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新板测试程序

master
45coll 2021-10-12 16:28:45 +08:00
parent b7e28f468b
commit d42f9d402f
1 changed files with 7 additions and 5 deletions
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12
arduino/main/main.ino
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@ -12,7 +12,7 @@ Deng's FOC 闭环速度控制例程 测试库：SimpleFOC 2.1.1 测试硬件：
#include <AsyncUDP.h> //引用以使用异步UDP #include <AsyncUDP.h> //引用以使用异步UDP
#include <Kalman.h> // Source: https://github.com/TKJElectronics/KalmanFilter #include <Kalman.h> // Source: https://github.com/TKJElectronics/KalmanFilter
Kalman kalmanZ; Kalman kalmanZ;
#define gyroZ_OFF -0.52 #define gyroZ_OFF -0.19
#define swing_up_voltage 5 //V #define swing_up_voltage 5 //V
#define balance_voltage 10 //V #define balance_voltage 10 //V
/* ----IMU Data---- */ /* ----IMU Data---- */
@ -68,7 +68,7 @@ BLDCDriver3PWM driver = BLDCDriver3PWM(32, 33, 25, 22);
//命令设置 //命令设置
Command comm; Command comm;
double target_velocity = 0; double target_velocity = 0;
double target_angle = 91; double target_angle = 89.86;
double target_voltage = 0; double target_voltage = 0;
void do_K1(char* cmd) { comm.scalar(&LQR_K1, cmd); } void do_K1(char* cmd) { comm.scalar(&LQR_K1, cmd); }
@ -183,7 +183,8 @@ void setup() {
Serial.println(F("Motor ready.")); Serial.println(F("Motor ready."));
Serial.println(F("Set the target velocity using serial terminal:")); Serial.println(F("Set the target velocity using serial terminal:"));
// pinMode(22,OUTPUT);
// digitalWrite(22,LOW);
} }
char buf[255]; char buf[255];
int t_v; int t_v;
@ -229,7 +230,7 @@ void loop() {
} }
else // else do swing-up else // else do swing-up
{ // sets 1.5V to the motor in order to swing up { // sets 1.5V to the motor in order to swing up
target_voltage = -_sign(gyroZrate) * 3; target_voltage = _sign(gyroZrate) * 3;
} }
// set the target voltage to the motor // set the target voltage to the motor
@ -266,8 +267,9 @@ void loop() {
} }
#endif #endif
#if 0 #if 1
//Serial.print(gyroZangle);Serial.print("\t");
Serial.print(kalAngleZ);Serial.print("\t"); Serial.print(kalAngleZ);Serial.print("\t");
Serial.print(target_voltage);Serial.print("\t"); Serial.print(target_voltage);Serial.print("\t");