diff --git a/stm32/HARDWARE/TIMER/timer.c b/stm32/HARDWARE/TIMER/timer.c
index 6b2bac9..22f78b9 100644
--- a/stm32/HARDWARE/TIMER/timer.c
+++ b/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);
}
}
diff --git a/stm32/OBJ/Template.axf b/stm32/OBJ/Template.axf
index 923560e..1d24410 100644
Binary files a/stm32/OBJ/Template.axf and b/stm32/OBJ/Template.axf differ
diff --git a/stm32/OBJ/Template.build_log.htm b/stm32/OBJ/Template.build_log.htm
index ef8ee28..30376c0 100644
--- a/stm32/OBJ/Template.build_log.htm
+++ b/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
Project:
-e:\Ŀ\ְĿ\MotorPid\stm32\USER\Template.uvprojx
+e:\Ŀ\ְĿ\20220418-MotorPid\stm32\USER\Template.uvprojx
Project File Date: 04/17/2022
Output:
*** 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
Collection of Component Files used:
-Build Time Elapsed: 00:00:01
+Build Time Elapsed: 00:00:02