- #include <I2Cdev.h>
- #include <MPU6050.h>
- #include <Wire.h>
- #include <stdlib.h>
- //=================motor=======================
- //Motor A
- int PWMA = 9; //Speed control
- int Left_1 = 8; //Direction
- int Left_2 = 7; //Direction
- //Motor B
- int PWMB = 10; //Speed control
- int Right_1 = 6; //Direction
- int Right_2 = 5; //Direction
- int PWMA_Start=30;
- int PWMB_Start=30;
- //=========================================================
- MPU6050 accelgyro;
- unsigned long now, lastTime = 0;
- float dt; //微分时间
- int16_t ax, ay, az, gx, gy, gz; //加速度计陀螺仪原始数据
- float aax=0, aay=0, agx=0, agy=0, agz=0; //角度变量
- long axo = 0, ayo = 0, azo = 0; //加速度计偏移量
- long gxo = 0, gyo = 0, gzo = 0; //陀螺仪偏移量
- float pi = 3.1415926;
- float AcceRatio = 16384.0; //加速度计比例系数
- float GyroRatio = 131.0; //陀螺仪比例系数
- uint8_t n_sample = 8; //加速度计滤波算法采样个数
- float aaxs[8] = {0}, aays[8] = {0}; //x,y轴采样队列
- long aax_sum, aay_sum; //x,y轴采样和
- float a_x[10]={0},a_y[10]={0},g_x[10]={0},g_y[10]={0};//加速度计协方差计算队列
- float Px=1, Rx, Kx, Sx, Vx, Qx; //x轴卡尔曼变量
- float Py=1, Ry, Ky, Sy, Vy, Qy; //y轴卡尔曼变量
- ////=================加入串口通信代码调试==========================
- void setup(){
- Wire.begin();
- Serial.begin(38400);
- //====================motor_setting===================
- pinMode(PWMA, OUTPUT);
- pinMode(Left_1, OUTPUT);
- pinMode(Left_2, OUTPUT);
- pinMode(PWMB, OUTPUT);
- pinMode(Right_1, OUTPUT);
- pinMode(Right_2, OUTPUT);
- //======================================================
- accelgyro.initialize(); //初始化
- unsigned short times = 100; //采样次数
- for(int i=0;i<times;i++){
- accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz); //读取六轴原始数值
- axo += ax; ayo += ay; azo += az; //采样和
- gxo += gx; gyo += gy; gzo += gz;
- }
- axo /= times; ayo /= times; azo /= times; //计算加速度计偏移
- gxo /= times; gyo /= times; gzo /= times; //计算陀螺仪偏移
- }
- void loop(){
- unsigned long now = millis(); //当前时间(ms)
- dt = (now - lastTime) / 1000.0; //微分时间(s)
- lastTime = now; //上一次采样时间(ms)
- accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);//读取六轴原始数值
- float accx = ax / AcceRatio; //x轴加速度
- float accy = ay / AcceRatio; //y轴加速度
- float accz = az / AcceRatio; //z轴加速度
- aax = atan(accy / accz) * (-180) / pi; //x轴对于水平面的夹角
- aay = atan(accx / accz) * 180 / pi; //y轴对于水平面的夹角
- aax_sum = 0; // 对于加速度计原始数据的滑动加权滤波算法
- aay_sum = 0;
- for(int i=1;i<n_sample;i++){
- aaxs[i-1] = aaxs[i];
- aax_sum += aaxs[i] * i;
- aays[i-1] = aays[i];
- aay_sum += aays[i] * i;
- }
- aaxs[n_sample-1] = aax;
- aax_sum += aax * n_sample;
- aax = (aax_sum / (11*n_sample/2.0)) * 9 / 7.0; //角度调幅至0-90°
- aays[n_sample-1] = aay; //此处应用实验法取得合适的系数
- aay_sum += aay * n_sample; //本例系数为9/7
- aay = (aay_sum / (11*n_sample/2.0)) * 9 / 7.0;
- float gyrox = - (gx-gxo) / GyroRatio * dt; //x轴角速度
- float gyroy = - (gy-gyo) / GyroRatio * dt; //y轴角速度
- agx += gyrox; //x轴角速度积分
- agy += gyroy; //x轴角速度积分
- /* kalmen start */
- Sx = 0; Rx = 0;
- Sy = 0; Ry = 0;
- for(int i=1;i<10;i++){ //测量值平均值运算
- a_x[i-1] = a_x[i]; //即加速度平均值
- Sx += a_x[i];
- a_y[i-1] = a_y[i];
- Sy += a_y[i];
- }
- a_x[9] = aax;
- Sx += aax;
- Sx /= 10; //x轴加速度平均值
- a_y[9] = aay;
- Sy += aay;
- Sy /= 10; //y轴加速度平均值
- for(int i=0;i<10;i++){
- Rx += sq(a_x[i] - Sx);
- Ry += sq(a_y[i] - Sy);
- }
- Rx = Rx / 9; //得到方差
- Ry = Ry / 9;
- Px = Px + 0.0025; // 0.0025在下面有说明...
- Kx = Px / (Px + Rx); //计算卡尔曼增益
- agx = agx + Kx * (aax - agx); //陀螺仪角度与加速度计速度叠加
- Px = (1 - Kx) * Px; //更新p值
- Py = Py + 0.0025;
- Ky = Py / (Py + Ry);
- agy = agy + Ky * (aay - agy);
- Py = (1 - Ky) * Py;
- /* kalmen end */
- Serial.print(agx);Serial.print(",");
- Serial.print(agy);Serial.println();
-
- if(-3<agy){
- motor_move(1,PWMA_Start,PWMA_Start);
- }
- else if(-4.0>agy){
- motor_move(2,PWMA_Start,PWMB_Start);
- }
- else
- {
- motor_move(5,0,0);
- }
- }
- //============================motor function========================
- void motor_move(int dir,int PWMA_VAL,int PWMB_VAL)//当 dir=1,表示前进,当 dir=2表示 后退 //
- {
- switch(dir){
- case 1://当 dir=1,表示前进//
- digitalWrite (Left_1,HIGH);
- digitalWrite(Left_2,LOW);
- analogWrite(PWMA,PWMA_VAL);
- digitalWrite (Right_1,HIGH);
- digitalWrite(Right_2,LOW);
- analogWrite(PWMB,PWMB_VAL);
- break;
- case 2://backward
- digitalWrite (Left_1,LOW);
- digitalWrite(Left_2,HIGH);
- analogWrite(PWMA,PWMA_VAL);
- digitalWrite (Right_1,LOW);
- digitalWrite(Right_2,HIGH);
- analogWrite(PWMB,PWMB_VAL);
- break;
- case 3://turn left
- digitalWrite (Left_1,HIGH);
- digitalWrite(Left_2,LOW);
- analogWrite(PWMA,PWMA_VAL);
- digitalWrite (Right_1,LOW);
- digitalWrite(Right_2,HIGH);
- analogWrite(PWMB,PWMB_VAL);
- break;
- case 4://turn right
- digitalWrite (Left_1,LOW);
- digitalWrite(Left_2,HIGH);
- analogWrite(PWMA,PWMA_VAL);
- digitalWrite (Right_1,HIGH);
- digitalWrite(Right_2,LOW);
- analogWrite(PWMB,PWMB_VAL);
- break;
- case 5://stop
- digitalWrite (Left_1,HIGH);
- digitalWrite(Left_2,HIGH);
- analogWrite(PWMA,PWMA_VAL);
- digitalWrite (Right_1,HIGH);
- digitalWrite(Right_2,HIGH);
- analogWrite(PWMB,PWMB_VAL);
- break;
- }
- }
- //==================================================================
这个只是用了其中一个轴，实际上有些代码可以省略，没有去改，只是用角度控制，但是没有用到PID计算设定电机速度，车子站立后抖动厉害，速度无法调节是很大原因，过调严重。速度是按最大值输出的，不知道什么原因导致PWM调节失效。 |
发表于 2014-4-13 17:44:09
楼主
