麦克纳姆轮——学习笔记

最新推荐文章于 2023-10-25 19:59:54 发布

AIlways

最新推荐文章于 2023-10-25 19:59:54 发布

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手写笔记+代码

手写笔记
代码

手写笔记

在这里插入图片描述

代码

输入x、y、z速度

void SpeedCtrl(int16_t x, int16_t y, int16_t z)
{
	int16_t targetSpeed1 = 0, targetSpeed2 = 0, targetSpeed3 = 0, targetSpeed4 = 0;

	targetSpeed1 = y - x + z;
	targetSpeed2 = y + x - z;
	targetSpeed3 = y - x - z;
	targetSpeed4 = y + x + z;

	encvalue1 = ENC_GetCounter(ENC2_InPut_P33_7);
	encvalue2 = (-ENC_GetCounter(ENC6_InPut_P20_3));
    encvalue3 = (-ENC_GetCounter(ENC5_InPut_P10_3));
	encvalue4 = ENC_GetCounter(ENC4_InPut_P02_8);

	Pid(&pid1,targetSpeed1 - encvalue1);
	Pid(&pid2,targetSpeed2 - encvalue2);
	Pid(&pid3,targetSpeed3 - encvalue3);
	Pid(&pid4,targetSpeed4 - encvalue4);

/*	PID_Positional(&pid1, targetSpeed1 - encvalue1);
	PID_Positional(&pid2, targetSpeed2 - encvalue2);
	PID_Positional(&pid3, targetSpeed3 - encvalue3);
	PID_Positional(&pid4, targetSpeed4 - encvalue4);*/

	MotorCtrl(pid1.out,pid2.out,pid3.out,pid4.out);
}