麦克纳姆轮pid控制的具体实现代码,用C语言
时间: 2024-06-11 15:08:24 浏览: 10
以下是一个简单的麦克纳姆轮PID控制器的C语言代码示例:
```c
#include <stdio.h>
#include <math.h>
/* Define constants */
#define WHEEL_RADIUS 0.05 // Radius of each wheel
#define ROBOT_RADIUS 0.2 // Radius of the robot
#define MAX_SPEED 2.0 // Maximum speed of the wheels
#define KP 1.0 // Proportional gain
#define KI 0.0 // Integral gain
#define KD 0.0 // Derivative gain
/* Define variables */
double targetX = 1.0; // Target X position
double targetY = 1.0; // Target Y position
double targetTheta = 0.0; // Target orientation
double currentX = 0.0; // Current X position
double currentY = 0.0; // Current Y position
double currentTheta = 0.0; // Current orientation
double errorX = 0.0; // X position error
double errorY = 0.0; // Y position error
double errorTheta = 0.0; // Orientation error
double integralX = 0.0; // X position integral
double integralY = 0.0; // Y position integral
double integralTheta = 0.0; // Orientation integral
double derivativeX = 0.0; // X position derivative
double derivativeY = 0.0; // Y position derivative
double derivativeTheta = 0.0; // Orientation derivative
double lastErrorX = 0.0; // Last X position error
double lastErrorY = 0.0; // Last Y position error
double lastErrorTheta = 0.0; // Last orientation error
double output1 = 0.0; // Output for wheel 1
double output2 = 0.0; // Output for wheel 2
double output3 = 0.0; // Output for wheel 3
double output4 = 0.0; // Output for wheel 4
/* Calculate the PID output for each wheel */
void calculatePID() {
/* Calculate the position error */
errorX = targetX - currentX;
errorY = targetY - currentY;
errorTheta = targetTheta - currentTheta;
/* Calculate the position integral */
integralX += errorX;
integralY += errorY;
integralTheta += errorTheta;
/* Calculate the position derivative */
derivativeX = errorX - lastErrorX;
derivativeY = errorY - lastErrorY;
derivativeTheta = errorTheta - lastErrorTheta;
/* Calculate the output for each wheel */
output1 = KP*errorX + KI*integralX + KD*derivativeX;
output2 = KP*errorY + KI*integralY + KD*derivativeY;
output3 = -KP*errorX + KI*integralX + KD*derivativeX;
output4 = -KP*errorY + KI*integralY + KD*derivativeY;
/* Limit the maximum speed */
output1 = fmin(output1, MAX_SPEED);
output2 = fmin(output2, MAX_SPEED);
output3 = fmin(output3, MAX_SPEED);
output4 = fmin(output4, MAX_SPEED);
/* Update the last error */
lastErrorX = errorX;
lastErrorY = errorY;
lastErrorTheta = errorTheta;
}
/* Update the position and orientation of the robot */
void updatePosition() {
/* Calculate the distance and angle moved */
double distance = (output1 + output2 + output3 + output4) / 4.0;
double angle = (output2 - output1) / (2.0*WHEEL_RADIUS) + (output4 - output3) / (2.0*WHEEL_RADIUS);
/* Update the position and orientation */
currentX += distance*cos(currentTheta + angle/2.0);
currentY += distance*sin(currentTheta + angle/2.0);
currentTheta += angle;
/* Wrap the orientation to the range [-pi, pi] */
while (currentTheta > M_PI) {
currentTheta -= 2.0*M_PI;
}
while (currentTheta < -M_PI) {
currentTheta += 2.0*M_PI;
}
}
/* Main program loop */
int main() {
/* Set the initial position and orientation */
currentX = 0.0;
currentY = 0.0;
currentTheta = 0.0;
/* Loop until the target is reached */
while (fabs(targetX - currentX) > 0.01 || fabs(targetY - currentY) > 0.01 || fabs(targetTheta - currentTheta) > 0.01) {
/* Calculate the PID output for each wheel */
calculatePID();
/* Update the position and orientation */
updatePosition();
}
return 0;
}
```