9.28 14:00

import java.util.*;

public class lll {
	public static void main(String[] args) {
		/*
		 * int r = 9; for (int i = 1; i <= r; i++) { for (int j = 1; j <= i;
		 * j++) { System.out.print(j+" "); } System.out.print("\n"); }
		 */

		/*
		 * Scanner input = new Scanner(System.in);
		 * System.out.print("请输入菱形的行数:"); int r = input.nextInt(); while (r % 2
		 * == 0) { System.out.print("请输入奇数:"); r = input.nextInt(); } int n = (r
		 * + 1) / 2; for (int i = 1; i < n; i++) { for (int j = 1; j <= n - i;
		 * j++) { System.out.print(" "); } for (int k = 1; k <= 2 * i - 1; k++)
		 * { System.out.print("*"); } System.out.print("\n"); }
		 * 
		 * 
		 * for (int i = n; i > 0; i--) { for (int j = n - i; j >= 1; j--) {
		 * System.out.print(" "); } for (int k = 2 * i; k > 1; k--) {
		 * System.out.print("*"); } System.out.print("\n"); }
		 */

		int[] r1 = new int[] { 1, 3, 5, 7, 9 };
		int[] r2 = new int[] { 9, 7, 5, 3, 1 };
		int[] r3 = new int[r1.length + r2.length];
		for (int i = 0; i < r3.length; i++) {
			if (i < r1.length) {
				r3[i] = r1[i];
			} else {
				r3[i] = r2[i - r1.length];
			}
		}
		for (int i = 0; i < r3.length; i++) {
			System.out.print(" " + r3[i]);
		}

		/*
		 * int[] list = new int[6]; list[0] = 99; list[1] = 98; list[2] = 97;
		 * list[3] = 94; list[4] = 92; int index = list.length;
		 * System.out.println("请输入新增成绩:"); Scanner input = new
		 * Scanner(System.in); int n = input.nextInt(); for (int i = 0; i <
		 * list.length; i++) { if (n > list[i]) { index = i; break; } } for (int
		 * j = list.length - 1; j > index; j--) { list[j - 1] = list[j]; }
		 * list[index] = n; System.out.println("插入成绩的下标是: " + index);
		 * System.out.println("插入后的成绩信息是:  "); for (int k = 0; k < list.length;
		 * k++) { System.out.print(list[k] + "\t"); }
		 */
	}
}

MAGIC:2024091211 Time information: BaseTime 108225561 BaseUpTime 66109852 EventTime 122221936 EventUptime 67278166 EventWallTime 2025_0607_0402_11 Statistics form 2025_0607_0008_55 to 2025_0607_0402_11 Duration 13996375ms 3.89h Status:65536 srfsnap Battery consumption stats: battery level changed history: { time:2025_0607_0008_55, seq:6573, status:3, ui_level:95, temperature:368, chargeCounter:4050000, plugged:0, voltage:4334, health:2, present:true, technology:Li-ion, scale:100, op_level:92, op_rm:4050, op_fcc:4440 } { time:2025_0607_0014_12, seq:6578, status:3, ui_level:94, temperature:347, chargeCounter:4040000, plugged:0, voltage:4341, health:2, present:true, technology:null, scale:100, op_level:91, op_rm:4040, op_fcc:4440 } { time:2025_0607_0038_56, seq:6599, status:3, ui_level:93, temperature:299, chargeCounter:3996000, plugged:0, voltage:4329, health:2, present:true, technology:null, scale:100, op_level:90, op_rm:3996, op_fcc:4440 } { time:2025_0607_0115_50, seq:6613, status:3, ui_level:92, temperature:280, chargeCounter:3952000, plugged:0, voltage:4321, health:2, present:true, technology:null, scale:100, op_level:89, op_rm:3952, op_fcc:4440 } { time:2025_0607_0143_31, seq:6621, status:3, ui_level:91, temperature:275, chargeCounter:3904000, plugged:0, voltage:4307, health:2, present:true, technology:null, scale:100, op_level:88, op_rm:3904, op_fcc:4440 } { time:2025_0607_0212_25, seq:6632, status:3, ui_level:90, temperature:273, chargeCounter:3860000, plugged:0, voltage:4283, health:2, present:true, technology:null, scale:100, op_level:87, op_rm:3860, op_fcc:4440 } { time:2025_0607_0244_55, seq:6642, status:3, ui_level:89, temperature:273, chargeCounter:3810000, plugged:0, voltage:4284, health:2, present:true, technology:null, scale:100, op_level:86, op_rm:3810, op_fcc:4440 } { time:2025_0607_0312_25, seq:6651, status:3, ui_level:88, temperature:274, chargeCounter:3764000, plugged:0, voltage:4271, health:2, present:true, technology:null, scale:100, op_level:85, op_rm:3764, op_fcc:4440 } { time:2025_0607_0338_12, seq:6664, status:3, ui_level:87, temperature:275, chargeCounter:3722000, plugged:0, voltage:4263, health:2, present:true, technology:null, scale:100, op_level:84, op_rm:3722, op_fcc:4440 } { time:2025_0607_0402_11, seq:6675, status:3, ui_level:86, temperature:274, chargeCounter:3678000, plugged:0, voltage:4250, health:2, present:true, technology:null, scale:100, op_level:83, op_rm:3678, op_fcc:4440 } { time:2025_0607_0402_11, seq:6675, status:3, ui_level:86, temperature:274, chargeCounter:3678000, plugged:0, voltage:4250, health:2, present:true, technology:Li-ion, scale:100, op_level:83, op_rm:3678, op_fcc:4440 } battery consume: 372mah / 372mah(oplus) totalBatteryChargingTime:0ms 0.00h 0.00% totalBatteryFullTime:0ms 0.00h 0.00% totalBatteryDisChargingTime:13996369ms 3.89h 100.00% totalWirelessReserveChargingTime:0ms 0.00h 0.00% totalOtgDeviceOnlineTime:0ms 0.00h 0.00% batteryCalType:1 average current: 95.68ma / 95.68ma(oplus) Display state stats: total display on time: 0ms 0.00h 0.00% total display off time: 13996255ms 3.89h 100.00% total display doze time: 0ms 0.00h 0.00% total display doze suspend time: 0ms 0.00h 0.00% total display doze and suspend time: 0ms 0.00h 0.00% SubSystem sleep stats: suspend history: 86/{ } 87/{ } 88/{ } 89/{ } 90/{ } 91/{ } 92/{ } 93/{ } System suspend stats: suspendAttemptCount: 1054 failedSuspendCount: 125 successSuspendPercent: 88.14% shortSuspendCount: 0 suspendTimeMillis: 9223384864927 shortSuspendTimeMillis: 0 suspendOverheadTimeMillis: 263068 failedSuspendOverheadTimeMillis: 21685 newBackoffCount: 107 backoffContinueCount: 18 sleepTimeMillis: 122600 System suspend percentage:6.589838E7% Partial wake locks stats: AppWakelockMetrics start:108165491 stop:122221936 dura:14056445ms 3.90h WakelockSummary{ name:androi*******/@androidx.work.systemjobscheduler@com.g****************************/*****************************.systemjob.SystemJobService, totalTime:2666 } 0.02% WakelockSummary{ name:androi*******/com.oppo.qui***********/*********************************r.repo.UserAppsQueryJobScheduler, totalTime:2293 } 0.02% WakelockSummary{ name:androi*******/com.google.andro**************/*****************************************monitor.MediaMonitorJobSchedulerService, totalTime:1936 } 0.01% WakelockSummary{ name:androi*******/@androidx.work.systemjobscheduler@com.goog*******************************/*****************************.systemjob.SystemJobService, totalTime:1868 } 0.01% WakelockSummary{ name:androi*******/com.oplus.d**********/************************chedule.TrainJobService, totalTime:1475 } 0.01% WakelockSummary{ name:androi*******/com.faceb********/***********************************cy.uploader.LollipopUploadService, totalTime:1348 } 0.01% WakelockSummary{ name:androi*******/@androidx.work.systemjobscheduler@com.g****************************/*****************************.systemjob.SystemJobService, totalTime:1069 } 0.01% WakelockSummary{ name:com.oplus.po**********:PowerMonior:3, totalTime:1001 } 0.01% WakelockSummary{ name:com.google.android***************:WorkManager:TikTokListenableWorker startWork -> com.google.apps.tiktok.sync.impl.workmanager.SyncPeriodicWorker startWork() -> com.google.apps.tiktok.sync.impl.workmanager.SyncPeriodicWorker startWork() -> NoAccountWorkerFactory startWork(), totalTime:643 } 0.00% WakelockSummary{ name:androi*******/com.google.androi**************/************pJobService, totalTime:611 } 0.00% WakelockSummary{ name:androi*******/com.androi*********/********************************************backgroundimpl.PhoneskyJobServiceBackground, totalTime:546 } 0.00% Wakeup alarms stats: AppAlarmMetrics start:108225561 stop:122221936 dura:13996375ms 3.89h WakeupAlarmSummary{ name:com.facebook.rti.fbns.i******************FBNS_SCHEDULED_REDELIVERY, count:17 } 4.37 ct/h WakeupAlarmSummary{ name:com.hey*******action, count:17 } 4.37 ct/h WakeupAlarmSummary{ name:com.heytap.pictorial/co******************GlanceEventsReportService, count:9 } 2.31 ct/h WakeupAlarmSummary{ name:*job.deadline*, count:7 } 1.80 ct/h WakeupAlarmSummary{ name:DeviceIdle**********deep, count:6 } 1.54 ct/h WakeupAlarmSummary{ name:com.google.andr************ALARM_WAKEUP_ACTIVITY_DETECTION, count:5 } 1.29 ct/h WakeupAlarmSummary{ name:WakingExecutorService.ACTION_AL***********************Mqtt_Wakeup, count:5 } 1.29 ct/h WakeupAlarmSummary{ name:com.android.setting****************PERIODIC_JOB_UPDATE, count:4 } 1.03 ct/h WakeupAlarmSummary{ name:com.opl*******hourly_timer, count:4 } 1.03 ct/h WakeupAlarmSummary{ name:WakingExecutorService.ACTION_A**********************Mqtt_Wakeup, count:3 } 0.77 ct/h WakeupAlarmSummary{ name:oplus.inte*********INTERNAL_LOOP_SETTLE_WAKEUP_ALARM, count:3 } 0.77 ct/h Total alarm fired stats: Kernel wake locks stats: start:108225592 stop:122221960 dura:13996368ms 3.89h KernelWakelock { name:ttyC0, time:643516ms, count:984 } 4.60% KernelWakelock { name:PowerManagerService.WakeLocks, time:477510ms, count:0 } 3.41% KernelWakelock { name:ccci_sys, time:455536ms, count:803 } 3.25% KernelWakelock { name:[timerfd], time:74326ms, count:2125 } 0.53% KernelWakelock { name:ccci_fs, time:60724ms, count:86 } 0.43% KernelWakelock { name:radio-interface, time:47495ms, count:0 } 0.34% KernelWakelock { name:alarmtimer.0.auto, time:14087ms, count:7 } 0.10% KernelWakelock { name:md_wakelock, time:13024ms, count:3 } 0.09% KernelWakelock { name:WakeLockCheck, time:10030ms, count:0 } 0.07% KernelWakelock { name:ccci_poll, time:7658ms, count:15 } 0.05% KernelWakelock { name:dpmaif_wakelock, time:7280ms, count:7 } 0.05% Kernel wakeup stats: start:108225639 stop:122221994 dura:13996355ms 3.89h KernelWakeup { name:341 CCIF_AP_DATA0, count:{count:814, wakeType:modem} } 209.37 ct/h KernelWakeup { name:-1 misconfigured IRQ 345 scp_mboxdev, count:{count:89, wakeType:unknow} } 22.89 ct/h KernelWakeup { name:223 mt6397-rtc;341 CCIF_AP_DATA0, count:{count:45, wakeType:modem} } 11.57 ct/h KernelWakeup { name:-1 misconfigured IRQ 346 scp_mboxdev, count:{count:40, wakeType:unknow} } 10.29 ct/h KernelWakeup { name:223 mt6397-rtc, count:{count:22, wakeType:rtc_alarm} } 5.66 ct/h KernelWakeup { name:339 wlan0;341 CCIF_AP_DATA0, count:{count:21, wakeType:wlan} } 5.40 ct/h KernelWakeup { name:339 wlan0, count:{count:12, wakeType:wlan} } 3.09 ct/h KernelWakeup { name:Abort: Pending Wakeup Sources: [timerfd], count:{count:10, wakeType:unknow} } 2.57 ct/h KernelWakeup { name:341 CCIF_AP_DATA0;350 DPMAIF_AP_RX0, count:{count:1, wakeType:modem} } 0.26 ct/h Traffic stats: {uid:10268, pkg:com.facebo*********, total:1.87MB, rx:1879057, tx:83911, rp:1662, tp:323, wf:1.87MB, mb:0B} {uid:10300, pkg:free.tube.premium.**************, total:176.74KB, rx:126262, tx:54721, rp:217, tp:236, wf:176.74KB, mb:0B} {uid:10298, pkg:com.faceb********, total:73.09KB, rx:46614, tx:28235, rp:112, tp:85, wf:73.09KB, mb:0B} {uid:10266, pkg:com.netflix.***********, total:34.52KB, rx:16159, tx:19185, rp:28, tp:43, wf:34.52KB, mb:0B} {uid:10284, pkg:com.lazad*********, total:28.07KB, rx:20389, tx:8355, rp:48, tp:62, wf:27.97KB, mb:0B} {uid:10152, pkg:com.google.andr*************, total:21.33KB, rx:12768, tx:9079, rp:32, tp:30, wf:21.33KB, mb:0B} {uid:10249, pkg:com.heytap**********, total:15.62KB, rx:11925, tx:4072, rp:25, tp:27, wf:15.62KB, mb:0B} {uid:10217, pkg:com.faceboo**********, total:12.13KB, rx:6888, tx:5528, rp:36, tp:36, wf:12.13KB, mb:0B} {uid:10104, pkg:com.oplus.sta***********, total:11.79KB, rx:6422, tx:5655, rp:25, tp:27, wf:11.79KB, mb:0B} {uid:10235, pkg:com.facebook***********, total:9.28KB, rx:4852, tx:4655, rp:11, tp:15, wf:9.28KB, mb:0B} {uid:10112, pkg:com.google.android.gsf\com********************, total:3.00KB, rx:2504, tx:571, rp:7, tp:7, wf:3.00KB, mb:0B} entireNetWorkConnedTotalTime:1876436ms 0.52h 13.41% entireNetWorkDisConnedTotalTime:12119772ms 3.37h 86.59% entireNetWorkConnedAveCurrent:103.0ma entireNetWorkDisConnedAveCurrent:94.0ma maxLongConnTime:1876436ms 0.52h 13.41% maxLongDisConnTime:0ms 0.00h 0.00% totalBytes:2.25MB totalPackets:3117 totalWifiTrafficTotalBytes:2.25MB totalMobileTrafficBytes:0B topWifiTrafficUid:10268 topWifiTrafficUidBytes:1.87MB topMobileTrafficUid:0 topMobileTrafficUidBytes:0B Deep sleep stats: totalDeepSleepNetworkDisconnectedTime:12120496ms 3.37h 86.60% totalDeepSleepStatusOnTime:0ms 0.00h 0.00% totalDeepIdleOnTime:0ms 0.00% totalDeepIdleOffTime:0ms 0.00% totalLightIdleOnTime:0ms 0.00% totalLightIdleOffTime:0ms 0.00% Audio stats: totalAudioInTime:0ms 0.00% totalAudioMixTime:-716ms -0.01% detect times: Modem stats: TelephonyEvents: gps_wk_per=0.00 MpssActivityInfo: { statsType:srf, EventTime:1970_0101_0800_00, Duration:0, Since:1970_0101_0800_00, SimCardIndex:-1, IRatC:0, CellUpdateC:0, WlanAct:0, LteRrcConnT:0, RrcConnC:0, NwSrchT:0, SigGrid:0, inAppWakeCounts:0, outAppWakeCounts:0, psRegT:0, csRegT:0, psNoRegT:0, csNoRegT:0, idleT:0, saRrcConnT:0, lteRrcConnT:0, csChangedC:0, psChangedC:0, simCount:0} { statsType:srf, EventTime:1970_0101_0800_00, Duration:0, Since:1970_0101_0800_00, SimCardIndex:-1, IRatC:0, CellUpdateC:0, WlanAct:0, LteRrcConnT:0, RrcConnC:0, NwSrchT:0, SigGrid:0, inAppWakeCounts:0, outAppWakeCounts:0, psRegT:0, csRegT:0, psNoRegT:0, csNoRegT:0, idleT:0, saRrcConnT:0, lteRrcConnT:0, csChangedC:0, psChangedC:0, simCount:0} { statsType:srf, EventTime:1970_0101_0800_00, Duration:0, Since:1970_0101_0800_00, SimCardIndex:-1, IRatC:0, CellUpdateC:0, WlanAct:0, LteRrcConnT:0, RrcConnC:0, NwSrchT:0, SigGrid:0, inAppWakeCounts:0, outAppWakeCounts:0, psRegT:0, csRegT:0, psNoRegT:0, csNoRegT:0, idleT:0, saRrcConnT:0, lteRrcConnT:0, csChangedC:0, psChangedC:0, simCount:0} { statsType:srf, EventTime:1970_0101_0800_00, Duration:0, Since:1970_0101_0800_00, SimCardIndex:-1, IRatC:0, CellUpdateC:0, WlanAct:0, LteRrcConnT:0, RrcConnC:0, NwSrchT:0, SigGrid:0, inAppWakeCounts:0, outAppWakeCounts:0, psRegT:0, csRegT:0, psNoRegT:0, csNoRegT:0, idleT:0, saRrcConnT:0, lteRrcConnT:0, csChangedC:0, psChangedC:0, simCount:0} AppNetWakeInfo:
08-02
[PID璁$畻] 娴嬮噺鍊?29.00, 璇樊=29.00 姣斾緥椤? Kp*error = 0.2*29.00 = 5.80 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-4.21 = -0.21 PID杈撳嚭: u = 10.59 璁$畻鏂颁綅缃? H=583.79, V=595.60 [鑸垫満璁剧疆] 鍘熷鐩爣: H=583.79, V=595.60 浣嶇疆闄愬埗鐢熸晥: H=583, V=595 璁剧疆鑸垫満浣嶇疆: H=583, V=595, 绉诲姩鏃堕棿=500ms 鍦嗗績闃熷垪: 鏁伴噺=65, 骞冲潎鍊?(277.82,267.91), 鏍囧噯宸?(72.46,69.75) 鍦嗗績鍋忓樊: dx=-36, dy=29 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(429,401), 杞撮暱(0.00,15.27), 瑙掑害=21.58掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=66, 骞冲潎鍊?(280.11,269.92), 鏍囧噯宸?(74.24,71.10) 鍦嗗績鍋忓樊: dx=-33, dy=31 褰撳墠鑸垫満浣嶇疆: H=583, V=595 [PID璁$畻] 娴嬮噺鍊?-33.00, 璇樊=-33.00 姣斾緥椤? Kp*error = 0.2*-33.00 = -6.60 绉垎椤? Ki*integral = 0.01*-500.00 = -5.00 寰垎椤? Kd*derivative = 0.05*2.95 = 0.15 PID杈撳嚭: u = -11.45 [PID璁$畻] 娴嬮噺鍊?31.00, 璇樊=31.00 姣斾緥椤? Kp*error = 0.2*31.00 = 6.20 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-2.97 = -0.15 PID杈撳嚭: u = 11.05 璁$畻鏂颁綅缃? H=586.60, V=598.76 [鑸垫満璁剧疆] 鍘熷鐩爣: H=586.60, V=598.76 浣嶇疆闄愬埗鐢熸晥: H=586, V=598 璁剧疆鑸垫満浣嶇疆: H=586, V=598, 绉诲姩鏃堕棿=500ms 鍦嗗績闃熷垪: 鏁伴噺=66, 骞冲潎鍊?(280.11,269.92), 鏍囧噯宸?(74.24,71.10) 鍦嗗績鍋忓樊: dx=-33, dy=31 鍦嗗績闃熷垪: 鏁伴噺=66, 骞冲潎鍊?(280.11,269.92), 鏍囧噯宸?(74.24,71.10) 鍦嗗績鍋忓樊: dx=-33, dy=31 鍦嗗績闃熷垪: 鏁伴噺=66, 骞冲潎鍊?(280.11,269.92), 鏍囧噯宸?(74.24,71.10) 鍦嗗績鍋忓樊: dx=-33, dy=31 鍦嗗績闃熷垪: 鏁伴噺=66, 骞冲潎鍊?(280.11,269.92), 鏍囧噯宸?(74.24,71.10) 鍦嗗績鍋忓樊: dx=-33, dy=31 鍦嗗績闃熷垪: 鏁伴噺=66, 骞冲潎鍊?(280.11,269.92), 鏍囧噯宸?(74.24,71.10) 鍦嗗績鍋忓樊: dx=-33, dy=31 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(254,227), 杞撮暱(0.00,33.33), 瑙掑害=12.43掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=67, 骞冲潎鍊?(279.72,269.28), 鏍囧噯宸?(73.75,70.76) 鍦嗗績鍋忓樊: dx=-34, dy=30 褰撳墠鑸垫満浣嶇疆: H=586, V=598 [PID璁$畻] 娴嬮噺鍊?-34.00, 璇樊=-34.00 姣斾緥椤? Kp*error = 0.2*-34.00 = -6.80 绉垎椤? Ki*integral = 0.01*-500.00 = -5.00 寰垎椤? Kd*derivative = 0.05*2.16 = 0.11 PID杈撳嚭: u = -11.69 [PID璁$畻] 娴嬮噺鍊?30.00, 璇樊=30.00 姣斾緥椤? Kp*error = 0.2*30.00 = 6.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-2.57 = -0.13 PID杈撳嚭: u = 10.87 璁$畻鏂颁綅缃? H=589.68, V=601.70 [鑸垫満璁剧疆] 鍘熷鐩爣: H=589.68, V=601.70 浣嶇疆闄愬埗鐢熸晥: H=589, V=601 璁剧疆鑸垫満浣嶇疆: H=589, V=601, 绉诲姩鏃堕棿=500ms 妫€娴嬪埌 5 涓き鍦?妞渾 1: 涓績(503,41), 杞撮暱(0.00,109.95), 瑙掑害=101.48掳, 鍦嗗害=1.0000 妞渾 2: 涓績(502,44), 杞撮暱(0.00,80.98), 瑙掑害=74.85掳, 鍦嗗害=1.0000 妞渾 3: 涓績(501,45), 杞撮暱(0.00,53.64), 瑙掑害=49.79掳, 鍦嗗害=1.0000 妞渾 4: 涓績(501,46), 杞撮暱(28.46,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 5: 涓績(260,224), 杞撮暱(0.00,27.08), 瑙掑害=11.88掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=72, 骞冲潎鍊?(291.78,256.14), 鏍囧噯宸?(87.53,85.65) 鍦嗗績鍋忓樊: dx=-41, dy=28 褰撳墠鑸垫満浣嶇疆: H=589, V=601 [PID璁$畻] 娴嬮噺鍊?-41.00, 璇樊=-41.00 姣斾緥椤? Kp*error = 0.2*-41.00 = -8.20 绉垎椤? Ki*integral = 0.01*-500.00 = -5.00 寰垎椤? Kd*derivative = 0.05*0.33 = 0.02 PID杈撳嚭: u = -13.18 [PID璁$畻] 娴嬮噺鍊?28.00, 璇樊=28.00 姣斾緥椤? Kp*error = 0.2*28.00 = 5.60 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-2.46 = -0.12 PID杈撳嚭: u = 10.48 璁$畻鏂颁綅缃? H=593.15, V=604.56 [鑸垫満璁剧疆] 鍘熷鐩爣: H=593.15, V=604.56 浣嶇疆闄愬埗鐢熸晥: H=593, V=604 璁剧疆鑸垫満浣嶇疆: H=593, V=604, 绉诲姩鏃堕棿=500ms 妫€娴嬪埌 6 涓き鍦?妞渾 1: 涓績(501,34), 杞撮暱(109.11,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 2: 涓績(505,43), 杞撮暱(0.00,84.33), 瑙掑害=76.80掳, 鍦嗗害=1.0000 妞渾 3: 涓績(504,43), 杞撮暱(75.87,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 4: 涓績(504,44), 杞撮暱(0.00,57.14), 瑙掑害=51.64掳, 鍦嗗害=1.0000 妞渾 5: 涓績(504,44), 杞撮暱(49.43,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 6: 涓績(397,214), 杞撮暱(0.00,20.95), 瑙掑害=13.66掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=78, 骞冲潎鍊?(306.71,241.85), 鏍囧噯宸?(99.33,97.68) 鍦嗗績鍋忓樊: dx=-30, dy=18 褰撳墠鑸垫満浣嶇疆: H=593, V=604 [PID璁$畻] 娴嬮噺鍊?-30.00, 璇樊=-30.00 姣斾緥椤? Kp*error = 0.2*-30.00 = -6.00 绉垎椤? Ki*integral = 0.01*-500.00 = -5.00 寰垎椤? Kd*derivative = 0.05*2.46 = 0.12 PID杈撳嚭: u = -10.88 [PID璁$畻] 娴嬮噺鍊?18.00, 璇樊=18.00 姣斾緥椤? Kp*error = 0.2*18.00 = 3.60 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-3.97 = -0.20 PID杈撳嚭: u = 8.40 璁$畻鏂颁綅缃? H=596.42, V=606.86 [鑸垫満璁剧疆] 鍘熷鐩爣: H=596.42, V=606.86 浣嶇疆闄愬埗鐢熸晥: H=596, V=606 璁剧疆鑸垫満浣嶇疆: H=596, V=606, 绉诲姩鏃堕棿=500ms 妫€娴嬪埌 6 涓き鍦?妞渾 1: 涓績(507,40), 杞撮暱(0.00,110.37), 瑙掑害=101.59掳, 鍦嗗害=1.0000 妞渾 2: 涓績(506,42), 杞撮暱(0.00,81.37), 瑙掑害=75.02掳, 鍦嗗害=1.0000 妞渾 3: 涓績(505,44), 杞撮暱(0.00,53.93), 瑙掑害=49.87掳, 鍦嗗害=1.0000 妞渾 4: 涓績(505,44), 杞撮暱(28.46,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 5: 涓績(394,215), 杞撮暱(0.00,24.67), 瑙掑害=16.32掳, 鍦嗗害=1.0000 妞渾 6: 涓績(261,222), 杞撮暱(0.00,29.92), 瑙掑害=11.94掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=84, 骞冲潎鍊?(316.68,231.80), 鏍囧噯宸?(105.19,103.27) 鍦嗗績鍋忓樊: dx=-4, dy=-9 褰撳墠鑸垫満浣嶇疆: H=596, V=606 [PID璁$畻] 娴嬮噺鍊?-4.00, 璇樊=-4.00 姝诲尯鐢熸晥: |-4.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-500.00 = -5.00 寰垎椤? Kd*derivative = 0.05*7.97 = 0.40 PID杈撳嚭: u = -4.60 [PID璁$畻] 娴嬮噺鍊?-9.00, 璇樊=-9.00 姣斾緥椤? Kp*error = 0.2*-9.00 = -1.80 绉垎椤? Ki*integral = 0.01*491.00 = 4.91 寰垎椤? Kd*derivative = 0.05*-8.57 = -0.43 PID杈撳嚭: u = 2.68 璁$畻鏂颁綅缃? H=597.45, V=606.91 [鑸垫満璁剧疆] 鍘熷鐩爣: H=597.45, V=606.91 浣嶇疆闄愬埗鐢熸晥: H=597, V=606 璁剧疆鑸垫満浣嶇疆: H=597, V=606, 绉诲姩鏃堕棿=500ms 妫€娴嬪埌 6 涓き鍦?妞渾 1: 涓績(508,40), 杞撮暱(0.00,110.48), 瑙掑害=101.63掳, 鍦嗗害=1.0000 妞渾 2: 涓績(506,42), 杞撮暱(0.00,81.36), 瑙掑害=75.01掳, 鍦嗗害=1.0000 妞渾 3: 涓績(506,44), 杞撮暱(0.00,53.99), 瑙掑害=49.93掳, 鍦嗗害=1.0000 妞渾 4: 涓績(505,44), 杞撮暱(28.49,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 5: 涓績(261,222), 杞撮暱(0.00,30.41), 瑙掑害=12.06掳, 鍦嗗害=1.0000 妞渾 6: 涓績(395,215), 杞撮暱(0.00,24.45), 瑙掑害=15.69掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=90, 骞冲潎鍊?(325.36,223.09), 鏍囧噯宸?(109.32,107.12) 鍦嗗績鍋忓樊: dx=5, dy=-17 褰撳墠鑸垫満浣嶇疆: H=597, V=606 [PID璁$畻] 娴嬮噺鍊?5.00, 璇樊=5.00 姣斾緥椤? Kp*error = 0.2*5.00 = 1.00 绉垎椤? Ki*integral = 0.01*-495.00 = -4.95 寰垎椤? Kd*derivative = 0.05*7.38 = 0.37 PID杈撳嚭: u = -3.58 [PID璁$畻] 娴嬮噺鍊?-17.00, 璇樊=-17.00 姣斾緥椤? Kp*error = 0.2*-17.00 = -3.40 绉垎椤? Ki*integral = 0.01*474.00 = 4.74 寰垎椤? Kd*derivative = 0.05*-8.46 = -0.42 PID杈撳嚭: u = 0.92 璁$畻鏂颁綅缃? H=598.13, V=606.31 [鑸垫満璁剧疆] 鍘熷鐩爣: H=598.13, V=606.31 浣嶇疆闄愬埗鐢熸晥: H=598, V=606 璁剧疆鑸垫満浣嶇疆: H=598, V=606, 绉诲姩鏃堕棿=500ms 妫€娴嬪埌 5 涓き鍦?妞渾 1: 涓績(509,40), 杞撮暱(0.00,110.36), 瑙掑害=101.88掳, 鍦嗗害=1.0000 妞渾 2: 涓績(507,43), 杞撮暱(0.00,80.42), 瑙掑害=74.96掳, 鍦嗗害=1.0000 妞渾 3: 涓績(507,44), 杞撮暱(0.00,53.89), 瑙掑害=50.05掳, 鍦嗗害=1.0000 妞渾 4: 涓績(396,215), 杞撮暱(0.00,23.88), 瑙掑害=15.56掳, 鍦嗗害=1.0000 妞渾 5: 涓績(263,222), 杞撮暱(0.00,29.05), 瑙掑害=12.26掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=95, 骞冲潎鍊?(331.20,217.28), 鏍囧噯宸?(111.50,108.95) 鍦嗗績鍋忓樊: dx=11, dy=-23 褰撳墠鑸垫満浣嶇疆: H=598, V=606 [PID璁$畻] 娴嬮噺鍊?11.00, 璇樊=11.00 姣斾緥椤? Kp*error = 0.2*11.00 = 2.20 绉垎椤? Ki*integral = 0.01*-484.00 = -4.84 寰垎椤? Kd*derivative = 0.05*7.10 = 0.36 PID杈撳嚭: u = -2.28 [PID璁$畻] 娴嬮噺鍊?-23.00, 璇樊=-23.00 姣斾緥椤? Kp*error = 0.2*-23.00 = -4.60 绉垎椤? Ki*integral = 0.01*451.00 = 4.51 寰垎椤? Kd*derivative = 0.05*-7.97 = -0.40 PID杈撳嚭: u = -0.49 璁$畻鏂颁綅缃? H=598.72, V=605.83 [鑸垫満璁剧疆] 鍘熷鐩爣: H=598.72, V=605.83 浣嶇疆闄愬埗鐢熸晥: H=598, V=605 璁剧疆鑸垫満浣嶇疆: H=598, V=605, 绉诲姩鏃堕棿=500ms 妫€娴嬪埌 6 涓き鍦?妞渾 1: 涓績(512,40), 杞撮暱(0.00,110.62), 瑙掑害=101.74掳, 鍦嗗害=1.0000 妞渾 2: 涓績(511,42), 杞撮暱(0.00,81.42), 瑙掑害=74.99掳, 鍦嗗害=1.0000 妞渾 3: 涓績(510,44), 杞撮暱(0.00,53.99), 瑙掑害=49.99掳, 鍦嗗害=1.0000 妞渾 4: 涓績(510,44), 杞撮暱(28.46,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 5: 涓績(266,209), 杞撮暱(0.00,33.20), 瑙掑害=25.50掳, 鍦嗗害=1.0000 妞渾 6: 涓績(399,215), 杞撮暱(0.00,23.61), 瑙掑害=15.84掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(339.30,209.08), 鏍囧噯宸?(114.21,110.94) 鍦嗗績鍋忓樊: dx=19, dy=-31 褰撳墠鑸垫満浣嶇疆: H=598, V=605 [PID璁$畻] 娴嬮噺鍊?19.00, 璇樊=19.00 姣斾緥椤? Kp*error = 0.2*19.00 = 3.80 绉垎椤? Ki*integral = 0.01*-465.00 = -4.65 寰垎椤? Kd*derivative = 0.05*7.28 = 0.36 PID杈撳嚭: u = -0.49 [PID璁$畻] 娴嬮噺鍊?-31.00, 璇樊=-31.00 姣斾緥椤? Kp*error = 0.2*-31.00 = -6.20 绉垎椤? Ki*integral = 0.01*420.00 = 4.20 寰垎椤? Kd*derivative = 0.05*-7.97 = -0.40 PID杈撳嚭: u = -2.40 璁$畻鏂颁綅缃? H=598.15, V=604.18 [鑸垫満璁剧疆] 鍘熷鐩爣: H=598.15, V=604.18 浣嶇疆闄愬埗鐢熸晥: H=598, V=604 璁剧疆鑸垫満浣嶇疆: H=598, V=604, 绉诲姩鏃堕棿=500ms 褰撳墠甯х巼: 21.7 FPS 妫€娴嬪埌 5 涓き鍦?妞渾 1: 涓績(512,40), 杞撮暱(0.00,110.68), 瑙掑害=101.65掳, 鍦嗗害=1.0000 妞渾 2: 涓績(511,43), 杞撮暱(0.00,81.52), 瑙掑害=75.06掳, 鍦嗗害=1.0000 妞渾 3: 涓績(510,44), 杞撮暱(0.00,54.05), 瑙掑害=49.89掳, 鍦嗗害=1.0000 妞渾 4: 涓績(510,45), 杞撮暱(28.48,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 5: 涓績(404,214), 杞撮暱(0.00,19.95), 瑙掑害=13.46掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(351.68,196.62), 鏍囧噯宸?(116.76,112.11) 鍦嗗績鍋忓樊: dx=31, dy=-44 褰撳墠鑸垫満浣嶇疆: H=598, V=604 [PID璁$畻] 娴嬮噺鍊?31.00, 璇樊=31.00 姣斾緥椤? Kp*error = 0.2*31.00 = 6.20 绉垎椤? Ki*integral = 0.01*-434.00 = -4.34 寰垎椤? Kd*derivative = 0.05*8.22 = 0.41 PID杈撳嚭: u = 2.27 [PID璁$畻] 娴嬮噺鍊?-44.00, 璇樊=-44.00 姣斾緥椤? Kp*error = 0.2*-44.00 = -8.80 绉垎椤? Ki*integral = 0.01*376.00 = 3.76 寰垎椤? Kd*derivative = 0.05*-8.98 = -0.45 PID杈撳嚭: u = -5.49 璁$畻鏂颁綅缃? H=597.29, V=602.13 [鑸垫満璁剧疆] 鍘熷鐩爣: H=597.29, V=602.13 浣嶇疆闄愬埗鐢熸晥: H=597, V=602 璁剧疆鑸垫満浣嶇疆: H=597, V=602, 绉诲姩鏃堕棿=500ms 妫€娴嬪埌 4 涓き鍦?妞渾 1: 涓績(506,31), 杞撮暱(115.27,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 2: 涓績(511,43), 杞撮暱(0.00,81.45), 瑙掑害=75.04掳, 鍦嗗害=1.0000 妞渾 3: 涓績(510,44), 杞撮暱(0.00,54.02), 瑙掑害=49.96掳, 鍦嗗害=1.0000 妞渾 4: 涓績(266,222), 杞撮暱(0.00,28.92), 瑙掑害=12.10掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(359.95,186.91), 鏍囧噯宸?(117.87,111.97) 鍦嗗績鍋忓樊: dx=39, dy=-54 褰撳墠鑸垫満浣嶇疆: H=597, V=602 [PID璁$畻] 娴嬮噺鍊?39.00, 璇樊=39.00 姣斾緥椤? Kp*error = 0.2*39.00 = 7.80 绉垎椤? Ki*integral = 0.01*-395.00 = -3.95 寰垎椤? Kd*derivative = 0.05*8.18 = 0.41 PID杈撳嚭: u = 4.26 [PID璁$畻] 娴嬮噺鍊?-54.00, 璇樊=-54.00 姣斾緥椤? Kp*error = 0.2*-54.00 = -10.80 绉垎椤? Ki*integral = 0.01*322.00 = 3.22 寰垎椤? Kd*derivative = 0.05*-9.18 = -0.46 PID杈撳嚭: u = -8.04 璁$畻鏂颁綅缃? H=595.66, V=599.27 [鑸垫満璁剧疆] 鍘熷鐩爣: H=595.66, V=599.27 浣嶇疆闄愬埗鐢熸晥: H=595, V=599 璁剧疆鑸垫満浣嶇疆: H=595, V=599, 绉诲姩鏃堕棿=500ms 妫€娴嬪埌 4 涓き鍦?妞渾 1: 涓績(507,32), 杞撮暱(114.70,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 2: 涓績(512,43), 杞撮暱(0.00,81.56), 瑙掑害=75.03掳, 鍦嗗害=1.0000 妞渾 3: 涓績(511,44), 杞撮暱(0.00,54.05), 瑙掑害=49.81掳, 鍦嗗害=1.0000 妞渾 4: 涓績(264,221), 杞撮暱(0.00,31.88), 瑙掑害=12.19掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(368.20,177.24), 鏍囧噯宸?(118.49,111.01) 鍦嗗績鍋忓樊: dx=50, dy=-65 褰撳墠鑸垫満浣嶇疆: H=595, V=599 [PID璁$畻] 娴嬮噺鍊?50.00, 璇樊=50.00 姣斾緥椤? Kp*error = 0.2*50.00 = 10.00 绉垎椤? Ki*integral = 0.01*-345.00 = -3.45 寰垎椤? Kd*derivative = 0.05*8.74 = 0.44 PID杈撳嚭: u = 6.99 [PID璁$畻] 娴嬮噺鍊?-65.00, 璇樊=-65.00 姣斾緥椤? Kp*error = 0.2*-65.00 = -13.00 绉垎椤? Ki*integral = 0.01*257.00 = 2.57 寰垎椤? Kd*derivative = 0.05*-9.55 = -0.48 PID杈撳嚭: u = -10.91 璁$畻鏂颁綅缃? H=592.80, V=595.29 [鑸垫満璁剧疆] 鍘熷鐩爣: H=592.80, V=595.29 浣嶇疆闄愬埗鐢熸晥: H=592, V=595 璁剧疆鑸垫満浣嶇疆: H=592, V=595, 绉诲姩鏃堕棿=500ms 妫€娴嬪埌 2 涓き鍦?妞渾 1: 涓績(512,43), 杞撮暱(0.00,81.60), 瑙掑害=75.08掳, 鍦嗗害=1.0000 妞渾 2: 涓績(511,44), 杞撮暱(0.00,54.09), 瑙掑害=49.94掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(373.58,171.58), 鏍囧噯宸?(118.76,110.47) 鍦嗗績鍋忓樊: dx=59, dy=-72 褰撳墠鑸垫満浣嶇疆: H=592, V=595 [PID璁$畻] 娴嬮噺鍊?59.00, 璇樊=59.00 姣斾緥椤? Kp*error = 0.2*59.00 = 11.80 绉垎椤? Ki*integral = 0.01*-286.00 = -2.86 寰垎椤? Kd*derivative = 0.05*8.79 = 0.44 PID杈撳嚭: u = 9.38 [PID璁$畻] 娴嬮噺鍊?-72.00, 璇樊=-72.00 姣斾緥椤? Kp*error = 0.2*-72.00 = -14.40 绉垎椤? Ki*integral = 0.01*185.00 = 1.85 寰垎椤? Kd*derivative = 0.05*-9.04 = -0.45 PID杈撳嚭: u = -13.00 璁$畻鏂颁綅缃? H=589.05, V=590.58 [鑸垫満璁剧疆] 鍘熷鐩爣: H=589.05, V=590.58 浣嶇疆闄愬埗鐢熸晥: H=589, V=590 璁剧疆鑸垫満浣嶇疆: H=589, V=590, 绉诲姩鏃堕棿=500ms 妫€娴嬪埌 3 涓き鍦?妞渾 1: 涓績(511,43), 杞撮暱(0.00,81.56), 瑙掑害=75.01掳, 鍦嗗害=1.0000 妞渾 2: 涓績(511,44), 杞撮暱(0.00,54.09), 瑙掑害=49.93掳, 鍦嗗害=1.0000 妞渾 3: 涓績(270,223), 杞撮暱(0.00,24.32), 瑙掑害=11.61掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(379.25,164.90), 鏍囧噯宸?(118.47,108.62) 鍦嗗績鍋忓樊: dx=68, dy=-79 褰撳墠鑸垫満浣嶇疆: H=589, V=590 [PID璁$畻] 娴嬮噺鍊?68.00, 璇樊=68.00 姣斾緥椤? Kp*error = 0.2*68.00 = 13.60 绉垎椤? Ki*integral = 0.01*-218.00 = -2.18 寰垎椤? Kd*derivative = 0.05*8.84 = 0.44 PID杈撳嚭: u = 11.86 [PID璁$畻] 娴嬮噺鍊?-79.00, 璇樊=-79.00 姣斾緥椤? Kp*error = 0.2*-79.00 = -15.80 绉垎椤? Ki*integral = 0.01*106.00 = 1.06 寰垎椤? Kd*derivative = 0.05*-8.63 = -0.43 PID杈撳嚭: u = -15.17 璁$畻鏂颁綅缃? H=585.27, V=584.84 [鑸垫満璁剧疆] 鍘熷鐩爣: H=585.27, V=584.84 浣嶇疆闄愬埗鐢熸晥: H=585, V=584 璁剧疆鑸垫満浣嶇疆: H=585, V=584, 绉诲姩鏃堕棿=500ms 妫€娴嬪埌 2 涓き鍦?妞渾 1: 涓績(511,43), 杞撮暱(0.00,81.51), 瑙掑害=75.00掳, 鍦嗗害=1.0000 妞渾 2: 涓績(511,44), 杞撮暱(0.00,54.03), 瑙掑害=49.90掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(384.59,159.23), 鏍囧噯宸?(118.27,107.40) 鍦嗗績鍋忓樊: dx=74, dy=-85 褰撳墠鑸垫満浣嶇疆: H=585, V=584 [PID璁$畻] 娴嬮噺鍊?74.00, 璇樊=74.00 姣斾緥椤? Kp*error = 0.2*74.00 = 14.80 绉垎椤? Ki*integral = 0.01*-144.00 = -1.44 寰垎椤? Kd*derivative = 0.05*8.27 = 0.41 PID杈撳嚭: u = 13.77 [PID璁$畻] 娴嬮噺鍊?-85.00, 璇樊=-85.00 姣斾緥椤? Kp*error = 0.2*-85.00 = -17.00 绉垎椤? Ki*integral = 0.01*21.00 = 0.21 寰垎椤? Kd*derivative = 0.05*-8.10 = -0.41 PID杈撳嚭: u = -17.20 璁$畻鏂颁綅缃? H=580.67, V=578.15 [鑸垫満璁剧疆] 鍘熷鐩爣: H=580.67, V=578.15 浣嶇疆闄愬埗鐢熸晥: H=580, V=578 璁剧疆鑸垫満浣嶇疆: H=580, V=578, 绉诲姩鏃堕棿=500ms 妫€娴嬪埌 4 涓き鍦?妞渾 1: 涓績(513,40), 杞撮暱(0.00,112.68), 瑙掑害=103.53掳, 鍦嗗害=1.0000 妞渾 2: 涓績(511,43), 杞撮暱(0.00,81.61), 瑙掑害=75.06掳, 鍦嗗害=1.0000 妞渾 3: 涓績(511,45), 杞撮暱(0.00,54.06), 瑙掑害=49.91掳, 鍦嗗害=1.0000 妞渾 4: 涓績(399,216), 杞撮暱(0.00,23.39), 瑙掑害=15.90掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(394.25,149.58), 鏍囧噯宸?(116.48,103.70) 鍦嗗績鍋忓樊: dx=89, dy=-99 褰撳墠鑸垫満浣嶇疆: H=580, V=578 [PID璁$畻] 娴嬮噺鍊?89.00, 璇樊=89.00 姣斾緥椤? Kp*error = 0.2*89.00 = 17.80 绉垎椤? Ki*integral = 0.01*-55.00 = -0.55 寰垎椤? Kd*derivative = 0.05*9.61 = 0.48 PID杈撳嚭: u = 17.73 [PID璁$畻] 娴嬮噺鍊?-99.00, 璇樊=-99.00 姣斾緥椤? Kp*error = 0.2*-99.00 = -19.80 绉垎椤? Ki*integral = 0.01*-78.00 = -0.78 寰垎椤? Kd*derivative = 0.05*-9.28 = -0.46 PID杈撳嚭: u = -21.04 璁$畻鏂颁綅缃? H=574.42, V=570.84 [鑸垫満璁剧疆] 鍘熷鐩爣: H=574.42, V=570.84 浣嶇疆闄愬埗鐢熸晥: H=574, V=570 璁剧疆鑸垫満浣嶇疆: H=574, V=570, 绉诲姩鏃堕棿=500ms 妫€娴嬪埌 3 涓き鍦?妞渾 1: 涓績(511,43), 杞撮暱(0.00,81.53), 瑙掑害=75.04掳, 鍦嗗害=1.0000 妞渾 2: 涓績(511,44), 杞撮暱(0.00,54.03), 瑙掑害=49.95掳, 鍦嗗害=1.0000 妞渾 3: 涓績(397,216), 杞撮暱(0.00,25.54), 瑙掑害=16.42掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(401.11,142.84), 鏍囧噯宸?(114.54,100.23) 鍦嗗績鍋忓樊: dx=96, dy=-107 褰撳墠鑸垫満浣嶇疆: H=574, V=570 [PID璁$畻] 娴嬮噺鍊?96.00, 璇樊=96.00 姣斾緥椤? Kp*error = 0.2*96.00 = 19.20 绉垎椤? Ki*integral = 0.01*41.00 = 0.41 寰垎椤? Kd*derivative = 0.05*9.09 = 0.45 PID杈撳嚭: u = 20.06 [PID璁$畻] 娴嬮噺鍊?-107.00, 璇樊=-107.00 姣斾緥椤? Kp*error = 0.2*-107.00 = -21.40 绉垎椤? Ki*integral = 0.01*-185.00 = -1.85 寰垎椤? Kd*derivative = 0.05*-9.03 = -0.45 PID杈撳嚭: u = -23.70 璁$畻鏂颁綅缃? H=567.69, V=561.94 [鑸垫満璁剧疆] 鍘熷鐩爣: H=567.69, V=561.94 浣嶇疆闄愬埗鐢熸晥: H=567, V=561 璁剧疆鑸垫満浣嶇疆: H=567, V=561, 绉诲姩鏃堕棿=500ms 妫€娴嬪埌 2 涓き鍦?妞渾 1: 涓績(505,49), 杞撮暱(70.59,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 2: 涓績(284,226), 杞撮暱(10.37,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(404.09,139.14), 鏍囧噯宸?(113.45,97.69) 鍦嗗績鍋忓樊: dx=100, dy=-110 褰撳墠鑸垫満浣嶇疆: H=567, V=561 [PID璁$畻] 娴嬮噺鍊?100.00, 璇樊=100.00 姣斾緥椤? Kp*error = 0.2*100.00 = 20.00 绉垎椤? Ki*integral = 0.01*141.00 = 1.41 寰垎椤? Kd*derivative = 0.05*8.07 = 0.40 PID杈撳嚭: u = 21.81 [PID璁$畻] 娴嬮噺鍊?-110.00, 璇樊=-110.00 姣斾緥椤? Kp*error = 0.2*-110.00 = -22.00 绉垎椤? Ki*integral = 0.01*-295.00 = -2.95 寰垎椤? Kd*derivative = 0.05*-7.82 = -0.39 PID杈撳嚭: u = -25.34 璁$畻鏂颁綅缃? H=560.14, V=552.38 [鑸垫満璁剧疆] 鍘熷鐩爣: H=560.14, V=552.38 浣嶇疆闄愬埗鐢熸晥: H=560, V=552 璁剧疆鑸垫満浣嶇疆: H=560, V=552, 绉诲姩鏃堕棿=500ms 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(404.09,139.14), 鏍囧噯宸?(113.45,97.69) 鍦嗗績鍋忓樊: dx=100, dy=-110 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(404.09,139.14), 鏍囧噯宸?(113.45,97.69) 鍦嗗績鍋忓樊: dx=100, dy=-110 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(404.09,139.14), 鏍囧噯宸?(113.45,97.69) 鍦嗗績鍋忓樊: dx=100, dy=-110 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(78,161), 杞撮暱(27.12,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(404.36,138.46), 鏍囧噯宸?(112.64,97.30) 鍦嗗績鍋忓樊: dx=100, dy=-110 褰撳墠鑸垫満浣嶇疆: H=560, V=552 [PID璁$畻] 娴嬮噺鍊?100.00, 璇樊=100.00 姣斾緥椤? Kp*error = 0.2*100.00 = 20.00 绉垎椤? Ki*integral = 0.01*241.00 = 2.41 寰垎椤? Kd*derivative = 0.05*6.46 = 0.32 PID杈撳嚭: u = 22.73 [PID璁$畻] 娴嬮噺鍊?-110.00, 璇樊=-110.00 姣斾緥椤? Kp*error = 0.2*-110.00 = -22.00 绉垎椤? Ki*integral = 0.01*-405.00 = -4.05 寰垎椤? Kd*derivative = 0.05*-6.26 = -0.31 PID杈撳嚭: u = -26.36 璁$畻鏂颁綅缃? H=552.85, V=543.03 [鑸垫満璁剧疆] 鍘熷鐩爣: H=552.85, V=543.03 浣嶇疆闄愬埗鐢熸晥: H=552, V=543 璁剧疆鑸垫満浣嶇疆: H=552, V=543, 绉诲姩鏃堕棿=500ms 妫€娴嬪埌 4 涓き鍦?妞渾 1: 涓績(457,159), 杞撮暱(0.00,122.12), 瑙掑害=116.62掳, 鍦嗗害=1.0000 妞渾 2: 涓績(458,162), 杞撮暱(0.00,100.87), 瑙掑害=95.05掳, 鍦嗗害=1.0000 妞渾 3: 涓績(456,163), 杞撮暱(0.00,74.23), 瑙掑害=71.04掳, 鍦嗗害=1.0000 妞渾 4: 涓績(456,164), 杞撮暱(0.00,49.12), 瑙掑害=47.21掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(409.17,136.41), 鏍囧噯宸?(112.20,96.24) 鍦嗗績鍋忓樊: dx=105, dy=-113 褰撳墠鑸垫満浣嶇疆: H=552, V=543 [PID璁$畻] 娴嬮噺鍊?105.00, 璇樊=105.00 姣斾緥椤? Kp*error = 0.2*105.00 = 21.00 绉垎椤? Ki*integral = 0.01*346.00 = 3.46 寰垎椤? Kd*derivative = 0.05*6.17 = 0.31 PID杈撳嚭: u = 24.77 [PID璁$畻] 娴嬮噺鍊?-113.00, 璇樊=-113.00 姣斾緥椤? Kp*error = 0.2*-113.00 = -22.60 绉垎椤? Ki*integral = 0.01*-500.00 = -5.00 寰垎椤? Kd*derivative = 0.05*-5.61 = -0.28 PID杈撳嚭: u = -27.88 璁$畻鏂颁綅缃? H=544.21, V=533.52 [鑸垫満璁剧疆] 鍘熷鐩爣: H=544.21, V=533.52 浣嶇疆闄愬埗鐢熸晥: H=544, V=533 璁剧疆鑸垫満浣嶇疆: H=544, V=533, 绉诲姩鏃堕棿=500ms 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(455,163), 杞撮暱(49.87,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(412.53,134.17), 鏍囧噯宸?(108.43,92.93) 鍦嗗績鍋忓樊: dx=105, dy=-112 褰撳墠鑸垫満浣嶇疆: H=544, V=533 [PID璁$畻] 娴嬮噺鍊?105.00, 璇樊=105.00 姣斾緥椤? Kp*error = 0.2*105.00 = 21.00 绉垎椤? Ki*integral = 0.01*451.00 = 4.51 寰垎椤? Kd*derivative = 0.05*4.93 = 0.25 PID杈撳嚭: u = 25.76 [PID璁$畻] 娴嬮噺鍊?-112.00, 璇樊=-112.00 姣斾緥椤? Kp*error = 0.2*-112.00 = -22.40 绉垎椤? Ki*integral = 0.01*-500.00 = -5.00 寰垎椤? Kd*derivative = 0.05*-4.28 = -0.21 PID杈撳嚭: u = -27.61 璁$畻鏂颁綅缃? H=535.90, V=523.61 [鑸垫満璁剧疆] 鍘熷鐩爣: H=535.90, V=523.61 浣嶇疆闄愬埗鐢熸晥: H=535, V=523 璁剧疆鑸垫満浣嶇疆: H=535, V=523, 绉诲姩鏃堕棿=500ms 妫€娴嬪埌 5 涓き鍦?妞渾 1: 涓績(452,163), 杞撮暱(0.00,123.60), 瑙掑害=118.07掳, 鍦嗗害=1.0000 妞渾 2: 涓績(446,164), 杞撮暱(77.48,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 3: 涓績(448,167), 杞撮暱(69.80,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 4: 涓績(449,168), 杞撮暱(0.00,48.03), 瑙掑害=47.30掳, 鍦嗗害=1.0000 妞渾 5: 涓績(225,343), 杞撮暱(0.00,25.05), 瑙掑害=11.82掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(418.65,133.51), 鏍囧噯宸?(103.08,93.74) 鍦嗗績鍋忓樊: dx=110, dy=-114 褰撳墠鑸垫満浣嶇疆: H=535, V=523 [PID璁$畻] 娴嬮噺鍊?110.00, 璇樊=110.00 姣斾緥椤? Kp*error = 0.2*110.00 = 22.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*4.95 = 0.25 PID杈撳嚭: u = 27.25 [PID璁$畻] 娴嬮噺鍊?-114.00, 璇樊=-114.00 姣斾緥椤? Kp*error = 0.2*-114.00 = -22.80 绉垎椤? Ki*integral = 0.01*-500.00 = -5.00 寰垎椤? Kd*derivative = 0.05*-3.83 = -0.19 PID杈撳嚭: u = -27.99 璁$畻鏂颁綅缃? H=526.43, V=513.48 [鑸垫満璁剧疆] 鍘熷鐩爣: H=526.43, V=513.48 浣嶇疆闄愬埗鐢熸晥: H=526, V=513 璁剧疆鑸垫満浣嶇疆: H=526, V=513, 绉诲姩鏃堕棿=500ms 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(418.65,133.51), 鏍囧噯宸?(103.08,93.74) 鍦嗗績鍋忓樊: dx=110, dy=-114 褰撳墠甯х巼: 16.6 FPS 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(418.65,133.51), 鏍囧噯宸?(103.08,93.74) 鍦嗗績鍋忓樊: dx=110, dy=-114 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(418.65,133.51), 鏍囧噯宸?(103.08,93.74) 鍦嗗績鍋忓樊: dx=110, dy=-114 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(418.65,133.51), 鏍囧噯宸?(103.08,93.74) 鍦嗗績鍋忓樊: dx=110, dy=-114 妫€娴嬪埌 4 涓き鍦?妞渾 1: 涓績(339,286), 杞撮暱(0.00,117.54), 瑙掑害=114.22掳, 鍦嗗害=1.0000 妞渾 2: 涓績(340,286), 杞撮暱(0.00,95.75), 瑙掑害=93.28掳, 鍦嗗害=1.0000 妞渾 3: 涓績(340,287), 杞撮暱(69.67,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 4: 涓績(340,288), 杞撮暱(46.28,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(418.44,137.16), 鏍囧噯宸?(103.23,97.77) 鍦嗗績鍋忓樊: dx=107, dy=-108 褰撳墠鑸垫満浣嶇疆: H=526, V=513 [PID璁$畻] 娴嬮噺鍊?107.00, 璇樊=107.00 姣斾緥椤? Kp*error = 0.2*107.00 = 21.40 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*3.36 = 0.17 PID杈撳嚭: u = 26.57 [PID璁$畻] 娴嬮噺鍊?-108.00, 璇樊=-108.00 姣斾緥椤? Kp*error = 0.2*-108.00 = -21.60 绉垎椤? Ki*integral = 0.01*-500.00 = -5.00 寰垎椤? Kd*derivative = 0.05*-1.86 = -0.09 PID杈撳嚭: u = -26.69 璁$畻鏂颁綅缃? H=517.64, V=503.92 [鑸垫満璁剧疆] 鍘熷鐩爣: H=517.64, V=503.92 浣嶇疆闄愬埗鐢熸晥: H=517, V=503 璁剧疆鑸垫満浣嶇疆: H=517, V=503, 绉诲姩鏃堕棿=500ms 妫€娴嬪埌 5 涓き鍦?妞渾 1: 涓績(339,285), 杞撮暱(0.00,117.61), 瑙掑害=114.46掳, 鍦嗗害=1.0000 妞渾 2: 涓績(339,285), 杞撮暱(95.05,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 3: 涓績(340,287), 杞撮暱(69.75,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 4: 涓績(340,287), 杞撮暱(46.30,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 5: 涓績(267,450), 杞撮暱(0.00,20.49), 瑙掑害=15.22掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(417.11,143.86), 鏍囧噯宸?(104.45,106.13) 鍦嗗績鍋忓樊: dx=108, dy=-104 褰撳墠鑸垫満浣嶇疆: H=517, V=503 [PID璁$畻] 娴嬮噺鍊?108.00, 璇樊=108.00 姣斾緥椤? Kp*error = 0.2*108.00 = 21.60 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*2.89 = 0.14 PID杈撳嚭: u = 26.74 [PID璁$畻] 娴嬮噺鍊?-104.00, 璇樊=-104.00 姣斾緥椤? Kp*error = 0.2*-104.00 = -20.80 绉垎椤? Ki*integral = 0.01*-500.00 = -5.00 寰垎椤? Kd*derivative = 0.05*-0.69 = -0.03 PID杈撳嚭: u = -25.83 璁$畻鏂颁綅缃? H=508.59, V=494.21 [鑸垫満璁剧疆] 鍘熷鐩爣: H=508.59, V=494.21 浣嶇疆闄愬埗鐢熸晥: H=508, V=494 璁剧疆鑸垫満浣嶇疆: H=508, V=494, 绉诲姩鏃堕棿=500ms 妫€娴嬪埌 2 涓き鍦?妞渾 1: 涓績(339,289), 杞撮暱(48.55,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 2: 涓績(58,310), 杞撮暱(23.14,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(414.02,146.12), 鏍囧噯宸?(110.31,108.21) 鍦嗗績鍋忓樊: dx=108, dy=-104 褰撳墠鑸垫満浣嶇疆: H=508, V=494 [PID璁$畻] 娴嬮噺鍊?108.00, 璇樊=108.00 姣斾緥椤? Kp*error = 0.2*108.00 = 21.60 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*2.31 = 0.12 PID杈撳嚭: u = 26.72 [PID璁$畻] 娴嬮噺鍊?-104.00, 璇樊=-104.00 姣斾緥椤? Kp*error = 0.2*-104.00 = -20.80 绉垎椤? Ki*integral = 0.01*-500.00 = -5.00 寰垎椤? Kd*derivative = 0.05*-0.55 = -0.03 PID杈撳嚭: u = -25.83 璁$畻鏂颁綅缃? H=499.60, V=485.22 [鑸垫満璁剧疆] 鍘熷鐩爣: H=499.60, V=485.22 浣嶇疆闄愬埗鐢熸晥: H=499, V=485 璁剧疆鑸垫満浣嶇疆: H=499, V=485, 绉诲姩鏃堕棿=500ms 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(414.02,146.12), 鏍囧噯宸?(110.31,108.21) 鍦嗗績鍋忓樊: dx=108, dy=-104 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(414.02,146.12), 鏍囧噯宸?(110.31,108.21) 鍦嗗績鍋忓樊: dx=108, dy=-104 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(414.02,146.12), 鏍囧噯宸?(110.31,108.21) 鍦嗗績鍋忓樊: dx=108, dy=-104 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(414.02,146.12), 鏍囧噯宸?(110.31,108.21) 鍦嗗績鍋忓樊: dx=108, dy=-104 妫€娴嬪埌 4 涓き鍦?妞渾 1: 涓績(252,376), 杞撮暱(114.40,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 2: 涓績(251,380), 杞撮暱(0.00,98.21), 瑙掑害=94.16掳, 鍦嗗害=1.0000 妞渾 3: 涓績(252,380), 杞撮暱(0.00,72.34), 瑙掑害=69.44掳, 鍦嗗害=1.0000 妞渾 4: 涓績(253,380), 杞撮暱(47.04,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(410.78,152.43), 鏍囧噯宸?(113.56,115.74) 鍦嗗績鍋忓樊: dx=105, dy=-97 褰撳墠鑸垫満浣嶇疆: H=499, V=485 [PID璁$畻] 娴嬮噺鍊?105.00, 璇樊=105.00 姣斾緥椤? Kp*error = 0.2*105.00 = 21.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*1.25 = 0.06 PID杈撳嚭: u = 26.06 [PID璁$畻] 娴嬮噺鍊?-97.00, 璇樊=-97.00 姣斾緥椤? Kp*error = 0.2*-97.00 = -19.40 绉垎椤? Ki*integral = 0.01*-500.00 = -5.00 寰垎椤? Kd*derivative = 0.05*0.96 = 0.05 PID杈撳嚭: u = -24.35 璁$畻鏂颁綅缃? H=490.80, V=476.72 [鑸垫満璁剧疆] 鍘熷鐩爣: H=490.80, V=476.72 浣嶇疆闄愬埗鐢熸晥: H=490, V=476 璁剧疆鑸垫満浣嶇疆: H=490, V=476, 绉诲姩鏃堕棿=500ms 妫€娴嬪埌 3 涓き鍦?妞渾 1: 涓績(251,378), 杞撮暱(0.00,98.33), 瑙掑害=94.36掳, 鍦嗗害=1.0000 妞渾 2: 涓績(252,378), 杞撮暱(0.00,72.38), 瑙掑害=69.55掳, 鍦嗗害=1.0000 妞渾 3: 涓績(253,378), 杞撮暱(47.11,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(409.91,156.69), 鏍囧噯宸?(113.28,120.40) 鍦嗗績鍋忓樊: dx=99, dy=-88 褰撳墠鑸垫満浣嶇疆: H=490, V=476 [PID璁$畻] 娴嬮噺鍊?99.00, 璇樊=99.00 姣斾緥椤? Kp*error = 0.2*99.00 = 19.80 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.20 = -0.01 PID杈撳嚭: u = 24.79 [PID璁$畻] 娴嬮噺鍊?-88.00, 璇樊=-88.00 姣斾緥椤? Kp*error = 0.2*-88.00 = -17.60 绉垎椤? Ki*integral = 0.01*-500.00 = -5.00 寰垎椤? Kd*derivative = 0.05*2.57 = 0.13 PID杈撳嚭: u = -22.47 璁$畻鏂颁綅缃? H=482.20, V=468.36 [鑸垫満璁剧疆] 鍘熷鐩爣: H=482.20, V=468.36 浣嶇疆闄愬埗鐢熸晥: H=482, V=468 璁剧疆鑸垫満浣嶇疆: H=482, V=468, 绉诲姩鏃堕棿=500ms 妫€娴嬪埌 4 涓き鍦?妞渾 1: 涓績(251,377), 杞撮暱(115.45,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 2: 涓績(251,380), 杞撮暱(0.00,98.50), 瑙掑害=94.52掳, 鍦嗗害=1.0000 妞渾 3: 涓績(252,381), 杞撮暱(0.00,69.62), 瑙掑害=72.59掳, 鍦嗗害=1.0000 妞渾 4: 涓績(253,381), 杞撮暱(47.19,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(407.97,162.92), 鏍囧噯宸?(114.04,126.54) 鍦嗗績鍋忓樊: dx=91, dy=-79 褰撳墠鑸垫満浣嶇疆: H=482, V=468 [PID璁$畻] 娴嬮噺鍊?91.00, 璇樊=91.00 姣斾緥椤? Kp*error = 0.2*91.00 = 18.20 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-1.76 = -0.09 PID杈撳嚭: u = 23.11 [PID璁$畻] 娴嬮噺鍊?-79.00, 璇樊=-79.00 姣斾緥椤? Kp*error = 0.2*-79.00 = -15.80 绉垎椤? Ki*integral = 0.01*-500.00 = -5.00 寰垎椤? Kd*derivative = 0.05*3.85 = 0.19 PID杈撳嚭: u = -20.61 璁$畻鏂颁綅缃? H=474.73, V=460.99 [鑸垫満璁剧疆] 鍘熷鐩爣: H=474.73, V=460.99 浣嶇疆闄愬埗鐢熸晥: H=474, V=460 璁剧疆鑸垫満浣嶇疆: H=474, V=460, 绉诲姩鏃堕棿=500ms 妫€娴嬪埌 4 涓き鍦?妞渾 1: 涓績(250,383), 杞撮暱(0.00,100.64), 瑙掑害=96.10掳, 鍦嗗害=1.0000 妞渾 2: 涓績(252,382), 杞撮暱(93.36,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 3: 涓績(251,383), 杞撮暱(0.00,69.56), 瑙掑害=72.74掳, 鍦嗗害=1.0000 妞渾 4: 涓績(252,383), 杞撮暱(47.23,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(404.81,166.83), 鏍囧噯宸?(116.35,130.38) 鍦嗗績鍋忓樊: dx=88, dy=-75 褰撳墠鑸垫満浣嶇疆: H=474, V=460 [PID璁$畻] 娴嬮噺鍊?88.00, 璇樊=88.00 姣斾緥椤? Kp*error = 0.2*88.00 = 17.60 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-2.01 = -0.10 PID杈撳嚭: u = 22.50 [PID璁$畻] 娴嬮噺鍊?-75.00, 璇樊=-75.00 姣斾緥椤? Kp*error = 0.2*-75.00 = -15.00 绉垎椤? Ki*integral = 0.01*-500.00 = -5.00 寰垎椤? Kd*derivative = 0.05*3.88 = 0.19 PID杈撳嚭: u = -19.81 璁$畻鏂颁綅缃? H=466.92, V=453.26 [鑸垫満璁剧疆] 鍘熷鐩爣: H=466.92, V=453.26 浣嶇疆闄愬埗鐢熸晥: H=466, V=453 璁剧疆鑸垫満浣嶇疆: H=466, V=453, 绉诲姩鏃堕棿=500ms 妫€娴嬪埌 3 涓き鍦?妞渾 1: 涓績(250,383), 杞撮暱(94.50,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 2: 涓績(249,385), 杞撮暱(0.00,72.84), 瑙掑害=69.47掳, 鍦嗗害=1.0000 妞渾 3: 涓績(249,385), 杞撮暱(0.00,48.25), 瑙掑害=46.14掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(397.23,177.06), 鏍囧噯宸?(117.99,133.62) 鍦嗗績鍋忓樊: dx=80, dy=-65 褰撳墠鑸垫満浣嶇疆: H=466, V=453 [PID璁$畻] 娴嬮噺鍊?80.00, 璇樊=80.00 姣斾緥椤? Kp*error = 0.2*80.00 = 16.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-3.21 = -0.16 PID杈撳嚭: u = 20.84 [PID璁$畻] 娴嬮噺鍊?-65.00, 璇樊=-65.00 姣斾緥椤? Kp*error = 0.2*-65.00 = -13.00 绉垎椤? Ki*integral = 0.01*-500.00 = -5.00 寰垎椤? Kd*derivative = 0.05*5.11 = 0.26 PID杈撳嚭: u = -17.74 璁$畻鏂颁綅缃? H=459.45, V=446.97 [鑸垫満璁剧疆] 鍘熷鐩爣: H=459.45, V=446.97 浣嶇疆闄愬埗鐢熸晥: H=459, V=446 璁剧疆鑸垫満浣嶇疆: H=459, V=446, 绉诲姩鏃堕棿=500ms 妫€娴嬪埌 3 涓き鍦?妞渾 1: 涓績(247,384), 杞撮暱(95.49,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 2: 涓績(247,387), 杞撮暱(70.80,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 3: 涓績(247,387), 杞撮暱(47.00,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(392.02,185.60), 鏍囧噯宸?(119.03,136.72) 鍦嗗績鍋忓樊: dx=72, dy=-55 褰撳墠鑸垫満浣嶇疆: H=459, V=446 [PID璁$畻] 娴嬮噺鍊?72.00, 璇樊=72.00 姣斾緥椤? Kp*error = 0.2*72.00 = 14.40 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-4.17 = -0.21 PID杈撳嚭: u = 19.19 [PID璁$畻] 娴嬮噺鍊?-55.00, 璇樊=-55.00 姣斾緥椤? Kp*error = 0.2*-55.00 = -11.00 绉垎椤? Ki*integral = 0.01*-500.00 = -5.00 寰垎椤? Kd*derivative = 0.05*6.09 = 0.30 PID杈撳嚭: u = -15.70 璁$畻鏂颁綅缃? H=452.96, V=440.66 [鑸垫満璁剧疆] 鍘熷鐩爣: H=452.96, V=440.66 浣嶇疆闄愬埗鐢熸晥: H=452, V=440 璁剧疆鑸垫満浣嶇疆: H=452, V=440, 绉诲姩鏃堕棿=500ms 妫€娴嬪埌 3 涓き鍦?妞渾 1: 涓績(243,389), 杞撮暱(97.22,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 2: 涓績(244,391), 杞撮暱(71.78,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 3: 涓績(243,390), 杞撮暱(46.88,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(384.19,196.00), 鏍囧噯宸?(119.96,138.68) 鍦嗗績鍋忓樊: dx=64, dy=-44 褰撳墠鑸垫満浣嶇疆: H=452, V=440 [PID璁$畻] 娴嬮噺鍊?64.00, 璇樊=64.00 姣斾緥椤? Kp*error = 0.2*64.00 = 12.80 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-4.93 = -0.25 PID杈撳嚭: u = 17.55 [PID璁$畻] 娴嬮噺鍊?-44.00, 璇樊=-44.00 姣斾緥椤? Kp*error = 0.2*-44.00 = -8.80 绉垎椤? Ki*integral = 0.01*-500.00 = -5.00 寰垎椤? Kd*derivative = 0.05*7.07 = 0.35 PID杈撳嚭: u = -13.45 璁$畻鏂颁綅缃? H=446.48, V=435.43 [鑸垫満璁剧疆] 鍘熷鐩爣: H=446.48, V=435.43 浣嶇疆闄愬埗鐢熸晥: H=446, V=435 璁剧疆鑸垫満浣嶇疆: H=446, V=435, 绉诲姩鏃堕棿=500ms 根据打印信息调整参数
08-01
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