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| #include <MPU6050_tockn.h>
#include <Wire.h>
#include <WiFi.h>
#include <PID_v1.h>
const char *ssid = "BJZQ";
const char *password = "12345678";
MPU6050 mpu6050(Wire);
WiFiServer server(80);
double OutPutA, OutPutB;
//角度环
double DegGoal = 1.5, DegIn, DegOut, Degkp = 50.0,Degki = 1.0,Degkd = 0.5;
PID DegPID(&DegIn, &DegOut, &DegGoal, Degkp, Degki, Degkd, DIRECT);
//转向控制
double DirIn, DirOut, DirGoal = 0.0, Dirkp = 3.0, Dirki = 0.0, Dirkd = 0.3;
PID DirPID(&DirIn, &DirOut, &DirGoal, Dirkp, Dirki, Dirkd, DIRECT);
//速度环
double SpdIn, SpdOut, SpdGoal = 0.0, Spdkp = 0.0001, Spdki = 0.0001, Spdkd = 0.00005;
PID SpdPID(&SpdIn, &SpdOut, &SpdGoal, Spdkp, Spdki, Spdkd, DIRECT);
void setup() {
pinMode(27, OUTPUT);
pinMode(14, OUTPUT);
pinMode(32, OUTPUT);
pinMode(33, OUTPUT);
pinMode(25, OUTPUT);
pinMode(26, OUTPUT);
digitalWrite(32, HIGH);
digitalWrite(33, HIGH);
digitalWrite(25, HIGH);
digitalWrite(26, HIGH);
ledcSetup(8, 100, 8);
ledcAttachPin(27, 8);
ledcWrite(8, 120);
ledcSetup(6, 100, 8);
ledcAttachPin(14, 6);
ledcWrite(6, 120);
Serial.begin(115200);
Wire.begin();
mpu6050.begin();
mpu6050.calcGyroOffsets(true);
xTaskCreatePinnedToCore(Task1code, "pid_output", 10000, NULL, 1, NULL, 0);
}
void Task1code( void * parameter) {
DirPID.SetOutputLimits(-63, 63);
DirPID.SetSampleTime(20);
DirPID.SetMode(AUTOMATIC);
DegPID.SetOutputLimits(-127, 127);
DegPID.SetSampleTime(20);
DegPID.SetMode(AUTOMATIC);
SpdPID.SetOutputLimits(-1, 1);
SpdPID.SetSampleTime(15);
SpdPID.SetMode(AUTOMATIC);
while (true){
mpu6050.update();
DegIn = mpu6050.getAngleY();
DirIn = mpu6050.getAngleZ();
DegPID.Compute();
DirPID.Compute();
if (DegOut<100&&DegOut>-100){
DegGoal = DegGoal - SpdOut;
SpdIn = DegOut;
SpdPID.Compute();
}
OutPutA = DegOut - DirOut;
OutPutB = DegOut + DirOut;
if (OutPutA>=0){
digitalWrite(32, LOW);
digitalWrite(33, HIGH);
ledcWrite(6, OutPutA);
}else{
digitalWrite(32, HIGH);
digitalWrite(33, LOW);
ledcWrite(6, -OutPutA);
}
if (OutPutB>=0){
digitalWrite(25, LOW);
digitalWrite(26, HIGH);
ledcWrite(8, OutPutB);
}else{
digitalWrite(25, HIGH);
digitalWrite(26, LOW);
ledcWrite(8, -OutPutB);
}
}
}
void loop() {
mpu6050.update();
Serial.print(mpu6050.getAngleX());
Serial.print(',');
Serial.print(mpu6050.getAngleY());
Serial.print(',');
Serial.print(mpu6050.getAngleZ());
Serial.print(',');
Serial.print(DegOut);
Serial.print(',');
Serial.print(DegGoal);
Serial.print(',');
Serial.print(Degkp);
Serial.print(',');
Serial.print(Degki);
Serial.print(',');
Serial.print(Degkd);
Serial.print('\n');
if (Serial.available()){
char c = Serial.read();
if (c=='p'){
String readBuff;
unsigned long start_time = millis();
while(true){
char c = Serial.read();
if (c=='\n'||millis()-start_time>100)break;
readBuff += c;
}
Degkp = readBuff.toDouble();
readBuff = "";
}
if (c=='i'){
String readBuff;
unsigned long start_time = millis();
while(true){
char c = Serial.read();
if (c=='\n'||millis()-start_time>100)break;
readBuff += c;
}
Degki = readBuff.toDouble();
readBuff = "";
}
if (c=='d'){
String readBuff;
unsigned long start_time = millis();
while(true){
char c = Serial.read();
if (c=='\n'||millis()-start_time>100)break;
readBuff += c;
}
Degkd = readBuff.toDouble();
readBuff = "";
}
DegPID.SetTunings(Degkp,Degki,Degkd);
if (c=='D'){
String readBuff;
unsigned long start_time = millis();
while(true){
char c = Serial.read();
if (c=='\n'||millis()-start_time>100)break;
readBuff += c;
}
DirGoal = readBuff.toDouble();
readBuff = "";
}
}
}
|
