C++ (Cpp) SetMotorVoltage Examples

Example #1

File: main.c Project: chenxuuu/15-nuedc-wind-pendulum

void PIT0_IRQHandler(void)
{   if(aa<1000) aa++;
    delayms();
    mpu6050_read();
    angle_calculate();
    angle_calculate1();
    if (flag==2||flag==1)
        set_gyro();
    if (flag==3&&active==1)
    {
        set_gyro1_3();
        set_gyro_3();
    }
//    oledplay();
    if(flag==1)
    {
        motor_control();
        SetMotorVoltage(0.05,0);
        MotorSpeedOut();
    }
    if(qd==0)
    {
        motor_control();
        SetMotorVoltage(0.05,0);
        MotorSpeedOut();
    }
    if (flag==3&&active==1)
    {
        motor_control_3();
//      SetMotorVoltage(0,0.5);
        MotorSpeedOut_3();

    }
    if (flag==4)
    {
        motor_control_4();
        SetMotorVoltage(0.05,0);
        MotorSpeedOut();

    }
    if(flag==5)
    {
        set_gyro1();

        motor_control1();
        SetMotorVoltage(0,0.05);
        MotorSpeedOut1();
        angle_set1=16;
    }
    PIT_Flag_Clear(PIT0);       //清中断标志位
}

Example #2

File: main.c Project: chenxuuu/15-nuedc-wind-pendulum

/******************************************
****************题目三*********************
*******************************************/
void mode3()
{
    angle_set=20;
    angle_set1=20;
    if(active==0)
    {
        SetMotorVoltage(0.3,0.3);
        if(angle_fuse>8)
        {
            active=1;
            rollcount=1;
        }
    }

}

Example #3

File: main.c Project: chenxuuu/15-nuedc-wind-pendulum

void MotorSpeedOut1(void)
{
    float fLeftVal, fRightVal;
    fLeftVal = white_motor;
    fRightVal = red_motor;
    if(fLeftVal > 0)
        fLeftVal += MOTOR_OUT_DEAD_VAL;
    else if(fLeftVal < 0)
        fLeftVal -= MOTOR_OUT_DEAD_VAL;
    if(fRightVal > 0)
        fRightVal += MOTOR_OUT_DEAD_VAL;
    else if(fRightVal < 0)
        fRightVal -= MOTOR_OUT_DEAD_VAL;//死区处理
    SetMotorVoltage(-fLeftVal,fRightVal);
}

Example #4

File: System_Init.c Project: Chasingwhat/Self-Balancing-Car

//---------------------------------控制三环结束---------------------------------------------
void CarControlStop(void) 
{
  SetMotorVoltage(0, 0);
  
  g_nCarControlFlag = 0;//	CAR_CONTROL_CLEAR;
  g_nAngleControlFlag = 0;//	ANGLE_CONTROL_STOP;
  g_nSpeedControlFlag = 0;//	SPEED_CONTROL_STOP;
  g_nDirectionControlFlag = 0;//	DIRECTION_CONTROL_STOP;
  
//  PTA9_O = 1;//蜂鸣器
//  delayMs(15);
//  PTA9_O = 0;  
  
  g_fLeftMotorOut = g_fRightMotorOut = 0;
  g_fAngleControlOut = 0;
  g_fSpeedControlOut = 0;
  g_fDirectionControlOut = 0;
  
  //g_nWaitCarStandCount = 0;
}

Example #5

File: main.c Project: chenxuuu/15-nuedc-wind-pendulum

void MotorSpeedOut_3(void)
{
    float fLeftVal, fRightVal;
    fLeftVal = white_motor;
    fRightVal = red_motor;
    if(fLeftVal > 0)
        fLeftVal += MOTOR_OUT_DEAD_VAL;
    else if(fLeftVal < 0)
        fLeftVal -= MOTOR_OUT_DEAD_VAL;
    if(fRightVal > 0)
        fRightVal += MOTOR_OUT_DEAD_VAL;
    else if(fRightVal < 0)
        fRightVal -= MOTOR_OUT_DEAD_VAL;//死区处理
    //SetMotorVoltage((fRightVal/sin(aset/180*pi)+fLeftVal/sin(aset/180*pi))*0.05,(fRightVal/cos(aset/180*pi)+fLeftVal/cos(aset/180*pi))*0.05);
    //display[4]=fRightVal/sin(aset/180*pi)+fLeftVal/sin(aset/180*pi),fRightVal/cos(aset/180*pi)+fLeftVal/cos(aset/180*pi);
    SetMotorVoltage(fLeftVal/3,fRightVal/3);



}

Example #6

File: main.c Project: chenxuuu/SmartCar

/********************************舵机PD控制*************************************/
void PDkongzhi()
{

    P = actuator_P, D = actuator_D;

    LastError = Error; //上一次偏差
    // if(left_diuxian1 > 10 && right_diuxian1 < 10 &&
    //  shuang_diuxian1 < 10 && slope.right > -0.01 &&
    //   slope.right < 0.01 && slope.right!=0)
    // {
    //        Error = 15;
    //        led(LED1,LED_ON);
    // }
    // else if(right_diuxian1 > 10 && left_diuxian1 < 10 &&
    //         shuang_diuxian1 < 10 && slope.left > -0.01 &&
    //         slope.left < 0.01 && slope.left!=0)
    // {
    //        Error = -15;
    //        led(LED1,LED_ON);
    // }
    if(left_diuxian1 > 10 && right_diuxian1 < 10 && wide_check())
    {
           Error = 0;
           led(LED1,LED_ON);
    }
    else if(right_diuxian1 > 10 && left_diuxian1 < 10 && wide_check())
    {
           Error = 0;
           led(LED1,LED_ON);
    }
    else
    {
       Error = black_centre  + (int)(slope.slope * 160); //平均中点和理论中点0之间的偏差 + 斜率
       led(LED1,LED_OFF);
    }

    dajiao = control_actuator_center - (int)(P * (float)Error) - (int)(D * (float)(Error - LastError));//舵机打角

    if(dajiao > control_actuator_max) //左最大
        dajiao = control_actuator_max; 
    else if(dajiao < control_actuator_min) //右最大
        dajiao = control_actuator_min;

    if(Error>35)
        Error=35;
    if(Error<-35)
        Error=-35;


    ftm_pwm_duty(S3010_FTM, S3010_CH, (uint32)dajiao);
    //SetMotorVoltage(speedl , speedr );

    if(stop_done == 1)
    {
        // #if ( CAR_NUMBER == 2 )
        // lptmr_delay_ms(1000);    //延时防撞
        // #endif
        SetMotorVoltage(0, 0);
        
    }

    else
    {
        SetMotorVoltage(speed + 0.006 * Error, speed - 0.006 * Error);
        //SetMotorVoltage(speedl + 0.0015 * Error, speedr - 0.0015 * Error);
    }
}