智能车制作

标题: 清华方案，速度控制的输出一直变小，求大神帮主啊，，吉他手老师求助啊！万分感谢 [打印本页]

作者: 分岔口 时间: 2012-4-11 08:26
标题: 清华方案，速度控制的输出一直变小，求大神帮主啊，，吉他手老师求助啊！万分感谢
void SpeedControl(void) {
float fDelta;
float fP, fI;
g_fCarSpeed = (g_nLeftMotorPulseSigma + g_nRightMotorPulseSigma) / 2;
g_nLeftMotorPulseSigma = g_nRightMotorPulseSigma = 0;
g_fCarSpeed *= CAR_SPEED_CONSTANT;
fDelta = CAR_SPEED_SET;
fDelta -= g_fCarSpeed;
fP = fDelta * SPEED_CONTROL_P;
fI = fDelta * SPEED_CONTROL_I;

g_fSpeedControlIntegral += fI;
if(g_fSpeedControlIntegral > SPEED_CONTROL_OUT_MAX)
   g_fSpeedControlIntegral = SPEED_CONTROL_OUT_MAX;
if(g_fSpeedControlIntegral < SPEED_CONTROL_OUT_MIN)
   g_fSpeedControlIntegral = SPEED_CONTROL_OUT_MIN;
g_fSpeedControlOutOld = g_fSpeedControlOutNew;
g_fSpeedControlOutNew = fP + g_fSpeedControlIntegral;
}
void SpeedControlOutput(void) {
float fValue;
fValue = g_fSpeedControlOutNew - g_fSpeedControlOutOld;
g_fSpeedControlOut = fValue * (g_nSpeedControlPeriod + 1) / SPEED_CONTROL_PERIOD + g_fSpeedControlOutOld;
}
void GetMotorPulse(void) {
unsigned int nLeftPulse, nRightPulse;

COUNTER1_GetNumEvents(&nLeftPulse);
COUNTER2_GetNumEvents(&nRightPulse);
COUNTER1_Reset();
COUNTER2_Reset();

g_nLeftMotorPulse1 = (int)nLeftPulse;
g_nRightMotorPulse1 = (int)nRightPulse;
if(!(g_nLeftMotorPulse1>0))  g_nLeftMotorPulse1 = -g_nLeftMotorPulse1;
if(!(g_nRightMotorPulse1>0))  g_nRightMotorPulse1 = -g_nRightMotorPulse1;

g_nLeftMotorPulseSigma += g_nLeftMotorPulse1;
g_nRightMotorPulseSigma += g_nRightMotorPulse1;
}

各位大神教教小弟这个的参数应该怎么调！

作者: 逝水千年 时间: 2012-6-13 12:05
兄弟啊！我的也是啊！你怎么解决的啊？是哪里出问题了吗？求赐教……

作者: 逝水千年 时间: 2012-6-13 15:06
求指导，求指导啊……

作者: 1272563348 时间: 2012-6-13 18:40

作者: 逗♂++ 时间: 2012-7-11 17:05

COUNTER1_GetNumEvents(&nLeftPulse);
COUNTER2_GetNumEvents(&nRightPulse);
COUNTER1_Reset();
COUNTER2_Reset();这几句是啥意思啊大神，求指教

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