466 lines
14 KiB
C++
466 lines
14 KiB
C++
/**
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arduino开发环境-灯哥开源FOChttps://gitee.com/ream_d/Deng-s-foc-controller，并安装Kalman。
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FOC引脚32, 33, 25, 22 22为enable
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AS5600霍尔传感器 SDA-23 SCL-5 MPU6050六轴传感器 SDA-19 SCL-18
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本程序有两种平衡方式， FLAG_V为1时使用电压控制，为0时候速度控制。电压控制时LQR参数使用K1和K2，速度控制时LQR参数使用K3和K4
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在wifi上位机窗口中输入：TA+角度，就可以修改平衡角度
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比如让平衡角度为90度，则输入：TA90，并且会存入eeprom的位置0中 注：wifi发送命令不能过快，因为每次都会保存进eeprom
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在使用自己的电机时，请一定记得修改默认极对数，即 BLDCMotor(5) 中的值，设置为自己的极对数数字，磁铁数量/2
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程序默认设置的供电电压为 12V,用其他电压供电请记得修改 voltage_power_supply , voltage_limit 变量中的值
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默认PID针对的电机是 GB2204 ，使用自己的电机需要修改PID参数，才能实现更好效果
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*/
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#include <SimpleFOC.h>
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#include "Command.h"
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#include <WiFi.h>
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#include <AsyncUDP.h> //引用以使用异步UDP
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#include "Kalman.h" // Source: https://github.com/TKJElectronics/KalmanFilter
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#include "EEPROM.h"
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Kalman kalmanZ;
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#define gyroZ_OFF -0.19
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/* ----IMU Data---- */
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double accX, accY, accZ;
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double gyroX, gyroY, gyroZ;
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int16_t tempRaw;
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bool stable = 0;
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uint32_t last_unstable_time;
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uint32_t last_stable_time;
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double gyroZangle; // Angle calculate using the gyro only
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double compAngleZ; // Calculated angle using a complementary filter
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double kalAngleZ; // Calculated angle using a Kalman filter
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uint32_t timer;
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uint8_t i2cData[14]; // Buffer for I2C data
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/* ----FOC Data---- */
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// driver instance
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double acc2rotation(double x, double y);
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float constrainAngle(float x);
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const char *ssid = "esp32";
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const char *password = "12345678";
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bool wifi_flag = 0;
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AsyncUDP udp; //创建UDP对象
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unsigned int localUdpPort = 2333; //本地端口号
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void wifi_print(char * s,double num);
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MagneticSensorI2C sensor = MagneticSensorI2C(AS5600_I2C);
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TwoWire I2Ctwo = TwoWire(1);
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LowPassFilter lpf_throttle{0.00};
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//倒立摆参数
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float LQR_K3_1 = 10; //摇摆到平衡
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float LQR_K3_2 = 1.7; //
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float LQR_K3_3 = 1.75; //
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float LQR_K4_1 = 2.4; //摇摆到平衡
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float LQR_K4_2 = 1.5; //
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float LQR_K4_3 = 1.42; //
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//电机参数
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BLDCMotor motor = BLDCMotor(5);
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BLDCDriver3PWM driver = BLDCDriver3PWM(32, 33, 25, 22);
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float target_velocity = 0;
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float target_angle = 89.3;
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float target_voltage = 0;
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float swing_up_voltage = 1.8;
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float swing_up_angle = 20;
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float v_i_1 = 20;
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float v_p_1 = 0.5;
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float v_i_2 = 10;
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float v_p_2 = 0.2;
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//命令设置
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Command comm;
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bool Motor_enable_flag = 0;
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int test_flag = 0;
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void do_TA(char* cmd) { comm.scalar(&target_angle, cmd);EEPROM.writeFloat(0, target_angle); }
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void do_SV(char* cmd) { comm.scalar(&swing_up_voltage, cmd); EEPROM.writeFloat(4, swing_up_voltage); }
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void do_SA(char* cmd) { comm.scalar(&swing_up_angle, cmd);EEPROM.writeFloat(8, swing_up_angle); }
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void do_START(char* cmd) { wifi_flag = !wifi_flag; }
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void do_MOTOR(char* cmd)
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{
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if(Motor_enable_flag)
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motor.enable();
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else
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motor.disable();
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Motor_enable_flag = !Motor_enable_flag;
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}
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void do_TVQ(char* cmd)
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{
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if(test_flag == 1)
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test_flag = 0;
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else
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test_flag = 1;
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}
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void do_TVV(char* cmd)
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{
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if(test_flag == 2)
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test_flag = 0;
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else
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test_flag = 2;
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}
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void do_VV(char* cmd) { comm.scalar(&target_velocity, cmd); }
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void do_VQ(char* cmd) { comm.scalar(&target_voltage, cmd); }
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void do_vp1(char* cmd) { comm.scalar(&v_p_1, cmd); EEPROM.writeFloat(12, v_p_1);}
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void do_vi1(char* cmd) { comm.scalar(&v_i_1, cmd);EEPROM.writeFloat(16, v_i_1); }
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void do_vp2(char* cmd) { comm.scalar(&v_p_2, cmd); EEPROM.writeFloat(20, v_p_2);}
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void do_vi2(char* cmd) { comm.scalar(&v_i_2, cmd);EEPROM.writeFloat(24, v_i_2); }
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void do_tv(char* cmd) { comm.scalar(&target_velocity, cmd); }
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void do_K31(char* cmd) { comm.scalar(&LQR_K3_1, cmd); }
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void do_K32(char* cmd) { comm.scalar(&LQR_K3_2, cmd); }
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void do_K33(char* cmd) { comm.scalar(&LQR_K3_3, cmd); }
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void do_K41(char* cmd) { comm.scalar(&LQR_K4_1, cmd); }
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void do_K42(char* cmd) { comm.scalar(&LQR_K4_2, cmd); }
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void do_K43(char* cmd) { comm.scalar(&LQR_K4_3, cmd); }
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void onPacketCallBack(AsyncUDPPacket packet)
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{
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char* da;
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da= (char*)(packet.data());
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Serial.println(da);
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comm.run(da);
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EEPROM.commit();
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// packet.print("reply data");
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}
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// instantiate the commander
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void setup() {
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Serial.begin(115200);
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if (!EEPROM.begin(1000)) {
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Serial.println("Failed to initialise EEPROM");
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Serial.println("Restarting...");
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delay(1000);
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ESP.restart();
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}
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// eeprom 读取
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int k,j;
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j = 0;
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for(k=0;k<=24;k=k+4)
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{
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float nan = EEPROM.readFloat(k);
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if(isnan(nan))
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{
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j = 1;
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Serial.println("frist write");
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EEPROM.writeFloat(0, target_angle); delay(10);EEPROM.commit();
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EEPROM.writeFloat(4, swing_up_voltage); delay(10);EEPROM.commit();
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EEPROM.writeFloat(8, swing_up_angle); delay(10);EEPROM.commit();
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EEPROM.writeFloat(12, v_p_1); delay(10);EEPROM.commit();
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EEPROM.writeFloat(16, v_i_1); delay(10);EEPROM.commit();
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EEPROM.writeFloat(20, v_p_2); delay(10);EEPROM.commit();
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EEPROM.writeFloat(24, v_i_2); delay(10);EEPROM.commit();
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}
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}
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if(j == 0)
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{
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target_angle = EEPROM.readFloat(0);
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swing_up_voltage = EEPROM.readFloat(4);
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swing_up_angle = EEPROM.readFloat(8);
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v_p_1 = EEPROM.readFloat(12);
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v_i_1 = EEPROM.readFloat(16);
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v_p_2 = EEPROM.readFloat(20);
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v_i_2 = EEPROM.readFloat(24);
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motor.PID_velocity.P = v_p_1;
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motor.PID_velocity.I = v_i_1;
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}
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//命令设置
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comm.add("TA",do_TA);
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comm.add("START",do_START);
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comm.add("MOTOR",do_MOTOR);
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comm.add("SV",do_SV);
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comm.add("SA",do_SA);
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comm.add("TVQ",do_TVQ);
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comm.add("TVV",do_TVV);
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comm.add("VV",do_VV);
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comm.add("VQ",do_VQ);
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//速度环参数
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comm.add("VP1",do_vp1);
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comm.add("VI1",do_vi1);
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comm.add("VP2",do_vp2);
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comm.add("VI2",do_vi2);
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comm.add("TV",do_tv);
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comm.add("K31",do_K31);
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comm.add("K32",do_K32);
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comm.add("K33",do_K33);
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comm.add("K41",do_K41);
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comm.add("K42",do_K42);
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comm.add("K43",do_K43);
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// kalman mpu6050 init
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Wire.begin(19, 18,400000);// Set I2C frequency to 400kHz
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i2cData[0] = 7; // Set the sample rate to 1000Hz - 8kHz/(7+1) = 1000Hz
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i2cData[1] = 0x00; // Disable FSYNC and set 260 Hz Acc filtering, 256 Hz Gyro filtering, 8 KHz sampling
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i2cData[2] = 0x00; // Set Gyro Full Scale Range to ±250deg/s
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i2cData[3] = 0x00; // Set Accelerometer Full Scale Range to ±2g
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while (i2cWrite(0x19, i2cData, 4, false))
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; // Write to all four registers at once
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while (i2cWrite(0x6B, 0x01, true))
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; // PLL with X axis gyroscope reference and disable sleep mode
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while (i2cRead(0x75, i2cData, 1))
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;
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if (i2cData[0] != 0x68)
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{ // Read "WHO_AM_I" register
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Serial.print(F("Error reading sensor"));
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while (1)
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;
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}
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delay(100); // Wait for sensor to stabilize
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/* Set kalman and gyro starting angle */
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while (i2cRead(0x3B, i2cData, 6))
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;
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accX = (int16_t)((i2cData[0] << 8) | i2cData[1]);
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accY = (int16_t)((i2cData[2] << 8) | i2cData[3]);
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accZ = (int16_t)((i2cData[4] << 8) | i2cData[5]);
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double pitch = acc2rotation(accX, accY);
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kalmanZ.setAngle(pitch);
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gyroZangle = pitch;
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timer = micros();
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Serial.println("kalman mpu6050 init");
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//wifi初始化
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WiFi.mode(WIFI_AP);
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while(!WiFi.softAP(ssid, password)){}; //启动AP
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Serial.println("AP启动成功");
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while (!udp.listen(localUdpPort)) //等待udp监听设置成功
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{
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}
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udp.onPacket(onPacketCallBack); //注册收到数据包事件
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I2Ctwo.begin(23, 5, 400000); //SDA,SCL
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sensor.init(&I2Ctwo);
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//连接motor对象与传感器对象
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motor.linkSensor(&sensor);
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//供电电压设置 [V]
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driver.voltage_power_supply = 12;
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driver.init();
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//连接电机和driver对象
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motor.linkDriver(&driver);
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//FOC模型选择
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motor.foc_modulation = FOCModulationType::SpaceVectorPWM;
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//运动控制模式设置
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motor.controller = MotionControlType::velocity;
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//速度PI环设置
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motor.PID_velocity.P = v_p_1;
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motor.PID_velocity.I = v_i_1;
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//最大电机限制电机
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motor.voltage_limit = 12;
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//速度低通滤波时间常数
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motor.LPF_velocity.Tf = 0.02;
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//设置最大速度限制
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motor.velocity_limit = 40;
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motor.useMonitoring(Serial);
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//初始化电机
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motor.init();
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//初始化 FOC
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motor.initFOC();
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Serial.println(F("Motor ready."));
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Serial.println(F("Set the target velocity using serial terminal:"));
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}
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char buf[255];
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long loop_count = 0;
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double last_pitch;
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void loop() {
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motor.loopFOC();
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if (1)
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{
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// loop_count++ == 10
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// loop_count = 0;
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while (i2cRead(0x3B, i2cData, 14));
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accX = (int16_t)((i2cData[0] << 8) | i2cData[1]);
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accY = (int16_t)((i2cData[2] << 8) | i2cData[3]);
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accZ = (int16_t)((i2cData[4] << 8) | i2cData[5]);
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tempRaw = (int16_t)((i2cData[6] << 8) | i2cData[7]);
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gyroX = (int16_t)((i2cData[8] << 8) | i2cData[9]);
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gyroY = (int16_t)((i2cData[10] << 8) | i2cData[11]);
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gyroZ = (int16_t)((i2cData[12] << 8) | i2cData[13]);
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double dt = (double)(micros() - timer) / 1000000; // Calculate delta time
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timer = micros();
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double pitch = acc2rotation(accX, accY);
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double gyroZrate = gyroZ / 131.0; // Convert to deg/s
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if(abs(pitch-last_pitch)>100)
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kalmanZ.setAngle(pitch);
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kalAngleZ = kalmanZ.getAngle(pitch, gyroZrate + gyroZ_OFF, dt);
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last_pitch = pitch;
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gyroZangle += (gyroZrate + gyroZ_OFF) * dt;
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compAngleZ = 0.93 * (compAngleZ + (gyroZrate + gyroZ_OFF) * dt) + 0.07 * pitch;
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// Reset the gyro angle when it has drifted too much
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if (gyroZangle < -180 || gyroZangle > 180)
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gyroZangle = kalAngleZ;
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float pendulum_angle = constrainAngle(fmod(kalAngleZ,120)-target_angle);
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// pendulum_angle当前角度与期望角度差值，在差值大的时候进行摇摆，差值小的时候LQR控制电机保持平衡
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if(test_flag == 0)//正常控制
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{
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if (abs(pendulum_angle) < swing_up_angle) // if angle small enough stabilize 0.5~30°,1.5~90°
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{
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target_velocity = controllerLQR(pendulum_angle, gyroZrate, motor.shaft_velocity);
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if (abs(target_velocity) > 140)
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target_velocity = _sign(target_velocity) * 140;
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motor.controller = MotionControlType::velocity;
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motor.move(target_velocity);
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}
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else // else do swing-up
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{ // sets swing_up_voltage to the motor in order to swing up
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motor.controller = MotionControlType::torque;
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target_voltage = -_sign(gyroZrate) * swing_up_voltage;
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motor.move(target_voltage);
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}
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}
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else if(test_flag == 1)
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{
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motor.controller = MotionControlType::torque;
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motor.move(target_voltage);
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}
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else
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{
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motor.controller = MotionControlType::velocity;
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motor.move(target_velocity);
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}
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//串口输出数据部分，不需要的情况可以改为0
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#if 1
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Serial.print(pitch);Serial.print("\t");
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Serial.print(kalAngleZ);Serial.print("\t");
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Serial.print(target_voltage);Serial.print("\t");
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Serial.print(motor.shaft_velocity);Serial.print("\t");
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Serial.print(motor.voltage.q);Serial.print("\t");
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Serial.print(target_angle);Serial.print("\t");
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Serial.print(pendulum_angle);Serial.print("\t");
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Serial.print(gyroZrate);Serial.print("\t");
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Serial.print("\r\n");
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#endif
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//可以使用该方法wifi发送udp信息
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if(wifi_flag)
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{
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memset(buf, 0, strlen(buf));
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wifi_print("v", motor.shaft_velocity);
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wifi_print("vq",motor.voltage.q);
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wifi_print("p",pendulum_angle);
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wifi_print("t",target_angle);
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wifi_print("k",kalAngleZ);
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wifi_print("g",gyroZrate);
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udp.writeTo((const unsigned char*)buf, strlen(buf), IPAddress(192,168,4,2), localUdpPort); //广播数据
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}
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}
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}
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/* mpu6050加速度转换为角度
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acc2rotation(ax, ay)
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acc2rotation(az, ay) */
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double acc2rotation(double x, double y)
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{
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double tmp_kalAngleZ = (atan(x / y) / 1.570796 * 90);
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if (y < 0)
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{
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return (tmp_kalAngleZ + 180);
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}
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else if (x < 0)
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{
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//将当前值与前值比较，当前差值大于100则认为异常
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if (!isnan(kalAngleZ) && (tmp_kalAngleZ + 360 - kalAngleZ) > 100) {
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//Serial.print("X<0"); Serial.print("\t");
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//Serial.print(tmp_kalAngleZ); Serial.print("\t");
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//Serial.print(kalAngleZ); Serial.print("\t");
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//Serial.print("\r\n");
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if (tmp_kalAngleZ < 0 && kalAngleZ < 0) //按键右边角
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return tmp_kalAngleZ;
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else //按键边异常处理
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return tmp_kalAngleZ;
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} else
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return (tmp_kalAngleZ + 360);
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}
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else
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{
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return tmp_kalAngleZ;
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}
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}
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// function constraining the angle in between -60~60
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float constrainAngle(float x)
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{
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float a = 0;
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if(x < 0)
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{
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a = 120+x;
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if(a<abs(x))
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return a;
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}
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return x;
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}
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// LQR stabilization controller functions
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// calculating the voltage that needs to be set to the motor in order to stabilize the pendulum
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float controllerLQR(float p_angle, float p_vel, float m_vel)
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{
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if (abs(p_angle) > 5) //摆角大于5则进入非稳态，记录非稳态时间
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{
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last_unstable_time = millis();
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if (stable) //如果是稳态进入非稳态则调整为目标角度
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{
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//target_angle = EEPROM.readFloat(0) - p_angle;
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target_angle = EEPROM.readFloat(0);
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stable = 0;
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}
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}
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if ((millis() - last_unstable_time) > 1000 && !stable) //非稳态进入稳态超过500ms检测，更新目标角为目标角+摆角，假设进入稳态
|
||
{
|
||
//target_angle -= _sign(target_velocity) * 0.4;
|
||
target_angle = target_angle+p_angle;
|
||
stable = 1;
|
||
}
|
||
|
||
if ((millis() - last_stable_time) > 2500 && stable) { //稳态超过2000ms检测，更新目标角
|
||
if (abs(target_velocity) > 5 ) { //稳态速度偏大校正
|
||
last_stable_time = millis();
|
||
target_angle -= _sign(target_velocity) * 0.2;
|
||
}
|
||
}
|
||
|
||
//Serial.println(stable);
|
||
float u;
|
||
|
||
if (!stable) //非稳态计算
|
||
{
|
||
motor.PID_velocity.P = v_p_1;
|
||
motor.PID_velocity.I = v_i_1;
|
||
u = LQR_K3_1 * p_angle + LQR_K3_2 * p_vel + LQR_K3_3 * m_vel;
|
||
}
|
||
else
|
||
{
|
||
motor.PID_velocity.P = v_p_2;
|
||
motor.PID_velocity.I = v_i_2;
|
||
u = LQR_K4_1 * p_angle + LQR_K4_2 * p_vel + LQR_K4_3 * m_vel;
|
||
}
|
||
|
||
return u;
|
||
}
|
||
void wifi_print(char * s,double num)
|
||
{
|
||
char str[255];
|
||
char n[255];
|
||
sprintf(n, "%.2f",num);
|
||
strcpy(str,s);
|
||
strcat(str, n);
|
||
strcat(buf+strlen(buf), str);
|
||
strcat(buf, ",\0");
|
||
|
||
}
|