diff --git a/v1.1/Shibo-main-TOMMY/src/main.cpp b/v1.1/Shibo-main-TOMMY/src/main.cpp index 1040e0d..dc47cd7 100644 --- a/v1.1/Shibo-main-TOMMY/src/main.cpp +++ b/v1.1/Shibo-main-TOMMY/src/main.cpp @@ -82,10 +82,10 @@ CRGB blinkColors[6] = {CRGB::Red, CRGB::Red, CRGB::Yellow, CRGB::Yellow, CRGB::G // 舵机位置限制参数 #define LEG_HEIGHT_BASE 20 //20 腿部默认高度基准值，值越小，机身越高， 实测范围 -10（最高），52（最低） -#define SERVO0_MIN 2048 // 舵机1最低位置，大腿与小腿碰到一起， 从小车正面看右手边舵机 -#define SERVO1_MIN 2048 // 舵机2最低位置，大腿与小腿碰到一起， 从小车正面看左手边舵机 -#define SERVO0_MAX (2048 + 12 + 8.4 * (35 + 10)) // 2438 舵机1最高 -#define SERVO1_MAX (2048 - 12 - 8.4 * (35 + 10)) // 1658 舵机2最高 +#define SERVO0_MIN 2047 // 舵机1最低位置，大腿与小腿碰到一起， 从小车正面看右手边舵机 +#define SERVO1_MIN 2047 // 舵机2最低位置，大腿与小腿碰到一起， 从小车正面看左手边舵机 +#define SERVO0_MAX (2047 + 12 + 8.4 * (35 + 10)) // 2438 舵机1最高 +#define SERVO1_MAX (2047 - 12 - 8.4 * (35 + 10)) // 1658 舵机2最高 float leg_position_add = 0; // roll轴平衡控制量 int left_height; int right_height; @@ -102,10 +102,10 @@ byte ACC[2]; // float LegHeightDiff ; # 根据前后转向运动时，智能计算两腿高度差 // left_height，right_height = wrobot.height + LegHeightDiff # 根据前后左右智能计算两腿高度差 // leg_position_add = pid_roll_angle(lpf_roll(roll_angle)); 根据roll自动计算 -// Position[0] 2048 + 12 + 8.4 * (left_height - LEG_HEIGHT_BASE) - leg_position_add; -// Position[1] 2048 - 12 - 8.4 * (right_height - LEG_HEIGHT_BASE) - leg_position_add; -// Position 2048 - 12 - 8.4 * (right_height - LEG_HEIGHT_BASE) - leg_position_add; -// Position 2048 - 12 - 8.4 * (wrobot.height + LegHeightDiff - LEG_HEIGHT_BASE) - pid_roll_angle(lpf_roll(roll_angle)); +// Position[0] 2047 + 12 + 8.4 * (left_height - LEG_HEIGHT_BASE) - leg_position_add; +// Position[1] 2047 - 12 - 8.4 * (right_height - LEG_HEIGHT_BASE) - leg_position_add; +// Position 2047 - 12 - 8.4 * (right_height - LEG_HEIGHT_BASE) - leg_position_add; +// Position 2047 - 12 - 8.4 * (wrobot.height + LegHeightDiff - LEG_HEIGHT_BASE) - pid_roll_angle(lpf_roll(roll_angle)); // 遥控器 两腿高度差 固定值 roll轴平衡控制量 // LQR自平衡控制器参数 @@ -143,6 +143,7 @@ int wheel_ground_flag = 1; // 轮子是否离地标记 默认着地 // 定义摇杆数值死区参数 const int deadZone = 10; +int wrobot_move_stop_flag = 0; // 摇杆没有前后左右运动指令，默认存在摇杆指令 // 电压检测 #define LED_BAT 13 @@ -493,7 +494,7 @@ void loop() } // target目标电压 0~8V, 0为不转, 8为最大转速 - // Serial.print("LQR_angle:"); // 屁股向后倒 -33~-34度,舵机2048的时候-42度，头向前到底 75度，完全垂直88度 + // Serial.print("LQR_angle:"); // 屁股向后倒 -33~-34度,舵机2047的时候-42度，头向前到底 75度，完全垂直88度 // Serial.print(LQR_angle); // Serial.print(",loopCounter:"); // Serial.print(loopCounter); @@ -619,7 +620,8 @@ void lqr_balance_loop() // 前进后退跳跃的系数都不一样 float speed_target_coeff = 0.1; if( jump_flag ){ // 跳跃 - speed_target_coeff = 0.12; + // speed_target_coeff = 0.12; + speed_target_coeff = 0.1; }else if(wrobot.joyy > 0 ){ // 前进 speed_target_coeff = 0.18; }else if(wrobot.joyy < 0){ // 后退 @@ -662,15 +664,34 @@ void lqr_balance_loop() // Serial.print(robot_speed_diff); // Serial.print(",jump_flag:"); // Serial.println(jump_flag); // 120左右 + if( jump_flag ){ // 落地点作为新的位移零点 + distance_zeropoint = LQR_distance; + pid_lqr_u.error_prev = 0; + } } last_lqr_speed = LQR_speed; // 每隔100ms更新一次历史转速 last_speed_record_time = current_time; // 更新记录时间 } + // 判断摇杆是否没有前后左右运动指令 + if ((wrobot.joyx_last != 0 && wrobot.joyx == 0) || (wrobot.joyy_last != 0 && wrobot.joyy == 0)) + { + wrobot_move_stop_flag = 1; + } + // 没有摇杆指令，小车微微移动，需要重置位移零点，让小车自己回来 + if ((wrobot_move_stop_flag == 1) && (abs(LQR_speed) < 0.5)) + { + distance_zeropoint = LQR_distance; // 位移零点重置 + // pid_lqr_u.error_prev = 0; // 输出积分清零 如果有这个会前后漂移 + wrobot_move_stop_flag = 0; + } + // 实时重置位移零点和积分情形 + // if (abs(robot_speed_diff) > 10 || (abs(LQR_speed) > 15) + // || jump_flag > 0 || wrobot.joyy != 0 || sitting_down ) if (abs(robot_speed_diff) > 10 || (abs(LQR_speed) > 15) - || jump_flag > 0 || wrobot.joyy != 0 || sitting_down ) + || wrobot.joyy != 0 || sitting_down ) { distance_zeropoint = LQR_distance; pid_lqr_u.error_prev = 0; // 输出积分清零 @@ -764,10 +785,10 @@ void leg_loop() // 根据新的高度计算舵机位置 // id[0] 正面看右手，id[1] 正面看左手 - // 2048是舵机中间位置，8.4是系数，32是默认高度，最高80，最低32 + // 2047是舵机中间位置，8.4是系数，32是默认高度，最高80，最低32 // const int LEG_HEIGHT_BASE 这值越小，机身越高，实测范围 0（最高），52（最低） - Position[0] = 2048 + 8.4 * (left_height - LEG_HEIGHT_BASE) - leg_position_add; 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