TuxMonkey/bf_original_balance_chassis
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优化了点击pid计算流程，修复了bsp未初始化的异常，修复了数个未定义和隐式声明的警告

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This commit is contained in:
NeoZng
2022-12-09 18:25:35 +08:00
parent 02b3af15c7
commit 37c23ddb79
16 changed files with 104 additions and 75 deletions
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11
modules/motor/dji_motor.c
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@@ -223,7 +223,7 @@ void DJIMotorControl()
static Motor_Control_Setting_s *motor_setting;
static Motor_Controller_s *motor_controller;
static DJI_Motor_Measure_s *motor_measure;
static float pid_measure;
static float pid_measure,pid_ref;
// 遍历所有电机实例,进行串级PID的计算并设置发送报文的值
for (size_t i = 0; i < idx; i++)
{
@@ -233,6 +233,7 @@ void DJIMotorControl()
motor_setting = &motor->motor_settings;
motor_controller = &motor->motor_controller;
motor_measure = &motor->motor_measure;
pid_ref=motor_controller->pid_ref; //保存设定值,防止motor_controller->pid_ref在计算过程中被修改
// pid_ref会顺次通过被启用的闭环充当数据的载体
// 计算位置环,只有启用位置环且外层闭环为位置时会计算速度环输出
@@ -243,7 +244,7 @@ void DJIMotorControl()
else // MOTOR_FEED
pid_measure = motor_measure->total_angle; // 对total angle闭环,防止在边界处出现突跃
// 更新pid_ref进入下一个环
motor_controller->pid_ref = PID_Calculate(&motor_controller->angle_PID, pid_measure, motor_controller->pid_ref);
pid_ref = PID_Calculate(&motor_controller->angle_PID, pid_measure, pid_ref);
}
// 计算速度环,(外层闭环为速度或位置)且(启用速度环)时会计算速度环
@@ -254,17 +255,17 @@ void DJIMotorControl()
else // MOTOR_FEED
pid_measure = motor_measure->speed_angle_per_sec;
// 更新pid_ref进入下一个环
motor_controller->pid_ref = PID_Calculate(&motor_controller->speed_PID, pid_measure, motor_controller->pid_ref);
pid_ref = PID_Calculate(&motor_controller->speed_PID, pid_measure, pid_ref);
}
// 计算电流环,只要启用了电流环就计算,不管外层闭环是什么,并且电流只有电机自身传感器的反馈
if (motor_setting->close_loop_type & CURRENT_LOOP)
{
motor_controller->pid_ref = PID_Calculate(&motor_controller->current_PID, motor_measure->given_current, motor_controller->pid_ref);
pid_ref = PID_Calculate(&motor_controller->current_PID, motor_measure->given_current, pid_ref);
}
// 获取最终输出
set = (int16_t)motor_controller->pid_ref;
set = (int16_t)pid_ref;
if (motor_setting->reverse_flag == MOTOR_DIRECTION_REVERSE)
set *= -1; // 设置反转