Revision 2:3a7eb05dbc72, committed 2018-04-20

Comitter:

glintligo

Date:

Fri Apr 20 10:56:57 2018 +0000

Parent:

1:f9658c7309ef

Commit message:

2018.4.20;

Changed in this revision

--- a/main.cpp	Fri Apr 20 08:27:50 2018 +0000
+++ b/main.cpp	Fri Apr 20 10:56:57 2018 +0000
@@ -17,8 +17,8 @@
 };
 //0.00005
 
-//0.00015
-PID PID_Para={0.0,0.0,0.0005};
+
+PID PID_Para={0.000085,0.0,-0.0002};
 Ticker toggle_led_ticker;   //声明一个 Ticker 对象
 DigitalOut myled(PC_13);
 //Serial pc(PA_9, PA_10);
@@ -29,21 +29,21 @@
 PwmOut mypwm4(PB_1);
 float calculate(float input,float target);
 void make() {        //中断子程序,在平衡车和无人机的项目中,控制算法就写在中断子程序中:获取陀螺仪数据,根据陀螺仪数据通过PID算法得到电机的控制量(占空比和方向),在输出到单片机管脚
-         co = calculate(roll, 0.0);
-           // pc.printf("pitch: %.2f roll: %.2f yaw: %.2f co: %.2f\r\n", pitch,roll,yaw,co);
+         co = calculate(roll, 0.0); 
+              // pc.printf("pitch: %.2f roll: %.2f yaw: %.2f co: %.2f\r\n", pitch,roll,yaw,co);
     // pc.printf("roll: %.2f co: %.2f\r\n",roll,co);
      if (co >=0)
          {  
-        mypwm2.pulsewidth(co);
-        mypwm1.pulsewidth(0);
-        mypwm4.pulsewidth(co);
-        mypwm3.pulsewidth(0);}
+        mypwm1.pulsewidth(co);
+        mypwm2.pulsewidth(0);
+        mypwm3.pulsewidth(co);
+        mypwm4.pulsewidth(0);}
         else
         {
-        mypwm2.pulsewidth(0);
-        mypwm1.pulsewidth(-co);
-        mypwm4.pulsewidth(0);
-        mypwm3.pulsewidth(-co);}
+        mypwm1.pulsewidth(0);
+        mypwm2.pulsewidth(-co);
+        mypwm3.pulsewidth(0);
+        mypwm4.pulsewidth(-co);}
 }
 
 
@@ -52,7 +52,6 @@
     PID_Para.error=target-input;
     PID_Para.dif_error=PID_Para.error-PID_Para.last_error;
     PID_Para.last_error=PID_Para.error;
-
     PID_Para.int_error+=PID_Para.error;
     if(PID_Para.int_error >= NTMAX)
         PID_Para.int_error = NTMAX;