From 56bbd5b00076b240c4a8a589c1a57a33bed715cd Mon Sep 17 00:00:00 2001 From: zrg <674148718@qq.com> Date: Mon, 27 Sep 2021 00:35:15 +0800 Subject: [PATCH] =?UTF-8?q?9.27=E5=AE=8C=E6=88=90=E6=91=87=E6=91=86?= =?UTF-8?q?=E5=B9=B3=E8=A1=A1=EF=BC=8C=E8=BF=98=E9=9C=80=E8=A6=81=E8=B0=83?= =?UTF-8?q?=E5=8F=82=E6=95=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- arduino/main/main.ino | 42 ++++++++++-------- .../gui/__pycache__/main_ui.cpython-37.pyc | Bin 3325 -> 3316 bytes .../sharedcomponets.cpython-37.pyc | Bin 2340 -> 2314 bytes .../gui/__pycache__/wifi_udp.cpython-37.pyc | Bin 1168 -> 1159 bytes python_gui/gui/main.py | 37 +++++++-------- 5 files changed, 42 insertions(+), 37 deletions(-) diff --git a/arduino/main/main.ino b/arduino/main/main.ino index 38ebedc..b9a5c19 100644 --- a/arduino/main/main.ino +++ b/arduino/main/main.ino @@ -11,7 +11,7 @@ Deng's FOC 闭环速度控制例程 测试库：SimpleFOC 2.1.1 测试硬件： #include //引用以使用异步UDP #include // Source: https://github.com/TKJElectronics/KalmanFilter Kalman kalmanZ; -#define gyroZ_OFF -0.72 +#define gyroZ_OFF -0.52 #define swing_up_voltage 5 //V #define balance_voltage 10 //V /* ----IMU Data---- */ @@ -36,10 +36,9 @@ float constrainAngle(float x); const char *ssid = "esp32"; const char *password = "12345678"; -#define WIFI_FLAG 1 +bool wifi_flag = 0; AsyncUDP udp; //创建UDP对象 unsigned int localUdpPort = 2333; //本地端口号 -unsigned int broadcastPort = localUdpPort; void wifi_print(char * s,double num); MagneticSensorI2C sensor = MagneticSensorI2C(AS5600_I2C); @@ -52,13 +51,14 @@ LowPassFilter lpf_throttle{0.00}; #define FLAG_V 1 //倒立摆参数 float LQR_K1 = 400; //摇摆到平衡 -float LQR_K2 = 40; // -float LQR_K3 = 0.30; // +float LQR_K2 = 80; // +float LQR_K3 = 0.50; // float LQR_K1_1 = 200; //平衡态 float LQR_K2_1 = 15; // float LQR_K3_1 = 0.15; // + //电机参数 BLDCMotor motor = BLDCMotor(5); BLDCDriver3PWM driver = BLDCDriver3PWM(32, 33, 25, 22); @@ -66,13 +66,15 @@ BLDCDriver3PWM driver = BLDCDriver3PWM(32, 33, 25, 22); //命令设置 double target_velocity = 0; -double target_angle = 88; +double target_angle = 91; double target_voltage = 0; void onPacketCallBack(AsyncUDPPacket packet) { + target_velocity = atoi((char*)(packet.data())); Serial.print("数据内容: "); Serial.println(target_velocity); + wifi_flag = 1; // packet.print("reply data"); } // instantiate the commander @@ -180,8 +182,9 @@ int lim_v = 60; long loop_count = 0; void loop() { motor.loopFOC(); - if (1) + if (loop_count++ == 10) { + loop_count = 0; while (i2cRead(0x3B, i2cData, 14)); accX = (int16_t)((i2cData[0] << 8) | i2cData[1]); accY = (int16_t)((i2cData[2] << 8) | i2cData[3]); @@ -217,13 +220,7 @@ void loop() { } else // else do swing-up { // sets 1.5V to the motor in order to swing up - if(loop_count == 0) - { - loop_count = 30; target_voltage = -_sign(gyroZrate) * 3; - } - else - loop_count--; } // set the target voltage to the motor @@ -261,8 +258,11 @@ void loop() { #endif #if 1 + +Serial.print(kalAngleZ);Serial.print("\t"); + Serial.print(target_voltage);Serial.print("\t"); - Serial.print(target_velocity);Serial.print("\t"); +// Serial.print(target_velocity);Serial.print("\t"); Serial.print(motor.shaft_velocity);Serial.print("\t"); Serial.print(target_angle);Serial.print("\t"); Serial.print(pendulum_angle+target_angle);Serial.print("\t"); @@ -271,17 +271,21 @@ void loop() { #endif // motor.move(target_velocity); //可以使用该方法广播信息 -#if WIFI_FLAG - +if(wifi_flag) +{ memset(buf, 0, strlen(buf)); wifi_print("p",pendulum_angle+target_angle); wifi_print("t",target_angle); wifi_print("k",kalAngleZ); wifi_print("g",gyroZrate); - IPAddress broadcastAddr((~(uint32_t)WiFi.subnetMask())|((uint32_t)WiFi.localIP())); //计算广播地址 - udp.writeTo((const unsigned char*)buf, strlen(buf), broadcastAddr, localUdpPort); //广播数据 +// IPAddress broadcastAddr("192.168.4.255") +//IPAddress broadcastAddr(((uint32_t)"192.168.4.2")); //计算广播地址 +// IPAddress broadcastAddr((~(uint32_t)WiFi.subnetMask())|((uint32_t)WiFi.localIP())); //计算广播地址 +// Serial.println(buf); +//const char * udpAddress = "192.168.4.255"; + udp.writeTo((const unsigned char*)buf, strlen(buf), IPAddress(192,168,4,2), localUdpPort); //广播数据 } -#endif +} } /* mpu6050加速度转换为角度 acc2rotation(ax, ay) diff --git a/python_gui/gui/__pycache__/main_ui.cpython-37.pyc b/python_gui/gui/__pycache__/main_ui.cpython-37.pyc index 1ba9a35a0a383c6e1fa6db784c92ca434f65043a..7711b026e087f59246973654df99221e9eb989e5 100644 GIT binary patch delta 42 wcmew>`9+e;iIN_{l~vfZp=o=@5ObnS!}TU(w@n;BD_nv)j4xsbD& F833uq69NDL diff --git a/python_gui/gui/__pycache__/sharedcomponets.cpython-37.pyc b/python_gui/gui/__pycache__/sharedcomponets.cpython-37.pyc index 58c23617a84fe37ecd715ccd7f251a46d834e493..a98fee72a2e208c8ca9d060b303c32c03ed31b71 100644 GIT binary patch delta 157 zcmZ1?)Fs60#LLUY00b#fE{P@^d9N`tuA2OWv0ZKf+d_s~mKv4?>?N!VIBJ*|GM2Dr zv1M_BNv_QknSL-ca!>AJQ=YtqEk)EGXu>ZO7ps`G{N(t8qWrAX$JC2U#jSzKU}dvhn#4`xQ5$xUp^?6+78iZb&`CNE`6k#hi=_|*zXxLL(KpR)Do z+6gbVwmh3QGp0B-CoO)m9J?i37EqRfWpW~W7&j9m6C(!`52FYp$K*ZidqkapGDQxk QgyZC1j$i={!4Di#0N2?xu>b%7 diff --git a/python_gui/gui/__pycache__/wifi_udp.cpython-37.pyc b/python_gui/gui/__pycache__/wifi_udp.cpython-37.pyc index 2aa7eb23c9a65a641cc0b5c356cf0b1daddbc178..4438c77ce9c81d9a0a7a196582795a7c2141d911 100644 GIT binary patch delta 42 wcmbQh+0M!3#LLUY00f5~Z{#vy68xp>Vil8?pB!IMl%JKFToSW6gvo{p0PnmEZvX%Q delta 51 zcmZqYoWRND#LLUY00atiH*y&;Nqsd2vfZp=o=@5ObnS!}TU(w@n;BD_nv)j4*_+9R F2>^FH5sd%< diff --git a/python_gui/gui/main.py b/python_gui/gui/main.py index 78e77b6..a817ea4 100644 --- a/python_gui/gui/main.py +++ b/python_gui/gui/main.py @@ -81,24 +81,25 @@ class MyWindow(QMainWindow, Ui_MainWindow): print(str(self.target_velocity)) def wifi_config_pushButton_clicked(self): try: - self.re_item = ['k','g','l','t'] - self.plot_init() - # print(self.wifi_IP_lineEdit.text(),type(self.wifi_IP_lineEdit.text())) - # self.udp.udpClientSocket.bind((self.wifi_IP_lineEdit.text(), 2333)) - # # 第一次接受数据，用于判断项目数， - # recv_data = self.udp.udpClientSocket.recv(1024) - # recv_data = recv_data.decode('utf-8') - # recv_data = recv_data[:-1] - # recv_data = recv_data.split(',') - # """处理接受的信息""" - # for i, data in enumerate(recv_data): - # self.re_item.append(''.join(re.split(r'[^A-Za-z]', data))) - # print(self.re_item) - # # 图表初始化 + # self.re_item = ['k','g','l','t'] # self.plot_init() - # t1 = threading.Thread(target=self.udp_recv) - # t1.start() - # self.wifi_recv_open_pushButton.setEnabled(True) + + print(self.wifi_IP_lineEdit.text(),type(self.wifi_IP_lineEdit.text())) + self.udp.udpClientSocket.bind((self.wifi_IP_lineEdit.text(), 2333)) + # 第一次接受数据，用于判断项目数， + self.udp.send_message("s") + recv_data = self.udp.udpClientSocket.recv(1024) + recv_data = recv_data.decode('utf-8') + recv_data = recv_data[:-1] + recv_data = recv_data.split(',') + """处理接受的信息""" + for i, data in enumerate(recv_data): + self.re_item.append(''.join(re.split(r'[^A-Za-z]', data))) + print(self.re_item) + # 图表初始化 + self.plot_init() + t1 = threading.Thread(target=self.udp_recv) + t1.start() except Exception as e: print(e) QMessageBox.critical(self, "错误", '该请求的地址无效') @@ -109,7 +110,7 @@ class MyWindow(QMainWindow, Ui_MainWindow): recv_data = recv_data[:-1] recv_data = recv_data.split(',') """处理接受的信息""" - print(recv_data) + # print(recv_data) for i, data in enumerate(recv_data): self.re_item.append(''.join(re.split(r'[^A-Za-z]', data))) data = re.findall(r"\d+\.?\d*", data)