智能车制作

标题: 急急！！小车在设定的平衡位置不能停住（附注电机控制的代码求指导） [打印本页]

作者: 没有道理！ 时间: 2015-3-10 21:05
标题: 急急！！小车在设定的平衡位置不能停住（附注电机控制的代码求指导）
void MotorControl(int Angleout)
{

Leftcontrol=Angleout;//-Speed_control_out_l;  //+Speed_control_out_l;

Rightcontrol=Angleout;//-Speed_control_out_r; //+Speed_control_out_r;
/*
if(Leftcontrol >= 0)
   Leftcontrol += 600;
else
   Leftcontrol -= 600;

if(Rightcontrol >= 0)
   Rightcontrol += 690;
else
   Rightcontrol -= 690;
*/


if(Leftcontrol > control_max)
Leftcontrol = control_max;

if(Leftcontrol < control_min)
Leftcontrol = control_min;

if(Rightcontrol > control_max)
Rightcontrol = control_max;

if(Rightcontrol < control_min)
Rightcontrol = control_min;

if(Leftcontrol > 0)
{

  FTM_PWM_Duty(FTM0,FTM_CH7,2000+Leftcontrol);//ch7
  FTM_PWM_Duty(FTM0,FTM_CH6,0);  //ch6

}
else if(Leftcontrol < 0)
{
Leftcontrol=-Leftcontrol;
FTM_PWM_Duty(FTM0,FTM_CH6,2000+Leftcontrol);  //ch6
FTM_PWM_Duty(FTM0,FTM_CH7,0); //ch7
}

else
{

FTM_PWM_Duty(FTM0,FTM_CH6,2000);
FTM_PWM_Duty(FTM0,FTM_CH7,2000);

}

if(Rightcontrol > 0)
{

  FTM_PWM_Duty(FTM0,FTM_CH5,2000+Rightcontrol); //ch5
  FTM_PWM_Duty(FTM0,FTM_CH4,0); //ch4

}
else if(Rightcontrol < 0)
{

Rightcontrol=-Rightcontrol;
FTM_PWM_Duty(FTM0,FTM_CH4,2000+Rightcontrol);//ch4
FTM_PWM_Duty(FTM0,FTM_CH5,0); //ch5

}
else
{

FTM_PWM_Duty(FTM0,FTM_CH4,2000);
FTM_PWM_Duty(FTM0,FTM_CH5,2000);
}

if(Angle_car > 34 || Angle_car< -25)
{

FTM_PWM_Duty(FTM0,FTM_CH4,2000);
FTM_PWM_Duty(FTM0,FTM_CH5,2000);

FTM_PWM_Duty(FTM0,FTM_CH6,2000);
FTM_PWM_Duty(FTM0,FTM_CH7,2000);

}

作者: 3121304020 时间: 2015-3-11 11:45
个人感觉原因如，平衡位置选取不当，或角度融合不好，小幅震动可能车调的过硬或死区电压不合适

作者: qq1358381353 时间: 2015-3-11 12:07
粘贴代码没用的。

欢迎光临智能车制作 (http://111.231.132.190/)