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发表于 2017-7-26 10:28:12
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#include "led.h"
#include "delay.h"
#include "key.h"
#include "sys.h"
#include "usart.h"
#include "timer.h"
#include "adc.h"
#include "lcd.h"
#include "encode.h"
u8 mode;
u16 adcx,count,num;
u8 flag=0;
int err,err_last,err2,err2_last,set_num=1000,set_adcx=2075;
int pid_bianma,pid_adc;
//float kp=0,kd=0,ki=0,kp2=3.3,kd2=5,ki2=0,i=0,i2=0; //kp 编码器 kp2 adc
float kp=0,kd=0,ki=0,kp2=4.3,kd2=15.0,ki2=0,i=0,i2=0; //kp 编码器 kp2 adc
int pwma=0,pwmb=0;
float pidbianma(void );
float pidadc(void );
u16 Get_Adc_Average(u8 ch,u8 times);
//int Error,Error_Last,Error1,Error1_Last,Target1 = 3000,Target = 535; //515
//float PID_Out,PID_Out1,PID_Out2;
//float Kp =0,Kd = 0,Kp1 = 0,Kp2 = 50,Kd2 =0;
int main(void)
{
//u16 led0pwmval=0;
//u16 adcx,volt;
u16 temp;
float jiaodu;
u8 dir=1;
// u8 mode=1;
u16 count;//编码器计数 PB6 PB7
delay_init(); //延时函数初始化
NVIC_Configuration(); //设置NVIC中断分组2:2位抢占优先级，2位响应优先级
uart_init(9600); //串口初始化为9600
LED_Init(); //LED端口初始化
LCD_Init();
Adc_Init(); //ADC初始化
TIM4_Init();//定时器编码器接口初始化
TIM3_PWM_Init(999,17); //不分频。PWM频率=4Khz
TIM5_Int_Init(999,1439); //定时 10ms 719 5ms 1439
POINT_COLOR=BLUE;//设置字体为蓝色
LCD_ShowString(60,130,200,16,16,"ADC_CH0_VAL:");
LCD_ShowString(60,150,200,16,16,"ADC_CH0_JDU:");
while(1)
{
// delay_ms(10);
// if(dir)led0pwmval++;
// else led0pwmval--;
// if(led0pwmval>300)dir=0;
// if(led0pwmval==0)dir=1;
// //TIM_SetCompare2(TIM3,led0pwmval);
if(num>1500) num =1500;
if(num<500) num =500;
adcx=Get_Adc_Average(ADC_Channel_1,10);
LCD_ShowxNum(156,130,adcx,4,16,0);//显示ADC的值
jiaodu=adcx*(360/4096);
LCD_ShowxNum(156,150,jiaodu ,4,16,0);//显示电压值
count = TIM4->CNT/4;//获取计数值
num=count ;
//delay_ms(500);//每隔1s打印一次编码器角度,用手去拨动编码器 使其慢速旋?
printf ("adcx%d ",adcx );
// printf ("%d ",pid_bianma );
printf ("%d ",pwma );
printf("count%d\n",num );
// printf("%d ",pwma );
// printf("%d ",pwmb );
//delay_ms (500);
// if(mode ==1)
// {
// TIM_SetCompare2(TIM3,500); //TIM3_CH2 PA7
// TIM_SetCompare1(TIM3,0); //TIM3_CH1 PA6
// delay_ms (1000); //TIM3_CH3 PB0
// TIM_SetCompare2(TIM3,0);
// TIM_SetCompare1(TIM3,500);
// delay_ms (500);
// }
// else if(mode==2)
// {
// TIM_SetCompare2(TIM3,0);
// TIM_SetCompare1(TIM3,300);
// delay_ms (1000);
// TIM_SetCompare2(TIM3,800);
// TIM_SetCompare1(TIM3,0);
// delay_ms (1000);
// }
// else if(mode ==3)
// {
//// pwma =500+pid_bianma +pid_adc ;
//// pwmb= 500-pid_bianma -pid_adc ;
// if(flag >=4)
// {
// flag =0;
// pwma =500-pidbianma()+pidadc() ;
// pwmb =500+pidbianma()-pidadc() ;
// }
// else
// {
// pwma =500+pidadc ();
// pwmb =500-pidadc ();
// flag ++;
// }
//
// if(pwma >999) pwma =999;
// if(pwma<0) pwma =0;
// if(pwmb >999) pwmb =999;
// if(pwmb<0) pwmb =0;
//
// TIM_SetCompare2(TIM3,pwma ); //TIM3_CH2 PA7
// TIM_SetCompare1(TIM3,pwmb ); //TIM3_CH1 PA6
//// delay_ms (1000); //TIM3_CH3 PB0
//// TIM_SetCompare2(TIM3,0);
//// TIM_SetCompare1(TIM3,500);
//// delay_ms (500);
//
// }
// else if(mode ==4)
// {
// TIM_SetCompare2(TIM3,0 ); //TIM3_CH2 PA7
// TIM_SetCompare1(TIM3,0 ); //TIM3_CH1 PA6
// }
}
}
// float PID_Cal2() //??? ???
//{
//Error1 = Target1 -num; //Target1 = 3000,Target = 515;
//PID_Out2 = Error1*Kp2 + (Error1 - Error1_Last)*Kd2; //num = 3000
//Error1_Last = Error1;
//return PID_Out2;
//}
float pidbianma()
{
err=set_num-num ;
pid_bianma=err*kp+(err-err_last )*kd;
err_last =err ;
return pid_bianma ;
}
float pidadc()
{
// adcx=Get_Adc_Average(ADC_Channel_1,10);
// err2 =set_adcx - adcx ;
err2 =set_adcx -Get_Adc_Average(ADC_Channel_1,10) ;
pid_adc =err2 *kp2 +(err2 -err2_last )*kd2 ;
err2_last =err2 ;
return pid_adc ;
}
void TIM5_IRQHandler(void) //TIM3中断
{
if (TIM_GetITStatus(TIM5, TIM_IT_Update) != RESET) //检查指定的TIM中断发生与否:TIM 中断源
{
TIM_ClearITPendingBit(TIM5, TIM_IT_Update ); //清除TIMx的中断待处理位:TIM 中断源
LED1=!LED1;
if(adcx <1690||adcx >2570)//2650 3530
{
mode =4;
}
else mode =3;
// if(mode ==1)
// {
// TIM_SetCompare2(TIM3,500); //TIM3_CH2 PA7
// TIM_SetCompare1(TIM3,0); //TIM3_CH1 PA6
// delay_ms (1000); //TIM3_CH3 PB0
// TIM_SetCompare2(TIM3,0);
// TIM_SetCompare1(TIM3,500);
// delay_ms (500);
// }
// else if(mode==2)
// {
// TIM_SetCompare2(TIM3,0);
// TIM_SetCompare1(TIM3,300);
// delay_ms (1000);
// TIM_SetCompare2(TIM3,800);
// TIM_SetCompare1(TIM3,0);
// delay_ms (1000);
// }
if(mode ==3)
{
err2 =set_adcx -adcx ;
pid_adc =err2 *kp2 +(err2 -err2_last )*kd2 +i2*ki2 ;
err2_last =err2 ;
i2=i2+err2;
err=set_num-num ;
pid_bianma=err*kp+(err-err_last )*kd+i*ki;
err_last =err ;
i=i+err ;
if(flag >=4)
{
flag =0;
// pwma =500-pidbianma()+pidadc() ;
// pwmb =500+pidbianma()-pidadc() ;
pwma =pid_bianma+pid_adc;
pwmb =pid_bianma-pid_adc;
}
else
{
// pwma =500+pidadc ();
// pwmb =500-pidadc ();
pwma =pid_adc;
pwmb =-pid_adc;
flag ++;
}
if(pwma<0)
{
pwma =-pwma ;
if(pwma >600) pwma =600;
if(pwma<0) pwma =0;
TIM_SetCompare2(TIM3,pwma ); //TIM3_CH2 PA7
TIM_SetCompare1(TIM3,0 ); //TIM3_CH1 PA6
}
else
{
if(pwma >600) pwma =600;
if(pwma<0) pwma =0;
TIM_SetCompare2(TIM3,0 ); //TIM3_CH2 PA7
TIM_SetCompare1(TIM3,pwma ); //TIM3_CH1 PA6
}
// if(pwma >999) pwma =999;
// if(pwma<0) pwma =0;
// if(pwmb >999) pwmb =999;
// if(pwmb<0) pwmb =0;
//
// TIM_SetCompare2(TIM3,pwma ); //TIM3_CH2 PA7
// TIM_SetCompare1(TIM3,pwmb ); //TIM3_CH1 PA6
// delay_ms (1000); //TIM3_CH3 PB0
// TIM_SetCompare2(TIM3,0);
// TIM_SetCompare1(TIM3,500);
// delay_ms (500);
}
else if(mode ==4)
{
TIM_SetCompare2(TIM3,0 ); //TIM3_CH2 PA7
TIM_SetCompare1(TIM3,0 ); //TIM3_CH1 PA6
}
}
}
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发表于 2017-7-26 10:25:17
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