stc32g三轮电磁车用陀螺仪实现差速控制方向代码

以下是基于STC32G三轮电磁车用陀螺仪实现差速控制方向的代码示例：

#include <math.h>
#include <stdbool.h>
#include "MPU6050.h"
#include "motor.h"

#define PI 3.14159
#define Kp 20.0                         // 比例常数
#define Ki 0.0                          // 积分常数
#define Kd 0.0                          // 微分常数
#define MAX_OUTPUT 1000.0               // 最大输出
#define MIN_OUTPUT -1000.0              // 最小输出
#define DT 0.02                         // 控制周期，单位秒

typedef struct _PID
{
    double Setpoint;                    // 目标点
    double P;                           // 比例
    double I;                           // 积分
    double D;                           // 微分
    double LastError;                   // 上次误差
    double SumError;                    // 累计误差
    double Output;                      // 输出
} PID;

PID pid;

void PID_Init()
{
    pid.Setpoint = 0.0;
    pid.P = Kp;
    pid.I = Ki;
    pid.D = Kd;
    pid.LastError = 0.0;
    pid.SumError = 0.0;
    pid.Output = 0.0;
}

double PID_Update(double Feedback)
{
    double Error = pid.Setpoint - Feedback;
    pid.SumError += Error * DT;
    double DeltaError = (Error - pid.LastError) / DT;
    pid.LastError = Error;
    pid.Output = pid.P * Error + pid.I * pid.SumError + pid.D * DeltaError;
    if (pid.Output > MAX_OUTPUT)
        pid.Output = MAX_OUTPUT;
    if (pid.Output < MIN_OUTPUT)
        pid.Output = MIN_OUTPUT;
    return pid.Output;
}

double Get_Angle()
{
    int16_t AccX = 0, AccY = 0, AccZ = 0;
    int16_t GyroX = 0, GyroY = 0, GyroZ = 0;
    double AccAngleX = 0.0, AccAngleY = 0.0;
    double GyroRateX = 0.0, GyroRateY = 0.0, GyroRateZ = 0.0;
    double GyroAngleX = 0.0, GyroAngleY = 0.0, GyroAngleZ = 0.0;
    double ComAngleX = 0.0, ComAngleY = 0.0;
    double AngleX = 0.0, AngleY = 0.0, AngleZ = 0.0;
    MPU6050_GetRawAcc(&AccX, &AccY, &AccZ);
    MPU6050_GetRawGyro(&GyroX, &GyroY, &GyroZ);
    AccAngleX = atan(AccY / sqrt(pow(AccX, 2) + pow(AccZ, 2))) * 180.0 / PI;
    AccAngleY = atan(-1 * AccX / sqrt(pow(AccY, 2) + pow(AccZ, 2))) * 180.0 / PI;
    GyroRateX = GyroX / 131.0;
    GyroRateY = GyroY / 131.0;
    GyroRateZ = GyroZ / 131.0;
    GyroAngleX += GyroRateX * DT;
    GyroAngleY += GyroRateY * DT;
    GyroAngleZ += GyroRateZ * DT;
    ComAngleX = 0.98 * (ComAngleX + GyroRateX * DT) + 0.02 * AccAngleX;
    ComAngleY = 0.98 * (ComAngleY + GyroRateY * DT) + 0.02 * AccAngleY;
    AngleX = 0.98 * (AngleX + GyroRateX * DT) + 0.02 * ComAngleX;
    AngleY = 0.98 * (AngleY + GyroRateY * DT) + 0.02 * ComAngleY;
    AngleZ += GyroRateZ * DT;
    if (AngleX > 180.0)
        AngleX -= 360.0;
    if (AngleX < -180.0)
        AngleX += 360.0;
    if (AngleY > 180.0)
        AngleY -= 360.0;
    if (AngleY < -180.0)
        AngleY += 360.0;
    return AngleX;
}

void Control()
{
    double angle = Get_Angle();
    double output = PID_Update(angle);
    Motor_SetSpeed(output, 0, -output);
}

void main()
{
    PID_Init();
    while (1)
    {
        Control();
    }
}

这段代码使用了PID控制算法来控制车辆的方向，其中陀螺仪用于测量车体的角度，PID控制器根据目标点和当前角度计算出需要施加到电机上的力矩，最终通过电机控制来实现差速控制方向。需要注意的是，这段代码仅供参考，具体实现还需要根据实际应用进行修改和优化。