智能车制作

标题: 试跑程序 [打印本页]

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作者: 金刚才才    时间: 2014-3-9 19:08
标题: 试跑程序
小弟新手，请问大神小弟写程序不知从哪下手，不知怎写，，能否给个建议或往年的一些好的程序帮助下，，灰常感谢。。。。电磁组128求围观

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作者: wraith    时间: 2014-3-9 19:21
善用搜索功能

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作者: 優子推匕    时间: 2014-3-9 22:09
#include <hidef.h>      /* common defines and macros */
#include <math.h>
#include "sysinit.h"
#include "derivative.h"      /* derivative-specific definitions */

/************数据查表部分***********/
//根据电磁跑道电流在100mA选用的参数，默认选中零组;
signed int const datatable[20]={-135,-120,-105,-90,-72,-53,-38,-26,-16,-10,10,16,26,38,53,72,90,105,120,135}; //16
//signed int const datatable[2][14]={{-135,-115,-86,-61,-33,-21,-10,10,21,33,61,86,115,135},//3-4/1-6
//  {-80,-68,-60,-50,-38,-25,-13,13,25,38,50,60,68,80}};//2-5/0-7

//舵机转向角度与位置对应数据表和舵机对应占空比变化数据表
signed int const Turndegree[15]={35,30,25,20,15,10,5,0,-5,-10,-16,-22,-28,-34,-40};
signed int const Turndata[21]={-185,-168,-152,-138,-118,-100,-78,-52,-37,-20,0,18,30,43,60,73,85,95,108,120,133};
//signed int const Turndata[21]={133,120,108,95,85,73,60,43,30,18,0,-23,-47,-73,-105,-130,-160,-185};
//signed int const Turndata[15]={130,113,95,76,58,39,19,0,-22,-46,-72,-98,-125,-153,-185};
//signed int const Turndata[15]={130,110,92,73,55,36,18,0,-22,-46,-72,-98,-125,-153,-185};
/*************宏定义部分*************/
//#define MID_Turn 1560      //舵机零度对应脉宽  sysinit.h文件中已有定义
#define Kp_speed 2.0
#define Ki_speed 0.5
#define Kd_speed 0.1
#define Kp_turn 1.0
//#define Ki_turn 0.0
#define Kd_turn 0.8

#define speedup_max 30
#define speedup_min -30

/**************变量定义部分**************/
//定义复位不自动清零全局变量
//#pragma DATA_SEG HOLD_RAM
unsigned int flag_arrive2s=0;   //等待两秒时间到标志

//定义复位自动清零全局变量
#pragma DATA_SEG DEFAULT  
unsigned int AD_Result[8];                  //存放AD转换结果
unsigned int ADave_Result[8];               //存放AD转换结果average平均值
unsigned int AD_OldResult[5][8];           //存放5组先前的AD转换结果
unsigned int sum_left45=0;                    //
unsigned int sum_right23=0;
signed int chazhi[4]={0};                  //检测电路切换

unsigned int Boma_pa=0;
unsigned char count_10ms=0;                  //计时10ms
unsigned char duoji_10ms=0;                  //duoji计时10ms
unsigned char count_20ms=0;                  //计时20ms
unsigned char count_2s=0;                    //起跑延时2s count_10ms计数200次
unsigned int shache_10ms=0;                  //刹车延时时基变量

unsigned int pulse_overcount=0;     //脉冲累加器溢出次数计数
unsigned int pulse_count1=0;         //脉冲累加器计数值1
unsigned int pulse_count2=0;         //脉冲累加器计数值2
unsigned int Measure_speed=0;        //速度测量Measure_speed=pulse_count1-pulse_count2;(pulse_count1>=pulse_count2)
                                     //或65535-pulse_count2+pulse_count1;(pulse_count1<pulse_count2)
unsigned int scratchline_count=0;   //经过起跑线次数计数
signed int piandu=0;                //小车偏度 左偏右拐为正（1、2、3、4、5、6、7）  
                                    //  右偏左拐为负（-1、-2、-3、-4、-5、-6、-7）

unsigned int Set_speed=0;             //给定速度                       
signed int Ek_speed=0;              //速度偏差
signed int Ei_speed=0;              //速度积分项
signed int Ed_speed=0;              //速度微分项
signed int OldEk_speed=0;           //上一次速度偏差
signed int OldEi_speed=0;

//signed int Set_turn=0;
//signed int Measure_turn=0;
signed int Ek_turn=0.0;
//float Ei_turn=0.0;
signed int Ed_turn=0.0;
signed int OldEk_turn=0.0;
unsigned int Duojiout=0;
unsigned int OldDuoji_PWM=MID_Turn;

signed int dianliu=0;               //跑到电流大小
signed int Speedup=0;               //速度加速变量
signed int Jiaozheng_speed=0;             //速度校正变量
unsigned int Boma_speed=0;            //拨码开关速度设定
unsigned int var_turn=0;

/********************状态标志变量***************************/
//unsigned int flag_arrive2s=0;   //等待两秒时间到标志
unsigned int flag_shache=0;     //刹车延时时间到标志
signed int flag_direction=0;    //中间为零，偏左为-1，偏右为+1；
unsigned int flag_wandao=0;     //弯道为1，直道为0；
unsigned int flag_crossroad=1;  //十字交叉口识别标志 是标志为0；不是为1；
unsigned int flag_isrdelay20ms=0;//起跑线识别延时20ms标志
unsigned int flag_ds=0;  //大弯道识别标志
unsigned int flag_xs=0;  //小弯道识别标志


/**************子函数声明**************/
void wait2s(void);      //等待2秒子函数
void collect_status(void); //状态采集子函数
void DIPswitch_adjust(void); //拨码开关参数调节子函数
void PID_speed(unsigned int want_speed,unsigned int now_speed); //速度PID调节子函数
unsigned int PID_turn(signed int Set_turn,signed int Measure_turn);  //转向PID调节子函数
void parking(void);  //第二次检测到起跑线停车子函数
void shache(void);    //刹车子函数
/***********AD中断函数***********/
//把中断处理(程序/函数)放在不分页FLASH区
#pragma CODE_SEG NON_BANKED   

void interrupt 22 ATD0(void)
{
    unsigned int i,j,k,m,n;
    //DisableInterrupts;
    AD_Result[0]=ATD0DR0L;
    AD_Result[1]=ATD0DR1L;
    AD_Result[2]=ATD0DR2L;
    AD_Result[3]=ATD0DR3L;
    AD_Result[4]=ATD0DR4L;
    AD_Result[5]=ATD0DR5L;
    AD_Result[6]=ATD0DR6L;
    AD_Result[7]=ATD0DR7L;
    //EnableInterrupts;
    if(flag_arrive2s==0)
    for(n=0;n<8;n++)
    ADave_Result[n]=AD_Result[n];
    else
    {
    for(i=5;i>0;i--)
       for(j=0;j<8;j++)
          AD_OldResult[i][j]=AD_OldResult[i-1][j];
    for(k=0;k<8;k++)
       AD_OldResult[0][k]=AD_Result[k];
    for(m=0;m<8;m++)
    ADave_Result[m]=(AD_OldResult[0][m]+AD_OldResult[1][m]+AD_OldResult[2][m]+AD_OldResult[3][m]+AD_OldResult[4][m])/5;
    }
}

/*****定时器PIT0中断10ms函数*****/
//把中断处理(程序/函数)放在不分页FLASH区
#pragma CODE_SEG NON_BANKED      

void interrupt 66 PIT0(void)
{
  //DisableInterrupts;

    count_10ms++;
    count_2s++;
    count_20ms++;
    shache_10ms++;
    duoji_10ms++;

    if(count_20ms==2)
    {
     pulse_count2=pulse_count1;
     pulse_count1=PACNT;
     count_20ms=0;
     flag_isrdelay20ms=1;
    }
    if(count_2s==200)
    {
       flag_arrive2s=1;
       count_2s=0;
    }
    //if(flag_isrdelay20ms>10)
    //flag_isrdelay20ms=0;
    if(shache_10ms==1)
    {
       flag_shache=1;
       shache_10ms=0;
    }

    //collect_status();

    PITTF=0x01;  //清除标志位
  //EnableInterrupts;
}

/******脉冲累加器溢出中断******/
//把中断处理(程序/函数)放在不分页FLASH区
#pragma CODE_SEG NON_BANKED      

void interrupt 17 PULSE_ISR(void)
{
  //DisableInterrupts;
  pulse_overcount++;
  PACNT=0;
  PAFLG=0x03;     //清除标志位

  //EnableInterrupts;

}

/********起跑线识别外部PE1/I\R\Q\中断*********/
//把中断处理(程序/函数)放在不分页FLASH区
#pragma CODE_SEG NON_BANKED      

void interrupt 6 SCRATCHLINE_ISR(void)
{
  //DisableInterrupts;
  scratchline_count++;    //过起跑线次数 加个延时20ms
  flag_isrdelay20ms=0;
  while(flag_isrdelay20ms==0);
  if(scratchline_count>=2)
  {
   DisableInterrupts;
   parking();
  }

  //EnableInterrupts;

}

/*************采集状态函数************/
#pragma CODE_SEG DEFAULT
void collect_status(void)
{
  signed int Duoji_Position;
  unsigned int n=1;
  unsigned int k=0;

  signed int chazhi34;
  //signed int chazhi25;
  signed int chazhi16;
  //signed int chazhi07;
  //signed int chazhi31;
  //signed int chazhi20;
  //signed int chazhi46;
// signed int chazhi57;
  //signed int chazhi2345;
// signed int chazhi0167;

//signed int chazhi[4]={chazhi34,chazhi16,chazhi31,chazhi46};   
  chazhi34=ADave_Result[3]-ADave_Result[4];//3-4
  //chazhi25=ADave_Result[2]-ADave_Result[5];
  chazhi16=ADave_Result[1]-ADave_Result[6];//1-6
  //chazhi07=ADave_Result[0]-ADave_Result[7];
  //chazhi31=ADave_Result[3]-ADave_Result[1];//3-1
  //chazhi20=ADave_Result[2]-ADave_Result[0];
  //chazhi46=ADave_Result[4]-ADave_Result[6];//4-6
  //chazhi57=ADave_Result[5]-ADave_Result[7];
  //chazhi2345=chazhi25+chazhi34;
  //chazhi0167=chazhi07+chazhi16;

  //chazhi[0]=chazhi34;
  //chazhi[1]=chazhi16;


   if(chazhi34>=datatable[9]&&chazhi34<=datatable[10])     //判别为跑道中间位置[-33,34]
   {
    piandu=0;
    PORTB=0xff;
    //Speedup+=4;
    //if(Speedup>=14)
    Speedup=14;
    Jiaozheng_speed=3;
    PWMDTY67=MID_Turn+Turndata[piandu+10];
   }
   if(chazhi34>=datatable[8]&&chazhi34<datatable[9])      //判别为左偏右拐一档
   {
    piandu=-1;
    PORTB=0xef;
    //Speedup+=1;
    //if(Speedup>=13)
    Speedup=13;
    Jiaozheng_speed=0;
    //PWMDTY67=MID_Turn+Turndata[piandu+10];
    //shache();
   }
   if(chazhi34>=datatable[7]&&chazhi34<datatable[8])     //判别为左偏右拐二档
   {
    piandu=-2;
    PORTB=0xdf;
    Speedup=5;
    Jiaozheng_speed=0;
    //PWMDTY67=MID_Turn+Turndata[piandu+10];
    //shache();
    //shache();
   }
   if(chazhi34>=datatable[6]&&chazhi34<datatable[7])     //判别为左偏右拐三档
   {
    piandu=-3;
    PORTB=0xbf;
    Speedup=3;
    Jiaozheng_speed=0;
    //PWMDTY67=MID_Turn+Turndata[piandu+10];
    //shache();
   }  
   if(chazhi34>=datatable[5]&&chazhi34<datatable[6])     //判别为左偏右拐四档
   {
    piandu=-4;
    PORTB=0x7f;
    Speedup=5;
    Jiaozheng_speed=0;
    //PWMDTY67=MID_Turn+Turndata[piandu+10];
   }
   if(chazhi34>=datatable[4]&&chazhi34<datatable[5])     //判别为左偏右拐五档
   {
    piandu=-5;
    PORTB=0x6f;
    Speedup=6;
    Jiaozheng_speed=0;
    //PWMDTY67=MID_Turn+Turndata[piandu+10];
   }
   if(chazhi34>=datatable[3]&&chazhi34<datatable[4])     //判别为左偏右拐六档
   {
    piandu=-6;
    PORTB=0x5f;
    Speedup=5;
    Jiaozheng_speed=0;
    //PWMDTY67=MID_Turn+Turndata[piandu+10];
   }
   if(chazhi34>=datatable[2]&&chazhi34<datatable[3])     //判别为左偏右拐七档
   {
    piandu=-7;
    PORTB=0x3f;
    Speedup=5;
    Jiaozheng_speed=0;
    //PWMDTY67=MID_Turn+Turndata[piandu+10];
   }
   if(chazhi34>=datatable[1]&&chazhi34<datatable[2])     //判别为左偏右拐八档
   {
    piandu=-8;
    PORTB=0x2f;
    Speedup=3;
    Jiaozheng_speed=0;
    //PWMDTY67=MID_Turn+Turndata[piandu+10];
   }   
   if(chazhi34>=datatable[0]&&chazhi34<datatable[1])     //判别为左偏右拐九档
   {
    piandu=-9;
    PORTB=0x1f;
    Speedup=4;
    Jiaozheng_speed=0;
    //PWMDTY67=MID_Turn+Turndata[piandu+10];
   }           
   if(chazhi34<datatable[0])                             //判别为左偏右拐十档
   {
    piandu=-10;
    PORTB=0x0f;
    Speedup=0;
    Jiaozheng_speed=0;
    //PWMDTY67=MID_Turn+Turndata[piandu+10];
   }

   if(chazhi34>datatable[10]&&chazhi34<=datatable[11])    //判别为右偏左拐一档
   {
    piandu=1;           
    PORTB=0xf7;
    //Speedup+=1;
    //if(Speedup>=13)
    Speedup=13;
    Jiaozheng_speed=0;
    //PWMDTY67=MID_Turn+Turndata[piandu+10];
    //shache();
   }
   if(chazhi34>datatable[11]&&chazhi34<=datatable[12])      //判别为右偏左拐二档
   {
    piandu=2;
    PORTB=0xfb;
    Speedup=5;//11;
    Jiaozheng_speed=0;
   // PWMDTY67=MID_Turn+Turndata[piandu+10];
    //shache();
    //shache();
   }
  if(chazhi34>datatable[12]&&chazhi34<=datatable[13])      //判别为右偏左拐三档
   {
    piandu=3;
    PORTB=0xfd;
    Speedup=3;//9;
    Jiaozheng_speed=0;
    //PWMDTY67=MID_Turn+Turndata[piandu+10];
    //shache();
   }
   if(chazhi34>datatable[13]&&chazhi34<=datatable[14])     //判别为右偏左拐四档
   {
    piandu=4;
    PORTB=0xfe;
    Speedup=5;
    Jiaozheng_speed=0;
    //PWMDTY67=MID_Turn+Turndata[piandu+10];
   }
   if(chazhi34>datatable[14]&&chazhi34<=datatable[15])      //判别为右偏左拐五档
   {
    piandu=5;
    PORTB=0xf6;
    Speedup=6;
    Jiaozheng_speed=0;
    //PWMDTY67=MID_Turn+Turndata[piandu+10];
   }
    if(chazhi34>datatable[15]&&chazhi34<=datatable[16])      //判别为右偏左拐六档
   {
    piandu=6;
    PORTB=0xfa;
    Speedup=5;//5;
    Jiaozheng_speed=0;
    //PWMDTY67=MID_Turn+Turndata[piandu+10];
   }
    if(chazhi34>datatable[16]&&chazhi34<=datatable[17])      //判别为右偏左拐七档
   {
    piandu=7;
    PORTB=0xfc;
    Speedup=5;
    Jiaozheng_speed=0;
   // PWMDTY67=MID_Turn+Turndata[piandu+10];
   }
    if(chazhi34>datatable[17]&&chazhi34<=datatable[18])      //判别为右偏左拐八档
   {
    piandu=8;
    PORTB=0xf4;
    Speedup=3;
    Jiaozheng_speed=0;
    //PWMDTY67=MID_Turn+Turndata[piandu+10];
   }
    if(chazhi34>datatable[18]&&chazhi34<=datatable[19])      //判别为右偏左拐九档
   {
    piandu=9;
    PORTB=0xf8;
    Speedup=4;
    Jiaozheng_speed=0;
   // PWMDTY67=MID_Turn+Turndata[piandu+10];
   }
   if(chazhi34>datatable[19])                               //判别为右偏左拐十档
   {
    piandu=10;
    PORTB=0xf0;
    Speedup=0;
    Jiaozheng_speed=0;
    //PWMDTY67=MID_Turn+Turndata[piandu+10];
   }


   Duoji_Position=PID_turn(0,piandu);
   PWMDTY67=MID_Turn+Turndata[Duoji_Position+10];
   //OldDuoji_PWM=MID_Turn+Turndata[piandu+7];

   if(ADave_Result[3]<6||ADave_Result[4]<6)
    {
     if(chazhi16<-46)
     {
      PWMDTY67=MID_Turn-170;//+Turndata[13];
      shache();
      PWMDTY01=100;
      OldDuoji_PWM=MID_Turn-180;
     }
     if(chazhi16>46)
     {
     PWMDTY67=MID_Turn+125;//Turndata[1];
     shache();
     PWMDTY01=100;
     OldDuoji_PWM=MID_Turn+128;
     }
     Speedup=-6;
     Jiaozheng_speed=0;
     //PWMDTY01=70;
    }

    if(ADave_Result[3]<8&&ADave_Result[4]<8&&ADave_Result[1]<7&&ADave_Result[6]<7)
    {
     PWMDTY67=OldDuoji_PWM;
     Speedup=-4;
     Jiaozheng_speed=0;

     //Jiaozheng_speed=-1*Boma_speed;
     //PWMDTY01=70;
    }  


   //PWMDTY67=MID_Turn+Turndata[piandu+7];

   //Set_speed=10+Boma_speed+Speedup+Jiaozheng_speed;
}
/*********等待2秒子函数******************/
void wait2s(void)
{
  while(flag_arrive2s==0);
}

/*************刹车子函数***************/
void shache(void)
{
PWMDTY01=80;   //先降速70
flag_shache=0;     //可调延时即调节刹车时间 10ms
while(flag_shache==0);
}
/***********第二次检测到起跑线停车函数**********/
void parking(void)
{
//shache();
//PWMDTY01=0;
//PWMDTY45=0;
//PWMDTY67=MID_Turn;
for(;;)
{
   PWMDTY01=0;
   PWMDTY45=0;
   PWMDTY67=MID_Turn;
}
//while(1);
}
/*******速度拨码开关调节子函数*******/
void DIPswitch_adjust(void)
{
   unsigned int speed_adjust=0;
   unsigned int Boma_turn=0;
   Boma_pa=PORTA;

   Boma_turn=PTH;
     //Boma_speed=PORTA;
  if(Boma_pa&0x01==1)
  switch(Boma_pa)
   {
    case 0xff:speed_adjust=0 ;break;
    //case 0xfe:speed_adjust=1;break;
    case 0xfd:speed_adjust=1;break;
    case 0xfb:speed_adjust=2;break;
    case 0xf7:speed_adjust=3;break;
    case 0xef:speed_adjust=4;break;
    case 0xdf:speed_adjust=5;break;
    case 0xbf:speed_adjust=6;break;
    case 0x7f:speed_adjust=7;break;
    default: speed_adjust=0;break;
   }
   else
     switch(Boma_pa)
   {
    //case 0xff:speed_adjust=0 ;break;
    case 0xfc:speed_adjust=8;break;
    case 0xfa:speed_adjust=9;break;
    case 0xf6:speed_adjust=10;break;
    case 0xee:speed_adjust=11;break;
    case 0xde:speed_adjust=12;break;
    case 0xbe:speed_adjust=13;break;
    case 0x7e:speed_adjust=14;break;  
    default: speed_adjust=0;break;
   }  
   Boma_speed=speed_adjust;

   switch(Boma_turn)
   {
    case 0xff:var_turn=8;break;
    case 0xfe:var_turn=0;break;
    case 0xfd:var_turn=1;break;
    case 0xfb:var_turn=2;break;
    case 0xf7:var_turn=3;break;
    case 0xef:var_turn=4;break;
    case 0xdf:var_turn=5;break;
    case 0xbf:var_turn=6;break;
    case 0x7f:var_turn=7;break;
    default: var_turn=8;break;
   }  
}

/**********************************************/
//Set_speed=20+Boma_speed+Speedup+Jiaozheng_speed;
/************PID调节函数**************/

void PID_speed(unsigned int want_speed,unsigned int now_speed)
{
     float Dianjiout_PWM;
     Ei_speed=want_speed-now_speed;
     Ek_speed=Ei_speed-OldEi_speed;
     Ed_speed=Ek_speed-OldEk_speed;
     OldEi_speed=Ei_speed;
     OldEk_speed=Ek_speed;

     Dianjiout_PWM=Kp_speed*Ek_speed+Ki_speed*Ei_speed+Kd_speed*Ed_speed;

if(PWMDTY01+Dianjiout_PWM>=0)
  {
  PWMDTY45=0;
  if(PWMDTY01+Dianjiout_PWM>=180)
  PWMDTY01=180;   //限定占空比最高为90%
  else
  PWMDTY01+=Dianjiout_PWM;

  }
  else
  {
  PWMDTY01=0;
  PWMDTY45+=Dianjiout_PWM*(-1);

  }

}

unsigned int PID_turn(signed int Set_turn,signed int Measure_turn)
{
    float Duojiout_Position;
    Ek_turn=Measure_turn-Set_turn;
    //Ei_turn+=Ek_turn;
    Ed_turn=Ek_turn-OldEk_turn;
    OldEk_turn=Ek_turn;
    Duojiout_Position=Kp_turn*Ek_turn+Kd_turn*Ed_turn;//+Ki_turn*Ei_turn;
    //return(unsigned int)(Duojiout_Position);
    if(Duojiout_Position>10)
          Duojiout_Position=10;
    if(Duojiout_Position<-10)
          Duojiout_Position=-10;
    return(unsigned int)(Duojiout_Position);
}
//需要限幅
/****************主函数*************/
#pragma CODE_SEG DEFAULT

void main(void)
{
  /* put your own code here */
    DisableInterrupts;
    SYS_Init();

          EnableInterrupts;       
    DIPswitch_adjust();
    wait2s();

  for(;;)
  {
     //DIPswitch_adjust();
     if(duoji_10ms==2)
     {
       collect_status();
       duoji_10ms=0;
     }  
     if(count_10ms==2)
       {
         //collect_status();
        //PID_turn(signed int Set_turn,signed int Measure_turn);
        //PWMDTY67=MID_Turn+Turndata[var_turn+8];
        Set_speed=11+Boma_speed+Speedup+Jiaozheng_speed;

        if(pulse_count1>=pulse_count2)
           Measure_speed=pulse_count1-pulse_count2;
        else
           Measure_speed=65535-pulse_count2+pulse_count1;
        PID_speed(Set_speed,Measure_speed);
        //Duojiout=PID_turn(Set_turn,Measure_turn);
        //PWMDTY67=MID_Turn+Duojiout;
        count_10ms=0;
       }

   //舵机占空比MID_Turn=1600为中间 大于MID_Turn往左拐 小于MID_Turn往右拐
   //范围(-30°,30°)

    _FEED_COP(); /* feeds the dog */
  } /* loop forever */
  /* please make sure that you never leave main */
}
/**********************************************************/
/* //舵机采用位置式PID方式
//公式： Uk=Kp*E(k)+Ki*∑E(i)+Kd*[E(k)-E(k-1)]
Ek_turn=Set_turn-Measure_turn;
Ei_turn+=Ek_turn;
Ed_turn=Ek_turn-OldEk_turn;
OldEk_turn=Ek_turn;
Duojiout_PWM=Kp_turn*Ek_turn+Ki*Ei+Kd*Ed;

//电机采用增量式PID方式
//公式： ΔU(k)=U(k)-U(k-1)=Kp*[E(k)-E(k-1)]+Ki*E(k)+Kd*{[E(k)-E(k-1)]-[E(k-1)-E(k-2)]}

Ei_speed=Set_speed-Measure_speed;
Ek_speed=Ei_speed-OldEi_speed;
Ed_speed=Ek_speed-OldEk_speed;
OldEi_speed=Ei_speed;
OldEk_speed=Ek_speed;

Dianjiout_PWM=Kp_speed*Ek_speed+Ki_speed*Ei_speed+Kd*Ed_speed;
*/

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作者: 金刚才才    时间: 2014-3-9 22:58

優子推匕 发表于 2014-3-9 22:09
#include       /* common defines and macros */
#include
#include "sysinit.h"

灰常感谢，，，

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