平衡车程序

平衡车程序

#include"common.h"#include"include.h"

voidanglecalculate;voidanglecontrol;voidspeedcontrol;

voidspeedcontroloutput;voiddirectioncontrol;

voiddirectioncontroloutput;voidmotoroutputr;voidmotoroutputl;voidpit_hander;voiddelay;voidstartccd;voidccd_get;

uint8normalized_u8（uint16）;voidinit_all;

floatspeed_count=0;voidcenter_calculate;

/***************角度控制参数值****************/

#definecv_acce_offset1750//1775//1788//1845//1870//1830//1850//加速度计零偏值

#definegravity_angle_ratio180/1960//加速度计角度转换系数1945#definecar_gyro_ratio_int1.5//可调在0.3左右，陀螺仪ad值与角速度的比例系数

#definegravity_adjust_time_constant1//修正系数

#defineangle_control_p12//20//可调，p值

#definecar_angle_set0//平衡//小车角度设置#defineangle_control_d0.3//0.2//可调，d值0.1#definecar_angle_speed_set0//平衡//小车角速度设置#defineangle_control_out_max90//电机最大占空比

#defineangle_control_out_min0//电机最小占空比，死区电压#definegyroscope_angle_sigma_frequency0.005//5ms

/***************速度控制参数值****************/

#definecar_speed_set0.5//0.5//1.5速度设置#definespeed_control_p150//20//50#definespeed_control_i1//0.1//0.01

#definespeed_integral_max100#definespeed_integral_min1

/****************方向控制参数值********************/