SkyLi
158 lines
4.2 KiB
C
158 lines
4.2 KiB
C
#include "Task.h"
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#include "zf_driver_pit.h"
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#include "zf_device_key.h"
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#include "zf_common_interrupt.h"
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#include "IMU.h"
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#include "Beep.h"
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#include "GrayscaleSensor.h"
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#include "Motor.h"
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#include "MotorEncoder.h"
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#include "PID_Controller.h"
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#include "Command.h"
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volatile uint8_t motor_control_task_enable = 0;
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volatile uint8_t angle_control_task_enable = 0;
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volatile uint8_t position_control_task_enable = 0;
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/*速度环的输入，开启角度环后由角度环接管(范围-50到+50)*/
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volatile int16_t motor_speed_right_ref = 0;
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volatile int16_t motor_speed_left_ref = 0;
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/*角度环接管速度之后的基础直行速度*/
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volatile int16_t motor_speed_base = 0;
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/*角度环输入，开启位置环后由位置环接管*/
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volatile float yaw_ref = 0;
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/*位置环的输出*/
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volatile float angle_velocity = 0;
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volatile PIDInstance pid_speed_right={0};
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volatile PIDInstance pid_speed_left={0};
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volatile PIDInstance pid_yaw = {0};
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volatile PIDInstance pid_position = {0};
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void motor_control_init(float T);
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void angle_control_init(float T);
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void position_control_init(float T);
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void angle_control_task(void);
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void position_control_task(void);
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void motor_control_task(void);
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void Task_10ms(uint32 state, void *ptr)
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{
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// 10ms 执行一次的任务代码(100Hz)
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motor_encoder_update();
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if(motor_control_task_enable)
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motor_control_task();
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}
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void Task_20ms(uint32 state, void *ptr)
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{
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// 20ms 执行一次的任务代码(50Hz)
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grayscale_sensor_scan();
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if(position_control_task_enable)
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position_control_task();
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imu_update();
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if(angle_control_task_enable)
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angle_control_task();
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}
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void Task_50ms(uint32 state, void *ptr)
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{
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// 50ms 执行一次的任务代码(20Hz)
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key_scanner();
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beep_actuator();
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}
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void task_init(void)
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{
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motor_control_init(0.01f);
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angle_control_init(0.02f);
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position_control_init(0.02f);
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pit_ms_init(PIT_TIM_A0,10,Task_10ms,NULL);
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interrupt_set_priority(TIMA0_INT_IRQn,1);
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pit_ms_init(PIT_TIM_A1,20,Task_20ms,NULL);
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interrupt_set_priority(TIMA1_INT_IRQn,1);
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pit_ms_init(PIT_TIM_G6,50,Task_50ms,NULL);
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interrupt_set_priority(TIMG6_INT_IRQn,7);
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}
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void motor_control_init(float T)
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{
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PID_Init_Config_s config_right = {
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.Kp = 300.0f,
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.Ki = 150.0f,
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.Kd = 0.0f,
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.T = T,
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.MaxOut = MOTOR_MAX
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};
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PIDInit((PIDInstance *)&pid_speed_right, &config_right);
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PID_Init_Config_s config_left = {
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.Kp = 300.0f,
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.Ki = 150.0f,
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.Kd = 0.0f,
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.T = T,
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.MaxOut = MOTOR_MAX
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};
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PIDInit((PIDInstance *)&pid_speed_left, &config_left);
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}
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void motor_control_task(void)
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{
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float pwm_right = PIDCalculate((PIDInstance *)&pid_speed_right,motor_speed_right.value,motor_speed_right_ref);
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float pwm_left = PIDCalculate((PIDInstance *)&pid_speed_left,motor_speed_left.value,motor_speed_left_ref);
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motor_set_pwm_right(pwm_right);
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motor_set_pwm_left(pwm_left);
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}
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void angle_control_init(float T)
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{
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PID_Init_Config_s config_yaw = {
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.Kp = 1.0f,
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.Ki = 0.0f,
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.Kd = 0.0f,
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.T = T,
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.MaxOut = 25,
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.Improve = PID_Yaw_Error_Corretion
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};
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PIDInit((PIDInstance *)&pid_yaw, &config_yaw);
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}
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void angle_control_task(void)
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{
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float speed_dif = PIDCalculate((PIDInstance *)&pid_yaw,imu_angle.yaw,yaw_ref);
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motor_speed_left_ref = motor_speed_base - speed_dif;
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motor_speed_right_ref = motor_speed_base + speed_dif;
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}
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void position_control_init(float T)
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{
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PID_Init_Config_s config_position = {
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.Kp = 0.5f,
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.Ki = 0.0f,
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.Kd = 0.0f,
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.T = T,
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.MaxOut = 90,
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};
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PIDInit((PIDInstance *)&pid_position, &config_position);
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}
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void position_control_task(void)
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{
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//角度速率（单位度/秒）
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angle_velocity = PIDCalculate((PIDInstance *)&pid_position,grayscale_sensor_position,0);
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//发送给云台，角度速率前馈
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command_send_angle_velocity((float*)&angle_velocity);
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set_yaw_ref(yaw_ref + angle_velocity*pid_position.dt);
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}
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void set_yaw_ref(float set_value)
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{
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if(set_value>180)
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{
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while(set_value > 180)
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set_value -= 360;
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}
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else if(set_value<-180)
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{
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while(set_value < -180)
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set_value += 360;
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}
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yaw_ref = set_value;
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} |