/* trims */
#define AX_OFFSET 512
#define AS_OFFSET 512
#define GZ_OFFSET 522
/* control parameters */
#define KP 0.4 // proportional
#define KD 0.5 // derivative
#define KS 4.0 // steering
/* Used for deadband hysteresis */
#define FORWARD 1
#define REVERSE 0
/* Fancy segway code.
* Disclaimer: If you fall off, it's your fault.
*/
/* Handles motor pulses and main loop timer with onboard timers & interrupts. */
void interrupt segwayctl() {
if (TMR1IF) { /* 10ms timer for motors -- turns them on for start of pulse. */
TMR1H = 55535 >> 8;
TMR1L = 55535 & 0xFF;
RC1 = RC2 = 1;
TMR1IF = 0;
}
if (CCP1IF) { /*end motor pulse*/
RC1 = 0;
CCP1IF = 0;
}
if (CCP2IF) { /*end motor pulse*/
RC2 = 0;
CCP2IF = 0;
}
}
/* Sends information to radio for debugging. */
void tx(unsigned char addr, unsigned char byte1, unsigned char byte2) {
usart_write(TX_START);
if (byte1 == TX_START) {
usart_write(TX_ESC);
addr |= ESC1;
} else {
usart_write(byte1);
}
if (byte2 == TX_START) {
usart_write(TX_ESC);
addr |= ESC2;
} else {
usart_write(byte2);
}
usart_write(addr);
}
/* IT RUNS AT 100HZ!
* MAGICALLY!
*/
void main() {
signed int lmotor = 512, rmotor = 512;
signed int speed_offset = 0;
signed int turn = 0;
unsigned char tx_i = 1;
unsigned char dtmr; /* Loop time */
unsigned char direction = FORWARD;
unsigned char rider;
signed int ax_adc, as_adc, gz_adc; /* Analog values */
signed int ax_deg, as_deg, gz_vel; /* Unit values */
float angle = 0, motor = 0;
/*setup interrupts*/
/*sensors are on pins 1 and 2, values AN0 and AN1*/
GIE = PEIE = CCP1IE = CCP2IE = TMR1IE = 1;
T1CON = 1;
PR2 = 0xFF;
CCP1CON = CCP2CON = 0b1010;
TRISC1 = TRISC2 = 0; /* TRISC1 and TRISC2 set pins as outputs. */
TRISB1 = 1;
RBPU = 0; // pull up resistors on PORTB
/* Setting up Timer 0, this was a pain to figure out */
T0CS = PSA = PS0 = 0;
PS2 = PS1 = 1;
usart_init(19200);
adc_init(ALL_ANALOG);
CCPR1H = (56523 + 512) >> 8;
CCPR1L = (56523 + 512) & 0xFF;
CCPR2H = (56523 + 512) >> 8;
CCPR2L = (56523 + 512) & 0xFF;
delay_ms(3000);
if(RB1 == 1)
{
// Wait for signal from RFID key reader.
while(usart_read() != TX_START);
// Grab rider ID.
rider = usart_read();
}
while (1) {
dtmr = TMR0;
TMR0 = 0x00;
/* Here we transmit variables to a laptop so we can see them in real-time.
* Every time this loop goes through we transmit one -- indicated by the value
* of tx_i.
*/
switch(tx_i) {
case(TX_LT): { tx(TX_LT, rider, dtmr); break;}
case(TX_AX): { tx(TX_AX, ax_adc >> 8, ax_adc & 0xFF); break; }
case(TX_AS): { tx(TX_AS, as_adc >> 8, as_adc & 0xFF); break; }
case(TX_GZ): { tx(TX_GZ, gz_adc >> 8, gz_adc & 0xFF); break; }
case(TX_AE): { tx(TX_AE, ((signed int)angle + 512) >> 8, ((signed int)angle + 512) & 0xFF); break; }
case(TX_ML): { tx(TX_ML, lmotor >> 8, lmotor & 0xFF); break; }
case(TX_MR): { tx(TX_MR, rmotor >> 8, rmotor & 0xFF); tx_i = 0; break; }
}
tx_i++;
我並不是什麼廣告,我這個是寫出來的 鬱悶 今天又給你們貼上去了這麼多 你自己看一下是不是廣告,如果是廣告我只是想說明我是用那個芯片才可以. 我是只我用的自己的電機來說明,但我不知道你們是什麼電機呵呵所以就只能說明我自己這個電機.
我的電機是250w 24DC 14A 
這個是圖片 我連接的是taobao一個賣家的 我不認識這個賣家 只是拿來做圖片給你們看,
芯片的話,我也不知道,所以的話 我需要去找一下,不知道大大們,能不能請教呢! |
發表於 2009-8-20 20:28:09
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