加入PID算法

stm32/HARDWARE/TIMER/timer.c

@@ -3,6 +3,7 @@
 #include "wifi.h"
 #include "math.h"
 #include "encoder.h"
+#include "motor.h"
 
 extern char smog_value_buf[7];  
 extern char temp_value_buf[7];
@@ -11,6 +12,28 @@ extern char beam_value_buf[7];
 extern struct UserInfo userInfo;
 
 
+float Velocity_KP_Mode2 = 1.1,Velocity_KI_Mode2=7.7;
+
+
+void Set_Pwm(int motor)
+{
+	if(motor<0)	AIN2=1,	AIN1=0;
+	else AIN2=0,AIN1=1;
+	PWMA=abs(motor);
+}
+
+int Incremental_PI_B_Mode2 (int Encoder,int Target)
+{ 	
+	 static int Bias,Pwm,Last_bias;
+	 Bias=Encoder-Target;                //计算偏差
+	 Pwm+=Velocity_KP_Mode2*(Bias-Last_bias)+Velocity_KI_Mode2*Bias;   //增量式PI控制器
+	 if(Pwm>7200)Pwm=7200;
+	 if(Pwm<-7200)Pwm=-7200;
+	 Last_bias=Bias;	                   //保存上一次偏差 
+	 return Pwm;                         //增量输出
+}
+
+
 void TIM3_Int_Init(u16 arr,u16 psc)
 {
     TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
@@ -42,9 +65,12 @@ void TIM3_Int_Init(u16 arr,u16 psc)
 
 void TIM3_IRQHandler(void)   
 {
+	int pwm;
 	if (TIM_GetITStatus(TIM3, TIM_IT_Update) != RESET) 
 	{
 		userInfo.currentSpeed = Read_Encoder(2);
+		pwm = Incremental_PI_B_Mode2(userInfo.currentSpeed, 10);
+		Set_Pwm(pwm);
 		TIM_ClearITPendingBit(TIM3, TIM_IT_Update); 
 	}
 }

stm32/OBJ/Template.build_log.htm

@@ -21,18 +21,18 @@ Target DLL:      STLink\ST-LINKIII-KEIL_SWO.dll V3.0.1.0
 Dialog DLL:      TCM.DLL V1.35.1.0
  
 <h2>Project:</h2>
-e:\ÏîÄ¿\¼æÖ°ÏîÄ¿\MotorPid\stm32\USER\Template.uvprojx
+e:\ÏîÄ¿\¼æÖ°ÏîÄ¿\20220418-MotorPid\stm32\USER\Template.uvprojx
 Project File Date:  04/17/2022
 
 <h2>Output:</h2>
 *** Using Compiler 'V5.06 update 6 (build 750)', folder: 'D:\Keil_v5\ARM\ARMCC\Bin'
 Build target 'Target 1'
-compiling main.c...
-main.c(124): warning:  #167-D: argument of type "char *" is incompatible with parameter of type "u8 *"
-  	OLED_ShowString(0,0, str, 16);
-main.c: 1 warning, 0 errors
+compiling timer.c...
+..\HARDWARE\TIMER\timer.c(22): warning:  #223-D: function "abs" declared implicitly
+  	PWMA=abs(motor);
+..\HARDWARE\TIMER\timer.c: 1 warning, 0 errors
 linking...
-Program Size: Code=12642 RO-data=2342 RW-data=404 ZI-data=1340  
+Program Size: Code=12658 RO-data=2342 RW-data=408 ZI-data=1336  
 FromELF: creating hex file...
 "..\OBJ\Template.axf" - 0 Error(s), 1 Warning(s).
 
@@ -48,7 +48,7 @@ Package Vendor: Keil
   D:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.3.0\Device\Include
 
 <h2>Collection of Component Files used:</h2>
-Build Time Elapsed:  00:00:01
+Build Time Elapsed:  00:00:02
 </pre>
 </body>
 </html>

stm32/OBJ/Template_Target 1.dep

@@ -1,5 +1,5 @@
 Dependencies for Project 'Template', Target 'Target 1': (DO NOT MODIFY !)
-F (.\main.c)(0x625C3C54)(-c --cpu Cortex-M3 -D__MICROLIB -g -O0 --apcs=interwork -I ..\HARDWARE\LED -I ..\SYSTEM\delay -I ..\SYSTEM\sys -I ..\SYSTEM\usart -I ..\USER -I ..\STM32F10x_FWLib\inc -I ..\CORE -I ..\HARDWARE\ESP8266 -I ..\HARDWARE\DHT11 -I ..\HARDWARE\LCD1602 -I ..\HARDWARE\ADC -I ..\HARDWARE\TIMER -I ..\HARDWARE\DS18B20 -I ..\HARDWARE\cJSON -I ..\HARDWARE\DS1302 -I ..\HARDWARE\LCD -I ..\HARDWARE\OLED -I ..\HARDWARE\MOTOR -I ..\HARDWARE\ENCODER -I ..\HARDWARE\KEY

-I.\RTE\_Target_1

-ID:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.3.0\Device\Include

-ID:\Keil_v5\ARM\CMSIS\Include

-D__UVISION_VERSION="525" -DSTM32F10X_MD -DSTM32F10X_MD -DUSE_STDPERIPH_DRIVER

-o ..\obj\main.o --omf_browse ..\obj\main.crf --depend ..\obj\main.d)
+F (.\main.c)(0x625D7FA2)(-c --cpu Cortex-M3 -D__MICROLIB -g -O0 --apcs=interwork -I ..\HARDWARE\LED -I ..\SYSTEM\delay -I ..\SYSTEM\sys -I ..\SYSTEM\usart -I ..\USER -I ..\STM32F10x_FWLib\inc -I ..\CORE -I ..\HARDWARE\ESP8266 -I ..\HARDWARE\DHT11 -I ..\HARDWARE\LCD1602 -I ..\HARDWARE\ADC -I ..\HARDWARE\TIMER -I ..\HARDWARE\DS18B20 -I ..\HARDWARE\cJSON -I ..\HARDWARE\DS1302 -I ..\HARDWARE\LCD -I ..\HARDWARE\OLED -I ..\HARDWARE\MOTOR -I ..\HARDWARE\ENCODER -I ..\HARDWARE\KEY

-I.\RTE\_Target_1

-ID:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.3.0\Device\Include

-ID:\Keil_v5\ARM\CMSIS\Include

-D__UVISION_VERSION="525" -DSTM32F10X_MD -DSTM32F10X_MD -DUSE_STDPERIPH_DRIVER

-o ..\obj\main.o --omf_browse ..\obj\main.crf --depend ..\obj\main.d)
 I (..\HARDWARE\LED\led.h)(0x62599D88)
 I (..\SYSTEM\sys\sys.h)(0x6256947A)
 I (..\USER\stm32f10x.h)(0x6256947A)
@@ -199,7 +199,7 @@ I (..\STM32F10x_FWLib\inc\stm32f10x_usart.h)(0x6256947A)
 I (..\STM32F10x_FWLib\inc\stm32f10x_wwdg.h)(0x6256947A)
 I (..\STM32F10x_FWLib\inc\misc.h)(0x6256947A)
 I (..\SYSTEM\delay\delay.h)(0x6256947A)
-F (..\HARDWARE\TIMER\timer.c)(0x625C3B1D)(-c --cpu Cortex-M3 -D__MICROLIB -g -O0 --apcs=interwork -I ..\HARDWARE\LED -I ..\SYSTEM\delay -I ..\SYSTEM\sys -I ..\SYSTEM\usart -I ..\USER -I ..\STM32F10x_FWLib\inc -I ..\CORE -I ..\HARDWARE\ESP8266 -I ..\HARDWARE\DHT11 -I ..\HARDWARE\LCD1602 -I ..\HARDWARE\ADC -I ..\HARDWARE\TIMER -I ..\HARDWARE\DS18B20 -I ..\HARDWARE\cJSON -I ..\HARDWARE\DS1302 -I ..\HARDWARE\LCD -I ..\HARDWARE\OLED -I ..\HARDWARE\MOTOR -I ..\HARDWARE\ENCODER -I ..\HARDWARE\KEY

-I.\RTE\_Target_1

-ID:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.3.0\Device\Include

-ID:\Keil_v5\ARM\CMSIS\Include

-D__UVISION_VERSION="525" -DSTM32F10X_MD -DSTM32F10X_MD -DUSE_STDPERIPH_DRIVER

-o ..\obj\timer.o --omf_browse ..\obj\timer.crf --depend ..\obj\timer.d)
+F (..\HARDWARE\TIMER\timer.c)(0x625D8359)(-c --cpu Cortex-M3 -D__MICROLIB -g -O0 --apcs=interwork -I ..\HARDWARE\LED -I ..\SYSTEM\delay -I ..\SYSTEM\sys -I ..\SYSTEM\usart -I ..\USER -I ..\STM32F10x_FWLib\inc -I ..\CORE -I ..\HARDWARE\ESP8266 -I ..\HARDWARE\DHT11 -I ..\HARDWARE\LCD1602 -I ..\HARDWARE\ADC -I ..\HARDWARE\TIMER -I ..\HARDWARE\DS18B20 -I ..\HARDWARE\cJSON -I ..\HARDWARE\DS1302 -I ..\HARDWARE\LCD -I ..\HARDWARE\OLED -I ..\HARDWARE\MOTOR -I ..\HARDWARE\ENCODER -I ..\HARDWARE\KEY

-I.\RTE\_Target_1

-ID:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.3.0\Device\Include

-ID:\Keil_v5\ARM\CMSIS\Include

-D__UVISION_VERSION="525" -DSTM32F10X_MD -DSTM32F10X_MD -DUSE_STDPERIPH_DRIVER

-o ..\obj\timer.o --omf_browse ..\obj\timer.crf --depend ..\obj\timer.d)
 I (..\HARDWARE\TIMER\timer.h)(0x625C2B07)
 I (..\SYSTEM\sys\sys.h)(0x6256947A)
 I (..\USER\stm32f10x.h)(0x6256947A)
@@ -234,6 +234,7 @@ I (..\HARDWARE\LED\led.h)(0x62599D88)
 I (..\HARDWARE\ESP8266\wifi.h)(0x6256947A)
 I (D:\Keil_v5\ARM\ARMCC\include\math.h)(0x599ECD2E)
 I (..\HARDWARE\ENCODER\encoder.h)(0x625C1FA8)
+I (..\HARDWARE\MOTOR\motor.h)(0x625C2A2D)
 F (..\HARDWARE\OLED\oled.c)(0x625C140B)(-c --cpu Cortex-M3 -D__MICROLIB -g -O0 --apcs=interwork -I ..\HARDWARE\LED -I ..\SYSTEM\delay -I ..\SYSTEM\sys -I ..\SYSTEM\usart -I ..\USER -I ..\STM32F10x_FWLib\inc -I ..\CORE -I ..\HARDWARE\ESP8266 -I ..\HARDWARE\DHT11 -I ..\HARDWARE\LCD1602 -I ..\HARDWARE\ADC -I ..\HARDWARE\TIMER -I ..\HARDWARE\DS18B20 -I ..\HARDWARE\cJSON -I ..\HARDWARE\DS1302 -I ..\HARDWARE\LCD -I ..\HARDWARE\OLED -I ..\HARDWARE\MOTOR -I ..\HARDWARE\ENCODER -I ..\HARDWARE\KEY

-I.\RTE\_Target_1

-ID:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.3.0\Device\Include

-ID:\Keil_v5\ARM\CMSIS\Include

-D__UVISION_VERSION="525" -DSTM32F10X_MD -DSTM32F10X_MD -DUSE_STDPERIPH_DRIVER

-o ..\obj\oled.o --omf_browse ..\obj\oled.crf --depend ..\obj\oled.d)
 I (..\HARDWARE\OLED\oled.h)(0x625C140F)
 I (..\SYSTEM\sys\sys.h)(0x6256947A)

stm32/OBJ/timer.d

@@ -34,3 +34,4 @@
 ..\obj\timer.o: ..\HARDWARE\ESP8266\wifi.h
 ..\obj\timer.o: D:\Keil_v5\ARM\ARMCC\Bin\..\include\math.h
 ..\obj\timer.o: ..\HARDWARE\ENCODER\encoder.h
+..\obj\timer.o: ..\HARDWARE\MOTOR\motor.h

stm32/USER/.vscode/c_cpp_properties.json

@@ -3,30 +3,30 @@
         {
             "name": "Target 1",
             "includePath": [
-                "e:\\项目\\兼职项目\\MotorPid\\stm32\\HARDWARE\\LED",
-                "e:\\项目\\兼职项目\\MotorPid\\stm32\\SYSTEM\\delay",
-                "e:\\项目\\兼职项目\\MotorPid\\stm32\\SYSTEM\\sys",
-                "e:\\项目\\兼职项目\\MotorPid\\stm32\\SYSTEM\\usart",
-                "e:\\项目\\兼职项目\\MotorPid\\stm32\\USER",
-                "e:\\项目\\兼职项目\\MotorPid\\stm32\\STM32F10x_FWLib\\inc",
-                "e:\\项目\\兼职项目\\MotorPid\\stm32\\CORE",
-                "e:\\项目\\兼职项目\\MotorPid\\stm32\\HARDWARE\\ESP8266",
-                "e:\\项目\\兼职项目\\MotorPid\\stm32\\HARDWARE\\DHT11",
-                "e:\\项目\\兼职项目\\MotorPid\\stm32\\HARDWARE\\LCD1602",
-                "e:\\项目\\兼职项目\\MotorPid\\stm32\\HARDWARE\\ADC",
-                "e:\\项目\\兼职项目\\MotorPid\\stm32\\HARDWARE\\TIMER",
-                "e:\\项目\\兼职项目\\MotorPid\\stm32\\HARDWARE\\DS18B20",
-                "e:\\项目\\兼职项目\\MotorPid\\stm32\\HARDWARE\\cJSON",
-                "e:\\项目\\兼职项目\\MotorPid\\stm32\\HARDWARE\\DS1302",
-                "e:\\项目\\兼职项目\\MotorPid\\stm32\\HARDWARE\\LCD",
-                "e:\\项目\\兼职项目\\MotorPid\\stm32\\HARDWARE\\OLED",
-                "e:\\项目\\兼职项目\\MotorPid\\stm32\\HARDWARE\\MOTOR",
-                "e:\\项目\\兼职项目\\MotorPid\\stm32\\HARDWARE\\ENCODER",
-                "e:\\项目\\兼职项目\\MotorPid\\stm32\\HARDWARE\\KEY",
+                "e:\\项目\\兼职项目\\20220418-MotorPid\\stm32\\HARDWARE\\LED",
+                "e:\\项目\\兼职项目\\20220418-MotorPid\\stm32\\SYSTEM\\delay",
+                "e:\\项目\\兼职项目\\20220418-MotorPid\\stm32\\SYSTEM\\sys",
+                "e:\\项目\\兼职项目\\20220418-MotorPid\\stm32\\SYSTEM\\usart",
+                "e:\\项目\\兼职项目\\20220418-MotorPid\\stm32\\USER",
+                "e:\\项目\\兼职项目\\20220418-MotorPid\\stm32\\STM32F10x_FWLib\\inc",
+                "e:\\项目\\兼职项目\\20220418-MotorPid\\stm32\\CORE",
+                "e:\\项目\\兼职项目\\20220418-MotorPid\\stm32\\HARDWARE\\ESP8266",
+                "e:\\项目\\兼职项目\\20220418-MotorPid\\stm32\\HARDWARE\\DHT11",
+                "e:\\项目\\兼职项目\\20220418-MotorPid\\stm32\\HARDWARE\\LCD1602",
+                "e:\\项目\\兼职项目\\20220418-MotorPid\\stm32\\HARDWARE\\ADC",
+                "e:\\项目\\兼职项目\\20220418-MotorPid\\stm32\\HARDWARE\\TIMER",
+                "e:\\项目\\兼职项目\\20220418-MotorPid\\stm32\\HARDWARE\\DS18B20",
+                "e:\\项目\\兼职项目\\20220418-MotorPid\\stm32\\HARDWARE\\cJSON",
+                "e:\\项目\\兼职项目\\20220418-MotorPid\\stm32\\HARDWARE\\DS1302",
+                "e:\\项目\\兼职项目\\20220418-MotorPid\\stm32\\HARDWARE\\LCD",
+                "e:\\项目\\兼职项目\\20220418-MotorPid\\stm32\\HARDWARE\\OLED",
+                "e:\\项目\\兼职项目\\20220418-MotorPid\\stm32\\HARDWARE\\MOTOR",
+                "e:\\项目\\兼职项目\\20220418-MotorPid\\stm32\\HARDWARE\\ENCODER",
+                "e:\\项目\\兼职项目\\20220418-MotorPid\\stm32\\HARDWARE\\KEY",
                 "D:\\Keil_v5\\ARM\\ARMCC\\include",
                 "D:\\Keil_v5\\ARM\\ARMCC\\include\\rw",
-                "e:\\项目\\兼职项目\\MotorPid\\stm32\\STM32F10x_FWLib\\src",
-                "e:\\项目\\兼职项目\\MotorPid\\stm32"
+                "e:\\项目\\兼职项目\\20220418-MotorPid\\stm32\\STM32F10x_FWLib\\src",
+                "e:\\项目\\兼职项目\\20220418-MotorPid\\stm32"
             ],
             "defines": [
                 "STM32F10X_MD",

stm32/USER/.vscode/keil-assistant.log

@@ -20,3 +20,5 @@
 
 [info] Log at : 2022/4/17|21:04:26|GMT+0800
 
+[info] Log at : 2022/4/18|23:02:10|GMT+0800
+

stm32/USER/.vscode/uv4.log

@@ -1,2 +1,2 @@
 Load "..\\OBJ\\Template.axf" 
-Erase Done.Programming Done.Verify OK.Flash Load finished at 00:12:16
+Erase Done.Programming Done.Verify OK.Flash Load finished at 23:27:30

stm32/USER/.vscode/uv4.log.lock

@@ -1 +1 @@
-2022/4/18 0:12:17
+2022/4/18 23:27:31

stm32/USER/main.c

@@ -1,7 +1,7 @@
 /*
  * @Author: your name
  * @Date: 2022-04-17 21:03:48
- * @LastEditTime: 2022-04-18 00:11:26
+ * @LastEditTime: 2022-04-18 23:11:30
  * @LastEditors: Please set LastEditors
  * @Description: 打开koroFileHeader查看配置 进行设置: https://github.com/OBKoro1/koro1FileHeader/wiki/%E9%85%8D%E7%BD%AE
  * @FilePath: \undefinede:\项目\兼职项目\MotorPid\stm32\USER\main.c
@@ -29,7 +29,6 @@ void Sys_Init(void);
 void processingTasks(void);
 void OLED_Display(void);
 
-float Velocity_KP_Mode2=50,Velocity_KI_Mode2=10;
 
 /**
  * @description: main函数
@@ -63,17 +62,6 @@ int velocity_PID(int targetSpeed, int currentSpeed){
 }
 
 
-int Incremental_PI_B_Mode2 (int Encoder,int Target)
-{ 	
-	 static int Bias,Pwm,Last_bias;
-	 Bias=Encoder-Target;                //计算偏差
-	 Pwm+=Velocity_KP_Mode2*(Bias-Last_bias)+Velocity_KI_Mode2*Bias;   //增量式PI控制器
-	 if(Pwm>7200)Pwm=7200;
-	 if(Pwm<-7200)Pwm=-7200;
-	 Last_bias=Bias;	                   //保存上一次偏差 
-	 return Pwm;                         //增量输出
-}
-
 
 /**
  * @description: 处理任务
@@ -86,11 +74,6 @@ void processingTasks(void)
 	// 方向
 	if(userInfo.diversion) AIN1 = 1, AIN1 = 0;
 	else AIN1 = 0, AIN1 = 1;
-	//userInfo.currentSpeed = Read_Encoder(2);
-	key = abs(Incremental_PI_B_Mode2(abs(userInfo.currentSpeed), 20));
-	PWMA = key;
-	OLED_ShowNum(0, 4, key,4, 16);
-	//PWMA = userInfo.pwm_val;
 }
 
 /**