亚博平衡车代码
作者：互联网
仅供自己参考
/****************************************************************************
亚博智能科技有限公司
产品名称：Arduino 智能平衡小车
产品型号：BST-ABC ver2.0
修改记录：181207 增加电压采集显示liusen
****************************************************************************/
#include "./PinChangeInt.h"
#include "./MsTimer2.h"
//利用测速码盘计数实现速度PID控制
#include "./BalanceCar.h"
#include "./KalmanFilter.h"
//I2Cdev、MPU6050和PID_v1类库需要事先安装在Arduino 类库文件夹下
#include "./I2Cdev.h"
#include "./MPU6050_6Axis_MotionApps20.h"
#include "Wire.h"
MPU6050 mpu; //实例化一个 MPU6050 对象，对象名称为 mpu
BalanceCar balancecar;
KalmanFilter kalmanfilter;
int16_t ax, ay, az, gx, gy, gz;
//TB6612FNG驱动模块控制信号
#define IN1M 7
#define IN2M 6
#define IN3M 13
#define IN4M 12
#define PWMA 9
#define PWMB 10
#define STBY 8
#define PinA_left 2 //中断0
#define PinA_right 4 //中断1
//声明自定义变量
float Voltage = 0;
int voltagepin = A0;
int time;
byte inByte; //串口接收字节
int num;
double Setpoint; //角度DIP设定点，输入，输出
double Setpoints, Outputs = 0; //速度DIP设定点，输入，输出
//double kp = 38, ki = 0.0, kd = 0.58; //需要你修改的参数
double kp = 30, ki = 0.0, kd = 0.56 ; //需要你修改的参数
//double kp_speed =3.8, ki_speed = 0.11, kd_speed = 0.0; // 需要你修改的参数
double kp_speed = 3.2, ki_speed = 0.07 , kd_speed = 0.0; // 需要你修改的参数
double kp_turn = 28, ki_turn = 0, kd_turn = 0.29; //旋转PID设定
const double PID_Original[6] = {kp, ki, kd, kp_speed, ki_speed, kd_speed}; //恢复默认PID参数
//转向PID参数
double setp0 = 0, dpwm = 0, dl = 0; //角度平衡点，PWM差，死区，PWM1，PWM2
float value;
//********************angle data*********************//
float Q;
float Angle_ax; //由加速度计算的倾斜角度
float Angle_ay;
float K1 = 0.05; // 对加速度计取值的权重
float angle0 = 0.00; //机械平衡角
int slong;
//********************angle data*********************//
//***************Kalman_Filter*********************//
float Q_angle = 0.001, Q_gyro = 0.005; //角度数据置信度,角速度数据置信度
float R_angle = 0.5 , C_0 = 1;
float timeChange = 5; //滤波法采样时间间隔毫秒
float dt = timeChange * 0.001; //注意：dt的取值为滤波器采样时间
//***************Kalman_Filter*********************//
//*********************************************
//******************** speed count ************
//*********************************************
volatile long count_right = 0;//使用volatile lon类型是为了外部中断脉冲计数值在其他函数中使用时，确保数值有效
volatile long count_left = 0;//使用volatile lon类型是为了外部中断脉冲计数值在其他函数中使用时，确保数值有效
int speedcc = 0;
//脉冲计算/
int lz = 0;
int rz = 0;
int rpluse = 0;
int lpluse = 0;
int sumam;
/脉冲计算
//转向、旋转参数///
int turncount = 0; //转向介入时间计算
float turnoutput = 0;
//转向、旋转参数///
//Wifi控制量///
#define run_car '1'//按键前
#define back_car '2'//按键后
#define left_car '3'//按键左
#define right_car '4'//按键右
#define stop_car '0'//按键停
/*小车运行状态枚举*/
enum {
enSTOP = 0,
enRUN,
enBACK,
enLEFT,
enRIGHT,
enTLEFT,
enTRIGHT
} enCarState;
int incomingByte = 0; // 接收到的 data byte
String inputString = ""; // 用来储存接收到的内容
boolean newLineReceived = false; // 前一次数据结束标志
boolean startBit = false; //协议开始标志
int g_carstate = enSTOP; // 1前2后3左4右0停止
String returntemp = ""; //存储返回值
boolean g_autoup = false;
int g_uptimes = 5000;
int front = 0;//前进变量
int back = 0;//后退变量
int turnl = 0;//左转标志
int turnr = 0;//右转标志
int spinl = 0;//左旋转标志
int spinr = 0;//右旋转标志
int bluetoothvalue;//蓝牙控制量
//蓝牙控制量///
//超声波速度//
int chaoshengbo = 0;
int tingzhi = 0;
int jishi = 0;
//超声波速度//
//脉冲计算///
void countpluse()
{
lz = count_left;
rz = count_right;
count_left = 0;
count_right = 0;
lpluse = lz;
rpluse = rz;
if ((balancecar.pwm1 < 0) && (balancecar.pwm2 < 0)) //小车运动方向判断 后退时（PWM即电机电压为负） 脉冲数为负数
{
rpluse = -rpluse;
lpluse = -lpluse;
}
else if ((balancecar.pwm1 > 0) && (balancecar.pwm2 > 0)) //小车运动方向判断 前进时（PWM即电机电压为正） 脉冲数为负数
{
rpluse = rpluse;
lpluse = lpluse;
}
else if ((balancecar.pwm1 < 0) && (balancecar.pwm2 > 0)) //小车运动方向判断 前进时（PWM即电机电压为正） 脉冲数为负数
{
rpluse = rpluse;
lpluse = -lpluse;
}
else if ((balancecar.pwm1 > 0) && (balancecar.pwm2 < 0)) //小车运动方向判断 左旋转 右脉冲数为负数 左脉冲数为正数
{
rpluse = -rpluse;
lpluse = lpluse;
}
//提起判断
balancecar.stopr += rpluse;
balancecar.stopl += lpluse;
//每5ms进入中断时，脉冲数叠加
balancecar.pulseright += rpluse;
balancecar.pulseleft += lpluse;
sumam = balancecar.pulseright + balancecar.pulseleft;
}
脉冲计算///
//角度PD
void angleout()
{
balancecar.angleoutput = kp * (kalmanfilter.angle + angle0) + kd * kalmanfilter.Gyro_x;//PD 角度环控制
}
//角度PD
//
//中断定时 5ms定时中断
/
void inter()
{
sei();
countpluse(); //脉冲叠加子函数
mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz); //IIC获取MPU6050六轴数据 ax ay az gx gy gz
kalmanfilter.Angletest(ax, ay, az, gx, gy, gz, dt, Q_angle, Q_gyro, R_angle, C_0, K1); //获取angle 角度和卡曼滤波
angleout(); //角度环 PD控制
speedcc++;
if (speedcc >= 8) //40ms进入速度环控制
{
Outputs = balancecar.speedpiout(kp_speed, ki_speed, kd_speed, front, back, setp0);
speedcc = 0;
}
turncount++;
if (turncount > 4) //40ms进入旋转控制
{
turnoutput = balancecar.turnspin(turnl, turnr, spinl, spinr, kp_turn, kd_turn, kalmanfilter.Gyro_z); //旋转子函数
turncount = 0;
}
balancecar.posture++;
balancecar.pwma(Outputs, turnoutput, kalmanfilter.angle, kalmanfilter.angle6, turnl, turnr, spinl, spinr, front, back, kalmanfilter.accelz, IN1M, IN2M, IN3M, IN4M, PWMA, PWMB); //小车总PWM输出
}
//
//中断定时 5ms定时中断///
/
void SendAutoUp()
{
g_uptimes --;
if ((g_autoup == true) && (g_uptimes == 0))
{
//自动上报
String CSB;//, VT;
char temp[10] = {0};
float fgx;
float fay;
float leftspeed;
float rightspeed;
fgx = gx; //传给局部变量
fay = ay; //传给局部变量
leftspeed = balancecar.pwm1;
rightspeed = balancecar.pwm2;
double Gx = (double)((fgx - 128.1f) / 131.0f); //角度转换
double Ay = ((double)fay / 16384.0f) * 9.8f;
if (leftspeed > 255 || leftspeed < -255)
return;
if (rightspeed > 255 || rightspeed < -255)
return;
if ((Ay < -20) || (Ay > 20))
return;
if ((Gx < -3000) || (Gx > 3000))
return;
returntemp = "";
memset(temp, 0x00, sizeof(temp));
dtostrf(leftspeed, 3, 1, temp); // 相當於 %3.2f
String LV = temp;
memset(temp, 0x00, sizeof(temp));
dtostrf(rightspeed, 3, 1, temp); // 相當於 %3.1f
String RV = temp;
memset(temp, 0x00, sizeof(temp));
dtostrf(Ay, 2, 2, temp); // 相當於 %2.2f
String AC = temp;
memset(temp, 0x00, sizeof(temp));
dtostrf(Gx, 4, 2, temp); // 相當於 %4.2f
String GY = temp;
memset(temp, 0x00, sizeof(temp));
dtostrf(Voltage, 2, 1, temp); // 相當於 %2.1f
String VT = temp;
CSB = "0.00";
returntemp = "$LV" + LV + ",RV" + RV + ",AC" + AC + ",GY" + GY + ",CSB" + CSB + ",VT" + VT + "#";
Serial.print(returntemp); //返回协议数据包
}
if (g_uptimes == 0)
g_uptimes = 5000;
}
// === 初始设置 ===
void setup() {
// TB6612FNGN驱动模块控制信号初始化
// Serial.begin(9600);
pinMode(IN1M, OUTPUT); //控制电机1的方向，01为正转，10为反转
pinMode(IN2M, OUTPUT);
pinMode(IN3M, OUTPUT); //控制电机2的方向，01为正转，10为反转
pinMode(IN4M, OUTPUT);
pinMode(PWMA, OUTPUT); //左电机PWM
pinMode(PWMB, OUTPUT); //右电机PWM
pinMode(STBY, OUTPUT); //TB6612FNG使能
//初始化电机驱动模块
digitalWrite(IN1M, 0);
digitalWrite(IN2M, 1);
digitalWrite(IN3M, 1);
digitalWrite(IN4M, 0);
digitalWrite(STBY, 1);
analogWrite(PWMA, 0);
analogWrite(PWMB, 0);
pinMode(PinA_left, INPUT); //测速码盘输入
pinMode(PinA_right, INPUT);
// 加入I2C总线
Wire.begin(); //加入 I2C 总线序列
Serial.begin(9600); //开启串口，设置波特率为 115200
delay(1500);
mpu.initialize(); //初始化MPU6050
delay(2);
balancecar.pwm1 = 0;
balancecar.pwm2 = 0;
//5ms定时中断设置 使用timer2 注意：使用timer2会对pin3 pin11的PWM输出有影响，因为PWM使用的是定时器控制占空比，所以在使用timer的时候要注意查看对应timer的pin口。
MsTimer2::set(5, inter);
MsTimer2::start();
}
turn//
void ResetPID()
{
kp = PID_Original[0];
ki = PID_Original[1];
kd = PID_Original[2]; //需要你修改的参数
kp_speed = PID_Original[3];
ki_speed = PID_Original[4];
kd_speed = PID_Original[5]; // 需要你修改的参数
}
void ResetCarState()
{
turnl = 0;
turnr = 0;
front = 0;
back = 0;
spinl = 0;
spinr = 0;
turnoutput = 0;
}
float voltage_test()
{
float fVoltage;
int iVoltage;
pinMode(voltagepin, INPUT);
iVoltage = analogRead(A0); //读取A0口值
fVoltage = (iVoltage / 1023.0) * 5 * 4.2 - 0.35; //换算为电压值
//Voltage是端口A0采集到的ad值（0-1023），
//0.35是由于电阻的精度问题所作的调整值。
return fVoltage;
}
// === 主循环程序体 ===
void loop() {
Voltage = voltage_test();
//Serial.print(Voltage,DEC);
// Serial.print("\r\n");
String returnstr = "$0,0,0,0,0,0,0,0,0,0,0,0cm,0.0V#"; //默认发送
//主函数中循环检测及叠加脉冲 测定小车车速 使用电平改变既进入脉冲叠加 增加电机的脉冲数，保证小车的精确度。
attachInterrupt(0, Code_left, CHANGE);
attachPinChangeInterrupt(PinA_right, Code_right, CHANGE);
//kongzhi(); //蓝牙接口
//
//Serial.println(kalmanfilter.angle);
//Serial.print("\t");
//Serial.print(bluetoothvalue);
//Serial.print("\t");
// Serial.print( balancecar.angleoutput);
// Serial.print("\t");
// Serial.print(balancecar.pwm1);
// Serial.print("\t");
// Serial.println(balancecar.pwm2);
// Serial.print("\t");
// Serial.println(balancecar.stopr);
// Serial.print("\t");
if (newLineReceived)
{
switch (inputString[1])
{
case run_car: g_carstate = enRUN; break;
case back_car: g_carstate = enBACK; break;
case left_car: g_carstate = enLEFT; break;
case right_car: g_carstate = enRIGHT; break;
case stop_car: g_carstate = enSTOP; break;
default: g_carstate = enSTOP; break;
}
//判断协议是否有丢包
/* if(inputString.length() < 21)
{
//恢复默认
inputString = ""; // clear the string
newLineReceived = false;
//Serial.print(returnstr);
goto a;
}*/
if (inputString[3] == '1' && inputString.length() == 21) //左摇
{
g_carstate = enTLEFT;
//Serial.print(returnstr);
}
else if (inputString[3] == '2' && inputString.length() == 21) //右摇
{
g_carstate = enTRIGHT;
// Serial.print(returnstr);
}
if (inputString[5] == '1') //查询PID
{
char charkp[7], charkd[7], charkpspeed[7], charkispeed[7];
dtostrf(kp, 3, 2, charkp); // 相當於 %3.2f
dtostrf(kd, 3, 2, charkd); // 相當於 %3.2f
dtostrf(kp_speed, 3, 2, charkpspeed); // 相當於 %3.2f
dtostrf(ki_speed, 3, 2, charkispeed); // 相當於 %3.2f
String strkp = charkp; String strkd = charkd; String strkpspeed = charkpspeed; String strkispeed = charkispeed;
returntemp = "$0,0,0,0,0,0,AP" + strkp + ",AD" + strkd + ",VP" + strkpspeed + ",VI" + strkispeed + "#";
Serial.print(returntemp); //返回协议数据包
}
else if (inputString[5] == '2') //恢复PID
{
ResetPID();
Serial.print("$OK#"); //返回协议数据包
}
if (inputString[7] == '1') //自动上报
{
g_autoup = true;
Serial.print("$OK#"); //返回协议数据包
}
else if (inputString[7] == '2') //停止自动上报
{
g_autoup = false;
Serial.print("$OK#"); //返回协议数据包
}
if (inputString[9] == '1') //角度环更新 $0,0,0,0,1,1,AP23.54,AD85.45,VP10.78,VI0.26#
{
int i = inputString.indexOf("AP");
int ii = inputString.indexOf(",", i);
if (ii > i)
{
String m_skp = inputString.substring(i + 2, ii);
m_skp.replace(".", "");
int m_kp = m_skp.toInt();
kp = (double)( (double)m_kp / 100.0f);
}
i = inputString.indexOf("AD");
ii = inputString.indexOf(",", i);
if (ii > i)
{
//ki = inputString.substring(i+2, ii);
String m_skd = inputString.substring(i + 2, ii);
m_skd.replace(".", "");
int m_kd = m_skd.toInt();
kd = (double)( (double)m_kd / 100.0f);
}
Serial.print("$OK#"); //返回协议数据包
}
if (inputString[11] == '1') //速度环更新
{
int i = inputString.indexOf("VP");
int ii = inputString.indexOf(",", i);
if (ii > i)
{
String m_svp = inputString.substring(i + 2, ii);
m_svp.replace(".", "");
int m_vp = m_svp.toInt();
kp_speed = (double)( (double)m_vp / 100.0f);
}
i = inputString.indexOf("VI");
ii = inputString.indexOf("#", i);
if (ii > i)
{
String m_svi = inputString.substring(i + 2, ii);
m_svi.replace(".", "");
int m_vi = m_svi.toInt();
ki_speed = (double)( (double)m_vi / 100.0f);
Serial.print("$OK#"); //返回协议数据包
}
}
//恢复默认
inputString = ""; // clear the string
newLineReceived = false;
}
a: switch (g_carstate)
{
case enSTOP: turnl = 0; turnr = 0; front = 0; back = 0; spinl = 0; spinr = 0; turnoutput = 0; break;
case enRUN: ResetCarState(); front = 250; break;
case enLEFT: turnl = 1; break;
case enRIGHT: turnr = 1; break;
case enBACK: ResetCarState(); back = -250; break;
case enTLEFT: spinl = 1; break;
case enTRIGHT: spinr = 1; break;
default: front = 0; back = 0; turnl = 0; turnr = 0; spinl = 0; spinr = 0; turnoutput = 0; break;
}
//增加自动上报
SendAutoUp();
}
pwm///
//脉冲中断计算/
void Code_left() {
count_left ++;
} //左测速码盘计数
void Code_right() {
count_right ++;
} //右测速码盘计数
//脉冲中断计算/
//serialEvent()是IDE1.0及以后版本新增的功能，不清楚为什么大部份人不愿意用，这个可是相当于中断功能一样的啊!
int num1 = 0;
void serialEvent()
{
while (Serial.available())
{
incomingByte = Serial.read(); //一个字节一个字节地读，下一句是读到的放入字符串数组中组成一个完成的数据包
if (incomingByte == '$')
{
num1 = 0;
startBit = true;
}
if (startBit == true)
{
num1++;
inputString += (char) incomingByte; // 全双工串口可以不用在下面加延时，半双工则要加的//
}
if (startBit == true && incomingByte == '#')
{
newLineReceived = true;
startBit = false;
}
if (num1 >= 80)
{
num1 = 0;
startBit = false;
newLineReceived = false;
inputString = "";
}
}
}
标签：int,double,代码,inputString,balancecar,亚博,print,Serial,平衡 来源： https://blog.csdn.net/acktomas/article/details/115895078