-btn ant-btn-red" onclick="">发送</button>
</td>
<td align="center">
<div style="width: 90px;float: left"><input class="tl-input" name="swing_up_angle" id="swing_up_angle2" size="2" onchange="checkNum(this)"><button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('swing_up_angle2').value=Number(document.getElementById('swing_up_angle2').value)+1;">+</button><button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('swing_up_angle2').value=Number(document.getElementById('swing_up_angle2').value)-1;">-</button><br>
<button type="button" class="ant-btn ant-btn-red" onclick="">发送</button>
</td>
<td align="center">
<div style="width: 90px;float: left"><input class="tl-input" name="v_p_1" id="v_p_12" size="2" onchange="checkNum(this)"><button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('v_p_12').value=Number(document.getElementById('v_p_12').value)+0.1;">+</button><button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('v_p_12').value=Number(document.getElementById('v_p_12').value)-0.1;">-</button><br>
<button type="button" class="ant-btn ant-btn-red" onclick="">发送</button>
</td>
<td align="center">
<div style="width: 90px;float: left"><input class="tl-input" name="v_i_1" id="v_i_12" size="2" onchange="checkNum(this)"><button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('v_i_12').value=Number(document.getElementById('v_i_12').value)+0.5;">+</button><button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('v_i_12').value=Number(document.getElementById('v_i_12').value)-0.5;">-</button><br>
<button type="button" class="ant-btn ant-btn-red" onclick="">发送</button>
</td>
<td align="center">
<div style="width: 90px;float: left"><input class="tl-input" name="v_p_2" id="v_p_22" size="2" onchange="checkNum(this)"><button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('v_p_22').value=Number(document.getElementById('v_p_22').value)+0.1;">+</button><button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('v_p_22').value=Number(document.getElementById('v_p_22').value)-0.1;">-</button><br>
<button type="button" class="ant-btn ant-btn-red" onclick="">发送</button>
</td>
<td align="center">
<div style="width: 90px;float: left"><input class="tl-input" name="v_i_2" id="v_i_22" size="2" onchange="checkNum(this)"><button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('v_i_22').value=Number(document.getElementById('v_i_22').value)+0.5;">+</button><button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('v_i_22').value=Number(document.getElementById('v_i_22').value)-0.5;">-</button><br>
<button type="button" class="ant-btn ant-btn-red" onclick="">发送</button>
</td>
</tr>
</table>
<script>
function checkNum(obj) {
//检查是否是非数字值
if (isNaN(obj.value)) {
obj.value = "";
}
if (obj != null) {
//检查小数点后是否对于两位
if (obj.value.toString().split(".").length > 1 && obj.value.toString().split(".")[1].length > 2) {
//alert("小数点后多于两位！");
obj.value = Number(obj.value).toPrecision(2);
}
}
};
document.getElementById('Shaft_Velocity').innerHTML +="11"+"<br>";
document.getElementById('Shaft_Velocity').innerHTML +="22"+"<br>";
document.getElementById('Shaft_Velocity2').value="aa";
</script>
</body>
</html>

63
arduino/Betas/RGB_V1.1.1/main/i2c.ino Normal file
View File

@ -0,0 +1,63 @@
/* Copyright (C) 2012 Kristian Lauszus, TKJ Electronics. All rights reserved.
This software may be distributed and modified under the terms of the GNU
General Public License version 2 (GPL2) as published by the Free Software
Foundation and appearing in the file GPL2.TXT included in the packaging of
this file. Please note that GPL2 Section 2[b] requires that all works based
on this software must also be made publicly available under the terms of
the GPL2 ("Copyleft").
Contact information
-------------------
Kristian Lauszus, TKJ Electronics
Web : http://www.tkjelectronics.com
e-mail : kristianl@tkjelectronics.com
*/
const uint8_t IMUAddress = 0x68; // AD0 is logic low on the PCB
const uint16_t I2C_TIMEOUT = 1000; // Used to check for errors in I2C communication
uint8_t i2cWrite(uint8_t registerAddress, uint8_t data, bool sendStop) {
return i2cWrite(registerAddress, &data, 1, sendStop); // Returns 0 on success
}
uint8_t i2cWrite(uint8_t registerAddress, uint8_t *data, uint8_t length, bool sendStop) {
Wire.beginTransmission(IMUAddress);
Wire.write(registerAddress);
Wire.write(data, length);
uint8_t rcode = Wire.endTransmission(sendStop); // Returns 0 on success
if (rcode) {
Serial.print(F("i2cWrite failed: "));
Serial.println(rcode);
}
return rcode; // See: http://arduino.cc/en/Reference/WireEndTransmission
}
uint8_t i2cRead(uint8_t registerAddress, uint8_t *data, uint8_t nbytes) {
uint32_t timeOutTimer;
Wire.beginTransmission(IMUAddress);
Wire.write(registerAddress);
uint8_t rcode = Wire.endTransmission(false); // Don't release the bus
if (rcode) {
Serial.print(F("i2cRead failed: "));
Serial.println(rcode);
return rcode; // See: http://arduino.cc/en/Reference/WireEndTransmission
}
Wire.requestFrom(IMUAddress, nbytes, (uint8_t)true); // Send a repeated start and then release the bus after reading
for (uint8_t i = 0; i < nbytes; i++) {
if (Wire.available())
data[i] = Wire.read();
else {
timeOutTimer = micros();
while (((micros() - timeOutTimer) < I2C_TIMEOUT) && !Wire.available());
if (Wire.available())
data[i] = Wire.read();
else {
Serial.println(F("i2cRead timeout"));
return 5; // This error value is not already taken by endTransmission
}
}
}
return 0; // Success
}

1175
arduino/Betas/RGB_V1.1.1/main/main.ino Normal file
View File

File diff suppressed because it is too large Load Diff