From cde585d47e9ec94efdeba799157953d2d0536b10 Mon Sep 17 00:00:00 2001 From: 45coll <674148718@qq.com> Date: Wed, 27 Oct 2021 15:46:59 +0800 Subject: [PATCH] =?UTF-8?q?=E5=AE=8C=E5=96=84?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- arduino/main/main.ino | 99 +- arduino/problems and reasons.txt | 5 +- main.cpp | 428 -- python_gui/gui/main.py | 1 + 莱洛三角切割/triangle.dxf | 9328 ----------------------------- 莱洛三角切割/triangle.lcp | Bin 16753 -> 0 bytes 莱洛三角切割/wheel.dxf | 9628 ------------------------------ 莱洛三角切割/wheel.lcp | Bin 6047 -> 0 bytes 8 files changed, 72 insertions(+), 19417 deletions(-) delete mode 100644 main.cpp delete mode 100644 莱洛三角切割/triangle.dxf delete mode 100644 莱洛三角切割/triangle.lcp delete mode 100644 莱洛三角切割/wheel.dxf delete mode 100644 莱洛三角切割/wheel.lcp diff --git a/arduino/main/main.ino b/arduino/main/main.ino index e680f83..ee0985d 100644 --- a/arduino/main/main.ino +++ b/arduino/main/main.ino @@ -1,19 +1,22 @@ /** -Deng's FOC 闭环速度控制例程 测试库：SimpleFOC 2.1.1 测试硬件：灯哥开源FOC V1.0 -在串口窗口中输入：T+速度，就可以使得两个电机闭环转动 -比如让两个电机都以 10rad/s 的速度转动，则输入：T10 -在使用自己的电机时，请一定记得修改默认极对数，即 BLDCMotor(7) 中的值，设置为自己的极对数数字 -程序默认设置的供电电压为 16.8V,用其他电压供电请记得修改 voltage_power_supply , voltage_limit 变量中的值 -默认PID针对的电机是 GB6010 ，使用自己的电机需要修改PID参数，才能实现更好效果 +arduino开发环境-灯哥开源FOChttps://gitee.com/ream_d/Deng-s-foc-controller，并安装Kalman。 +FOC引脚32, 33, 25, 22 22为enable +AS5600霍尔传感器 SDA-23 SCL-5 MPU6050六轴传感器 SDA-19 SCL-18 +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 +在wifi上位机窗口中输入：TA+角度，就可以修改平衡角度 +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 +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 +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 +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 */ #include #include "Command.h" #include #include //引用以使用异步UDP #include // Source: https://github.com/TKJElectronics/KalmanFilter +#include "EEPROM.h" Kalman kalmanZ; #define gyroZ_OFF -0.19 -#define balance_voltage 10 //V /* ----IMU Data---- */ double accX, accY, accZ; @@ -42,11 +45,7 @@ unsigned int localUdpPort = 2333; //本地端口号 void wifi_print(char * s,double num); MagneticSensorI2C sensor = MagneticSensorI2C(AS5600_I2C); -float PID_P = 1; // -float PID_I = 0; // -float PID_D = 0; // TwoWire I2Ctwo = TwoWire(1); -PIDController angle_pid = PIDController(PID_P, PID_I, PID_D, balance_voltage * 0.7, 20000); LowPassFilter lpf_throttle{0.00}; #define FLAG_V 0 //倒立摆参数 @@ -58,21 +57,29 @@ float LQR_K2_1 = 3.49; //平衡态 float LQR_K2_2 = 0.26; // float LQR_K2_3 = 0.15; // -float LQR_K3_1 = 5.25; //平衡态 +float LQR_K3_1 = 5.25; //摇摆到平衡 float LQR_K3_2 = 3.18; // float LQR_K3_3 = 1.86; // +float LQR_K4_1 = 2.4; //摇摆到平衡 +float LQR_K4_2 = 1.5; // +float LQR_K4_3 = 1.42; // + //电机参数 BLDCMotor motor = BLDCMotor(5); BLDCDriver3PWM driver = BLDCDriver3PWM(32, 33, 25, 22); float target_velocity = 0; -float target_angle = 90; +float target_angle = 89.3; float target_voltage = 0; -float swing_up_voltage = 2; +float swing_up_voltage = 1.8; +float swing_up_angle = 18; //命令设置 Command comm; bool Motor_enable_flag = 0; -void do_TA(char* cmd) { comm.scalar(&target_angle, cmd); } +void do_TA(char* cmd) { comm.scalar(&target_angle, cmd);EEPROM.writeFloat(0, target_angle); } +void do_SV(char* cmd) { comm.scalar(&swing_up_voltage, cmd); EEPROM.writeFloat(4, swing_up_voltage); } +void do_SA(char* cmd) { comm.scalar(&swing_up_angle, cmd);EEPROM.writeFloat(8, swing_up_angle); } + void do_START(char* cmd) { wifi_flag = !wifi_flag; } void do_MOTOR(char* cmd) { @@ -82,7 +89,6 @@ void do_MOTOR(char* cmd) digitalWrite(22,LOW); Motor_enable_flag = !Motor_enable_flag; } -void do_SW(char* cmd) { comm.scalar(&swing_up_voltage, cmd); } #if FLAG_V void do_K11(char* cmd) { comm.scalar(&LQR_K1_1, cmd); } void do_K12(char* cmd) { comm.scalar(&LQR_K1_2, cmd); } @@ -91,12 +97,15 @@ void do_K21(char* cmd) { comm.scalar(&LQR_K2_1, cmd); } void do_K22(char* cmd) { comm.scalar(&LQR_K2_2, cmd); } void do_K23(char* cmd) { comm.scalar(&LQR_K2_3, cmd); } #else -void do_vp(char* cmd) { comm.scalar(&motor.PID_velocity.P, cmd); } -void do_vi(char* cmd) { comm.scalar(&motor.PID_velocity.I, cmd); } +void do_vp(char* cmd) { comm.scalar(&motor.PID_velocity.P, cmd); EEPROM.writeFloat(12, motor.PID_velocity.P);} +void do_vi(char* cmd) { comm.scalar(&motor.PID_velocity.I, cmd);EEPROM.writeFloat(16, motor.PID_velocity.I); } void do_tv(char* cmd) { comm.scalar(&target_velocity, cmd); } void do_K31(char* cmd) { comm.scalar(&LQR_K3_1, cmd); } void do_K32(char* cmd) { comm.scalar(&LQR_K3_2, cmd); } void do_K33(char* cmd) { comm.scalar(&LQR_K3_3, cmd); } +void do_K41(char* cmd) { comm.scalar(&LQR_K4_1, cmd); } +void do_K42(char* cmd) { comm.scalar(&LQR_K4_2, cmd); } +void do_K43(char* cmd) { comm.scalar(&LQR_K4_3, cmd); } #endif @@ -106,17 +115,28 @@ void onPacketCallBack(AsyncUDPPacket packet) da= (char*)(packet.data()); Serial.println(da); comm.run(da); - + EEPROM.commit(); // packet.print("reply data"); } // instantiate the commander void setup() { Serial.begin(115200); + if (!EEPROM.begin(1000)) { + Serial.println("Failed to initialise EEPROM"); + Serial.println("Restarting..."); + delay(1000); + ESP.restart(); + } + //命令设置 comm.add("TA",do_TA); comm.add("START",do_START); comm.add("MOTOR",do_MOTOR); - comm.add("SW",do_SW); + comm.add("SV",do_SV); + comm.add("SA",do_SA); + target_angle = EEPROM.readFloat(0); +swing_up_voltage = EEPROM.readFloat(4); +swing_up_angle = EEPROM.readFloat(8); #if FLAG_V comm.add("K11",do_K11); comm.add("K12",do_K12); @@ -131,6 +151,11 @@ void setup() { comm.add("K31",do_K31); comm.add("K32",do_K32); comm.add("K33",do_K33); + comm.add("K41",do_K41); + comm.add("K42",do_K42); + comm.add("K43",do_K43); + motor.PID_velocity.P = EEPROM.readFloat(12); + motor.PID_velocity.I = EEPROM.readFloat(16); #endif // kalman mpu6050 init Wire.begin(19, 18,400000);// Set I2C frequency to 400kHz @@ -200,7 +225,7 @@ void setup() { motor.controller = MotionControlType::velocity; //速度PI环设置 motor.PID_velocity.P = 0.5; - motor.PID_velocity.I = 10; + motor.PID_velocity.I = 20; #endif @@ -258,18 +283,18 @@ void loop() { gyroZangle = kalAngleZ; float pendulum_angle = constrainAngle(fmod(kalAngleZ,120)-target_angle); -// float pendulum_angle = constrainAngle((fmod(kalAngleZ * 3, 360.0) / 3.0 - target_angle) / 57.29578); -#if FLAG_V - if (abs(pendulum_angle) < 12) // if angle small enough stabilize 0.5~30°,1.5~90° +// FLAG_V为1时使用电压控制，为0时候速度控制 +#if FLAG_V + if (abs(pendulum_angle) < swing_up_angle) // if angle small enough stabilize 0.5~30°,1.5~90° { - target_voltage = controllerLQR(angle_pid(pendulum_angle), gyroZrate, motor.shaftVelocity()); + target_voltage = controllerLQR(pendulum_angle, gyroZrate, motor.shaftVelocity()); // limit the voltage set to the motor if (abs(target_voltage) > motor.voltage_limit * 0.7) target_voltage = _sign(target_voltage) * motor.voltage_limit * 0.7; } else // else do swing-up { // sets 1.5V to the motor in order to swing up - target_voltage = -_sign(gyroZrate) * 1.5; + target_voltage = -_sign(gyroZrate) * swing_up_voltage; } // set the target voltage to the motor @@ -283,9 +308,9 @@ void loop() { } #else -if (abs(pendulum_angle) < 18) // if angle small enough stabilize 0.5~30°,1.5~90° +if (abs(pendulum_angle) < swing_up_angle) // if angle small enough stabilize 0.5~30°,1.5~90° { - target_velocity = LQR_K3_1*pendulum_angle+LQR_K3_2*gyroZrate+LQR_K3_3*motor.shaftVelocity(); + target_velocity = controllerLQR(pendulum_angle, gyroZrate, motor.shaftVelocity()); if (abs(target_velocity) > 140) target_velocity = _sign(target_velocity) * 140; motor.controller = MotionControlType::velocity; @@ -348,7 +373,7 @@ double acc2rotation(double x, double y) } } -// function constraining the angle in between -pi and pi, in degrees -180 and 180 +// function constraining the angle in between -60~60 float constrainAngle(float x) { float a = 0; @@ -370,7 +395,7 @@ float controllerLQR(float p_angle, float p_vel, float m_vel) // - k = [40, 7, 0.3] // - k = [13.3, 21, 0.3] // - x = [pendulum angle, pendulum velocity, motor velocity]' - if (abs(p_angle) > 1.5) + if (abs(p_angle) > 2.5) { last_unstable_time = millis(); stable = 0; @@ -382,6 +407,7 @@ float controllerLQR(float p_angle, float p_vel, float m_vel) //Serial.println(stable); float u; +#if FLAG_V if (!stable) { u = LQR_K1_1 * p_angle + LQR_K1_2 * p_vel + LQR_K1_3 * m_vel; @@ -391,8 +417,17 @@ float controllerLQR(float p_angle, float p_vel, float m_vel) //u = LQR_K1 * p_angle + LQR_K2 * p_vel + LQR_K3 * m_vel; u = LQR_K2_1 * p_angle + LQR_K2_2 * p_vel + LQR_K2_3 * m_vel; } - - +#else + if (!stable) + { + u = LQR_K3_1 * p_angle + LQR_K3_2 * p_vel + LQR_K3_3 * m_vel; + } + else + { + //u = LQR_K1 * p_angle + LQR_K2 * p_vel + LQR_K3 * m_vel; + u = LQR_K4_1 * p_angle + LQR_K4_2 * p_vel + LQR_K4_3 * m_vel; + } +#endif return u; } void wifi_print(char * s,double num) diff --git a/arduino/problems and reasons.txt b/arduino/problems and reasons.txt index cc7a991..e865337 100644 --- a/arduino/problems and reasons.txt +++ b/arduino/problems and reasons.txt @@ -8,4 +8,7 @@ sprintf(s, "%d", 100//100תΪ10Ʊʾַ 4ǿת(const unsigned char*)ֱʹprint -atoi((char*)(packet.data())) //ʹ(char*) ǿת \ No newline at end of file +atoi((char*)(packet.data())) //ʹ(char*) ǿת + +5: udpʱ +ַĩβҪ'\0'Ϊ \ No newline at end of file diff --git a/main.cpp b/main.cpp deleted file mode 100644 index 59e36bd..0000000 --- a/main.cpp +++ /dev/null @@ -1,428 +0,0 @@ - -#include -#include -#include // Source: https://github.com/TKJElectronics/KalmanFilter -#define gyroZ_OFF -0.22 - -//#define stable_angle 178.2 -//#define stable_angle 58.8 - -//#define stable_angle 301.75 -#define stable_angle 60.0 -Kalman kalmanZ; - -/* IMU Data */ -double accX, accY, accZ; -double gyroX, gyroY, gyroZ; -int16_t tempRaw; - -double gyroZangle; // Angle calculate using the gyro only -double compAngleZ; // Calculated angle using a complementary filter -double kalAngleZ; // Calculated angle using a Kalman filter - -uint32_t timer; -uint8_t i2cData[14]; // Buffer for I2C data - -/********************************************************************************/ -#include -//#include "common/foc_utils.h" -#define swing_up_voltage 1.5 //V -#define balance_voltage 10 //V -#define min_voltage 9.5 //V -/* - #define PID_P 0 // - #define PID_I 0 // - #define PID_D 1 // - #define LQR_K1 1 // - #define LQR_K2 0 // - #define LQR_K3 0.0 // -*/ -float PID_P = 1; // -float PID_I = 0; // -float PID_D = 0; // -/* -//稳定器参数 -float LQR_K1 = 50; //摇摆到平衡 -float LQR_K2 = 2; // -float LQR_K3 = 0.30; // - -float LQR_K1_1 = 50; //平衡态 -float LQR_K2_1 = 2; // -float LQR_K3_1 = 0.15; // -*/ -//倒立摆参数 -float LQR_K1 = 200; //摇摆到平衡 -float LQR_K2 = 40; // -float LQR_K3 = 0.30; // - -float LQR_K1_1 = 200; //平衡态 -float LQR_K2_1 = 15; // -float LQR_K3_1 = 0.15; // - -/* -float LQR_K1 = 200; // -float LQR_K2 = 40; // -float LQR_K3 = 0.30; // -*/ -/*单角度稳定 - -float LQR_K1 = 80; //平衡完成 -float LQR_K2 = 15; // -float LQR_K3 = 0.15; // -*/ -float OFFSET = 0; -bool stable = 0, battery_low = 0; -uint32_t last_unstable_time; -//output=LQR_K1*PID+LQR_K2*p_vel + LQR_K3 * m_vel - -MagneticSensorI2C sensor = MagneticSensorI2C(AS5600_I2C); -PIDController angle_pid = PIDController(PID_P, PID_I, PID_D, balance_voltage * 0.7, 20000); -LowPassFilter lpf_throttle{0.00}; -// BLDC motor init -BLDCMotor motor = BLDCMotor(5); -// driver instance -BLDCDriver3PWM driver = BLDCDriver3PWM(9, 10, 11, 8, 3); -double rotationshift(double origin, double theta, double shift, bool y); -double acc2rotation(double x, double y); -float controllerLQR(float p_angle, float p_vel, float m_vel); -float constrainAngle(float x); - -// instantiate the commander -Commander command = Commander(Serial); -//void onp(char *cmd) { command.scalar(&PID_P, cmd); } -//void oni(char *cmd) { command.scalar(&PID_I, cmd); } -//void ond(char *cmd) { command.scalar(&PID_D, cmd); } -void onj(char *cmd) { command.scalar(&LQR_K1, cmd); } -void onk(char *cmd) { command.scalar(&LQR_K2, cmd); } -void onl(char *cmd) { command.scalar(&LQR_K3, cmd); } - -/********************************************************************************/ -void setup() -{ - Serial.begin(115200); - Wire.begin(); - - Wire.setClock(400000UL); // Set I2C frequency to 400kHz - Serial.println(((analogRead(A3) / 41.5))); - i2cData[0] = 7; // Set the sample rate to 1000Hz - 8kHz/(7+1) = 1000Hz - i2cData[1] = 0x00; // Disable FSYNC and set 260 Hz Acc filtering, 256 Hz Gyro filtering, 8 KHz sampling - i2cData[2] = 0x00; // Set Gyro Full Scale Range to ±250deg/s - i2cData[3] = 0x00; // Set Accelerometer Full Scale Range to ±2g - while (i2cWrite(0x19, i2cData, 4, false)) - ; // Write to all four registers at once - while (i2cWrite(0x6B, 0x01, true)) - ; // PLL with X axis gyroscope reference and disable sleep mode - - while (i2cRead(0x75, i2cData, 1)) - ; - if (i2cData[0] != 0x68) - { // Read "WHO_AM_I" register - Serial.print(F("Error reading sensor")); - while (1) - ; - } - - delay(100); // Wait for sensor to stabilize - - /* Set kalman and gyro starting angle */ - while (i2cRead(0x3B, i2cData, 6)) - ; - accX = (int16_t)((i2cData[0] << 8) | i2cData[1]); - accY = (int16_t)((i2cData[2] << 8) | i2cData[3]); - accZ = (int16_t)((i2cData[4] << 8) | i2cData[5]); - - // Source: http://www.freescale.com/files/sensors/doc/app_note/AN3461.pdf eq. 25 and eq. 26 - // atan2 outputs the value of -π to π (radians) - see http://en.wikipedia.org/wiki/Atan2 - // It is then converted from radians to degrees - // Eq. 25 and 26 - - double pitch = acc2rotation(accX, accY); - - kalmanZ.setAngle(pitch); - gyroZangle = pitch; - - timer = micros(); - - pinMode(4, OUTPUT); - digitalWrite(4, 1); - sensor.init(&Wire); - motor.linkSensor(&sensor); - // driver - driver.voltage_power_supply = 12; - driver.init(); - - // link the driver and the motor - motor.linkDriver(&driver); - - // aligning voltage - motor.voltage_sensor_align = 3; - - // choose FOC modulation (optional) - //motor.foc_modulation = FOCModulationType::SinePWM; - motor.foc_modulation = FOCModulationType::SpaceVectorPWM; - - // set control loop type to be used - motor.controller = MotionControlType::torque; - //motor.controller = TorqueControlType::voltage; - - motor.voltage_limit = balance_voltage; - - motor.useMonitoring(Serial); - // initialize motor - motor.init(); - // align encoder and start FOC - //motor.initFOC(4.5,Direction::CW); - //motor.initFOC(4.05, Direction::CCW); - motor.initFOC(); - //motor.initFOC(2.6492,Direction::CW); - //command.add('p', onp, "p"); - //command.add('i', oni, "i"); - //command.add('d', ond, "d"); - command.add('j', onj, "newj:"); - command.add('k', onk, "newk:"); - command.add('l', onl, "newl:"); - - digitalWrite(4, 0); -} -long loop_count = 0; -float target_voltage; -void loop() -{ - - motor.loopFOC(); - - if (loop_count++ == 10) - { - /* Update all the values */ - while (i2cRead(0x3B, i2cData, 14)) - ; - accX = (int16_t)((i2cData[0] << 8) | i2cData[1]); - accY = (int16_t)((i2cData[2] << 8) | i2cData[3]); - accZ = (int16_t)((i2cData[4] << 8) | i2cData[5]); - tempRaw = (int16_t)((i2cData[6] << 8) | i2cData[7]); - gyroX = (int16_t)((i2cData[8] << 8) | i2cData[9]); - gyroY = (int16_t)((i2cData[10] << 8) | i2cData[11]); - gyroZ = (int16_t)((i2cData[12] << 8) | i2cData[13]); - ; - - double dt = (double)(micros() - timer) / 1000000; // Calculate delta time - timer = micros(); - - // Source: http://www.freescale.com/files/sensors/doc/app_note/AN3461.pdf eq. 25 and eq. 26 - // atan2 outputs the value of -π to π (radians) - see http://en.wikipedia.org/wiki/Atan2 - // It is then converted from radians to degrees - // Eq. 25 and 26 - - double pitch = acc2rotation(accX, accY); - double gyroZrate = gyroZ / 131.0; // Convert to deg/s - - kalAngleZ = kalmanZ.getAngle(pitch, gyroZrate + gyroZ_OFF, dt); - - gyroZangle += (gyroZrate + gyroZ_OFF) * dt; - //gyroXangle += kalmanX.getRate() * dt; // Calculate gyro angle using the unbiased rate - //gyroYangle += kalmanY.getRate() * dt; - - compAngleZ = 0.93 * (compAngleZ + (gyroZrate + gyroZ_OFF) * dt) + 0.07 * pitch; - - // Reset the gyro angle when it has drifted too much - if (gyroZangle < -180 || gyroZangle > 180) - gyroZangle = kalAngleZ; - - /* Print Data */ -#if 0 // Set to 1 to activate - Serial.print(accX); Serial.print("\t"); - Serial.print(accY); Serial.print("\t"); - Serial.print(accZ); Serial.print("\t"); - - Serial.print(gyroX); Serial.print("\t"); - Serial.print(gyroY); Serial.print("\t"); - Serial.print(gyroZ); Serial.print("\t"); - - Serial.print("\t"); -#endif -#if 0 - Serial.print(pitch); - Serial.print("\t"); - Serial.print(gyroZangle); - Serial.print("\t"); - Serial.print(compAngleZ); - Serial.print("\t"); - Serial.print(kalAngleZ); - Serial.print("\t"); - - //Serial.print("\r\n"); -#endif - // calculate the pendulum angle - //LQR_K1 = analogRead(A3) / 10.0; - digitalWrite(3, 1); - //float pendulum_angle = constrainAngle(rotationshift(kalAngleZ * 3, 180.0, -180.0+OFFSET, 0.0) / 57.29578 + M_PI); - //float pendulum_angle = constrainAngle((kalAngleZ - stable_angle ) / 57.29578); - float pendulum_angle = constrainAngle((fmod(kalAngleZ * 3, 360.0) / 3.0 - stable_angle) / 57.29578); - if (abs(pendulum_angle) < 0.6) // if angle small enough stabilize 0.5~30°,1.5~90° - { - //target_voltage = controllerLQR(pendulum_angle, g.gyro.z, motor.shaftVelocity()); - - target_voltage = controllerLQR(angle_pid(pendulum_angle), gyroZrate / 57.29578, motor.shaftVelocity()); - - //digitalWrite(4, 1); - } - else // else do swing-up - { // sets 1.5V to the motor in order to swing up - target_voltage = -_sign(gyroZrate) * swing_up_voltage; - digitalWrite(4, 0); - } - - // set the target voltage to the motor - if (accZ < -13000 && ((accX * accX + accY * accY) > (14000 * 14000))) - { - motor.move(0); - } - else - { - motor.move(lpf_throttle(target_voltage)); - } - command.run(); - // restart the counter - loop_count = 0; - //Serial.print("kangle:"); - driver.voltage_power_supply = analogRead(A3) / 41.5; - //Serial.println(driver.voltage_power_supply); - if ((analogRead(A3) / 41.5) < min_voltage && !battery_low) - { - battery_low = 1; - Serial.println("battery_low!!"); - while (battery_low) - { - motor.loopFOC(); - motor.move(0); - if (millis() % 500 < 250) - digitalWrite(4, 1); - else - digitalWrite(4, 0); - } - } - //Serial.print(",fangle:"); - //Serial.print(constrainAngle(rotationshift(kalAngleZ * 3, 180.0, -180.0+OFFSET, 0.0) / 57.29578 + M_PI)); - - //Serial.println(fmod(kalAngleZ * 3, 360.0) / 3.0); - //Serial.print(",pid:"); - //Serial.println(accX); - //Serial.print(angle_pid(pendulum_angle)); - //Serial.print(",voltage:"); - //Serial.print(target_voltage); - //Serial.print(",lpf_throttle:"); - //Serial.println(lpf_throttle(target_voltage)); - //Serial.print(",E_gle:"); - //Serial.print(sensor.getAngle()); - //Serial.print(",vel:"); - //Serial.println(sensor.getVelocity()); - } - - - - -} - -// function constraining the angle in between -pi and pi, in degrees -180 and 180 -float constrainAngle(float x) -{ - x = fmod(x + M_PI, _2PI); - if (x < 0) - x += _2PI; - return x - M_PI; -} -// LQR stabilization controller functions -// calculating the voltage that needs to be set to the motor in order to stabilize the pendulum -float controllerLQR(float p_angle, float p_vel, float m_vel) -{ - // if angle controllable - // calculate the control law - // LQR controller u = k*x - // - k = [40, 7, 0.3] - // - k = [13.3, 21, 0.3] - // - x = [pendulum angle, pendulum velocity, motor velocity]' - if (abs(p_angle) > 0.05) - { - last_unstable_time = millis(); - stable = 0; - digitalWrite(4, 0); - } - if ((millis() - last_unstable_time) > 1000) - { - stable = 1; - digitalWrite(4, 1); - } - - //Serial.println(stable); - float u; - if (!stable) - { - u = LQR_K1 * p_angle + LQR_K2 * p_vel + LQR_K3 * m_vel; - } - else - { - //u = LQR_K1 * p_angle + LQR_K2 * p_vel + LQR_K3 * m_vel; - u = LQR_K1_1 * p_angle + LQR_K2_1 * p_vel + LQR_K3_1 * m_vel; - } - - // limit the voltage set to the motor - if (abs(u) > motor.voltage_limit * 0.7) - u = _sign(u) * motor.voltage_limit * 0.7; - - return u; -} -/* mpu6050加速度转换为角度 - acc2rotation(ax, ay) - acc2rotation(az, ay) */ -double acc2rotation(double x, double y) -{ - if (y < 0) - { - return atan(x / y) / 1.570796 * 90 + 180; - } - else if (x < 0) - { - return (atan(x / y) / 1.570796 * 90 + 360); - } - else - { - return (atan(x / y) / 1.570796 * 90); - } -} - -/* mpu6050加速度转换为角度 - rotationshift(original angle,+θ,shiftθ,0 is normal,1 is reverse) - rotationshift(0,30)=30 - rotationshift(20,30)=50 - rotationshift(0,30,1)=330 - rotationshift(20,30,1)=310 - rotationshift(0,0,-180,0)=-180 -*/ -double rotationshift(double origin, double theta, double shift = 0, bool y = false) -{ - static float origin_old; - if (abs(origin - origin_old) > 0.1) - origin_old += _sign(origin - origin_old) * 0.01; - else - origin_old = origin; - - if (y == 0) - { - if (origin + theta > 360) - return origin + theta - 360 + shift; - else - { - return origin + theta + shift; - } - } - else - { - - if (-(origin + theta) + 360 < 0) - return -(origin + theta) + 360 + 360 + shift; - else - { - return -(origin + theta) + 360 + shift; - } - } -} diff --git a/python_gui/gui/main.py b/python_gui/gui/main.py index f4ec752..221c1f2 100644 --- a/python_gui/gui/main.py +++ b/python_gui/gui/main.py @@ -118,6 +118,7 @@ class MyWindow(QMainWindow, Ui_MainWindow): recv_data = recv_data[:-1] recv_data = recv_data.split(',') """处理接受的信息""" + # recv_data = [40,50,60] for i, data in enumerate(recv_data): self.re_item.append(''.join(re.split(r'[^A-Za-z]', data))) print(self.re_item) diff --git a/莱洛三角切割/triangle.dxf b/莱洛三角切割/triangle.dxf deleted file mode 100644 index 1bfb752..0000000 --- a/莱洛三角切割/triangle.dxf +++ /dev/null @@ -1,9328 +0,0 @@ -999 -dxflib 3.17.0.0 - 0 -SECTION - 2 -HEADER - 9 -$ACADVER - 1 -AC1015 - 9 -$HANDSEED - 5 -FFFF - 9 -$INSUNITS - 70 -4 - 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