我编码器
代码写好了呀，只要循迹的
代码，可以给你先看看void encoder_update(void
)
{
enco_l_last=enco_l;
enco_r_last=enco_r_last;
enco_l=0;
enco_r=0;
speed_l=enco_l_last/20/3.14159/65*13*28;
speed_r=enco_r_last/20/3.14159/65*13*28;
}
void GROUP1_IRQHandler(void
)
{
//获取中断信号
gpioA = DL_GPIO_getEnabledInterruptStatus(GPIOA,ENCODER_E2A_PIN
);
gpioB = DL_GPIO_getEnabledInterruptStatus(GPIOB,ENCODER_E1A_PIN
);
//ENCODER RIGHT
if((gpioA&ENCODER_E2A_PIN
)!=0
)
{
if(!DL_GPIO_readPins(ENCODER_E2B_PORT,ENCODER_E2B_PIN
))
{
enco_r++;
}
else
{
enco_r
--;
}
DL_GPIO_clearInterruptStatus(GPIOA, ENCODER_E2A_PIN
);
}
//ENCODER LEFT
if((gpioB&ENCODER_E1A_PIN
)!=0
)
{
DL_GPIO_clearPins(GPIO_LED_PORT,GPIO_LED_PIN_0_PIN
);
if(!DL_GPIO_readPins(ENCODER_E1B_PORT,ENCODER_E1B_PIN
))
{
enco_l++;
}
else
{
enco_l
--;
}
DL_GPIO_clearInterruptStatus(GPIOB,ENCODER_E1A_PIN
);
}
}
void TIMER_0_INST_IRQHandler(void
)
{
switch (DL_TimerA_getPendingInterrupt(TIMER_0_INST
))
{
case DL_TIMERA_IIDX_ZERO:
// 处理计数到零的中断
encoder_update(
);
break;
default:
break;
}
}
不过我编码器那里怎么和pid结合也不太懂，看了一天真的不懂，我学长给我了一段
祖传pid
代码/*!
* @brief PID
* @since v1.0
* *pid: PID参数
* NowPlace：当前位置
* Point： 预期位置
*/
void PID_Init(PID *pid, float p, float i, float d, float limit
){
pid
->P = p;
pid
->I = i;
pid
->D = d;
pid
->limit = limit;
pid
->realize = 0.0f;
pid
->Current_Error = 0;
pid
->Last_Error = 0;
pid
->Previous_Error = 0;
pid
->Increase = 0;
}
// 位置式PID控制
float PID_Realize(PID *pid, float NowPlace, float Point
)
{
float iError; // 当前误差
float Realize; //实际输出
iError = Point
- NowPlace; // 计算当前误差
pid
->Current_Error += pid
->I * iError; // 误差积分
pid
->Current_Error = pid
->Current_Error > pid
->limit?pid
->limit:pid
->Current_Error;//积分限幅
pid
->Current_Error = pid
->Current_Error <
-pid
->limit?
-pid
->limit:pid
->Current_Error;
Realize = pid
->P * iError //比例P
+ pid
->Current_Error //积分I
+ pid
->D * (iError
- pid
->Last_Error
); //微分D
pid
->Last_Error = iError; // 更新上次误差
pid
->realize = Realize;
if(pid
->limit<pid
->realize
) pid
->realize = pid
->limit;
else if (
-pid
->limit>pid
->realize
) pid
->realize =
-pid
->limit;
return pid
->realize; // 返回实际值
}
/*!
* @brief 增量式PID
* @since v1.0
* *pid ：误差参数
* *pid: PID参数
* NowPlace：实际值
* Point： 期望值
*/
//增量式PID电机控制
float PID_Increase(PID *pid, float NowPlace, float Point
)
{
float iError; //当前误差
float Increase; //最后得出的实际增量
iError = Point
- NowPlace; // 计算当前误差
Increase = pid
->P * (iError
- pid
->Last_Error
) //比例P
+ pid
->I * iError //积分I
+ pid
->D * (iError
- 2 * pid
->Last_Error + pid
->Previous_Error
); //微分D
pid
->Previous_Error = pid
->Last_Error; // 更新前次误差
pid
->Last_Error = iError; // 更新上次误差
pid
->Increase = Increase;
pid
->realize = pid
->realize + Increase;
if(pid
->limit<pid
->realize
) pid
->realize = pid
->limit;
else if (
-pid
->limit>pid
->realize
) pid
->realize =
-pid
->limit;
return pid
->realize; // 返回实际值
}
本文讲述了如何处理公司的“祖传代码”问题，通过重构策略将SSH框架的模块转变为微服务架构，实现功能泛化、完善和性能提升，同时介绍了数据库同步的不同方法。
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