智能车制作

标题: 编码器 [打印本页]

作者: arfer 时间: 2015-4-14 22:23
标题: 编码器
编码器如何使能呢？？

gpio_Interrupt_init(PORTC,5, GPI_DOWN, RING) ;
写这个编码器还是不能传回来脉冲

这个程序用到什么算法？能解释一下吗

int16_t SpeedPID(uint16_t speedCount,uint16_t AmSpeed){
//  uint8_t i;

   static int16_t LastSpeedCut0,LastSpeedCut1,LastSpeedCut2 ,SpeedLastPWMK ;
   int16_t  SpeedPWMKP ,SpeedPWMKI ,SpeedPWMKD,SpeedPWMK ;
   int16_t  SpeedPWMOUT;
   int16_t  SpeedDifference0=0;
   int16_t  speedDEARE1,speedDEARE2,DSpeed ;

   SpeedKP = 2;
   SpeedKI = 0;
   SpeedKD = 1;

   LastSpeedCut0 = (int16_t) speedCount ;
   DSpeed =(int16_t) AmSpeed ;

   SpeedDifference0 = DSpeed - LastSpeedCut0  ;
   speedDEARE1 = LastSpeedCut0 - LastSpeedCut1;
   speedDEARE2 = LastSpeedCut2+LastSpeedCut0-2*LastSpeedCut1;
   LastSpeedCut2  = LastSpeedCut1;
   LastSpeedCut1  = LastSpeedCut0;

      SpeedPWMKP = SpeedKP*SpeedDifference0;
      if(SpeedPWMKP>KPPLUSMAX){
         SpeedPWMKP = KPPLUSMAX;
      }else if (SpeedPWMKP <KPNEGATIVEMAX){
      SpeedPWMKP = KPNEGATIVEMAX;
      }

   // uart_putchar(UART0,SpeedDifference0);
   // uart_putchar(UART0,SpeedPWMKP);

      SpeedPWMKI = SpeedKI* speedDEARE1;
      if(SpeedPWMKI > KIPLUSMAX){
      SpeedPWMKI = KIPLUSMAX;
      } else if(SpeedPWMKI < KINEGATIVEMAX){
      SpeedPWMKI = KINEGATIVEMAX;
      }

      SpeedPWMKD = SpeedKD* speedDEARE2;
      if(SpeedPWMKD > KDPLUSMAX){
         SpeedPWMKD = KDPLUSMAX;
      } else if(SpeedPWMKD < KDNEGATIVEMAX){
         SpeedPWMKD = KDNEGATIVEMAX;
      }

      SpeedPWMK = SpeedPWMKD+SpeedPWMKI+SpeedPWMKP ;
      if(SpeedPWMK > KWPLUSMAX){
      SpeedPWMK = KWPLUSMAX;
      }else if(SpeedPWMK < KWNEGATIVEMAX){
      SpeedPWMK = KWNEGATIVEMAX;

      }

      SpeedPWMOUT = SpeedLastPWMK + SpeedPWMK ;
      if(SpeedPWMOUT < 0 ){
         SpeedPWMOUT = 0 ;
      } else if(SpeedPWMOUT > KOUPLUSMAX){
         SpeedPWMOUT = KOUPLUSMAX ;

      }
      SpeedLastPWMK = SpeedPWMOUT ;
   // uart_putchar(UART0,SpeedPWMOUT);
   // uart_putchar(UART0,SpeedPWMK);
      return  SpeedPWMOUT ;

}

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