利用msp 430F5529芯片设计循迹小车程序pID控制代码

以下是基于MSP430F5529芯片的循迹小车的pID控制代码，供参考：

#include <msp430.h>
#include <math.h>

#define LEFT_MOTOR_DIR P2DIR
#define LEFT_MOTOR_OUT P2OUT
#define LEFT_MOTOR_PIN BIT0

#define RIGHT_MOTOR_DIR P2DIR
#define RIGHT_MOTOR_OUT P2OUT
#define RIGHT_MOTOR_PIN BIT5

#define SENSOR_PORT_DIR P1DIR
#define SENSOR_PORT_IN P1IN
#define SENSOR_PORT_PIN BIT0 | BIT1 | BIT2 | BIT3

#define SENSOR_THRESHOLD 500

#define KP 0.5
#define KD 0.3
#define KI 0.1

#define SAMPLE_TIME 10
#define MAX_SPEED 1000

int sensor_history[4] = {0, 0, 0, 0};
int error_history[4] = {0, 0, 0, 0};
int error_sum = 0;

void setup_motor_pins()
{
    LEFT_MOTOR_DIR |= LEFT_MOTOR_PIN;
    RIGHT_MOTOR_DIR |= RIGHT_MOTOR_PIN;
}

void setup_sensor_pins()
{
    SENSOR_PORT_DIR &= ~SENSOR_PORT_PIN;
}

int read_sensor_value(int sensor_index)
{
    switch (sensor_index)
    {
        case 0:
            return ((SENSOR_PORT_IN & BIT0) == BIT0) ? 1 : 0;
        case 1:
            return ((SENSOR_PORT_IN & BIT1) == BIT1) ? 1 : 0;
        case 2:
            return ((SENSOR_PORT_IN & BIT2) == BIT2) ? 1 : 0;
        case 3:
            return ((SENSOR_PORT_IN & BIT3) == BIT3) ? 1 : 0;
        default:
            return 0;
    }
}

int calculate_error()
{
    int error = 0;
    for (int i = 0; i < 4; i++)
    {
        int sensor_value = read_sensor_value(i);
        sensor_history[i] = (sensor_history[i] << 1) | sensor_value;
        error_history[i] = sensor_value - (sensor_history[i] >> 4);
        error += error_history[i];
    }
    error_sum += error;
    return error;
}

int main(void)
{
    WDTCTL = WDTPW | WDTHOLD; // stop watchdog timer
    setup_motor_pins();
    setup_sensor_pins();

    int last_error = 0;
    while (1)
    {
        int error = calculate_error();
        int derivative = (error - last_error) / SAMPLE_TIME;
        int proportional = error * KP;
        int integral = error_sum * KI;

        int pid_value = proportional + derivative * KD + integral;

        int left_speed = MAX_SPEED + pid_value;
        int right_speed = MAX_SPEED - pid_value;

        if (left_speed > MAX_SPEED)
        {
            left_speed = MAX_SPEED;
        }
        if (left_speed < 0)
        {
            left_speed = 0;
        }
        if (right_speed > MAX_SPEED)
        {
            right_speed = MAX_SPEED;
        }
        if (right_speed < 0)
        {
            right_speed = 0;
        }

        LEFT_MOTOR_OUT |= LEFT_MOTOR_PIN;
        RIGHT_MOTOR_OUT |= RIGHT_MOTOR_PIN;

        __delay_cycles(1000);

        LEFT_MOTOR_OUT &= ~LEFT_MOTOR_PIN;
        RIGHT_MOTOR_OUT &= ~RIGHT_MOTOR_PIN;

        __delay_cycles(1000);

        if (left_speed > 0)
        {
            LEFT_MOTOR_OUT |= LEFT_MOTOR_PIN;
        }
        if (right_speed > 0)
        {
            RIGHT_MOTOR_OUT |= RIGHT_MOTOR_PIN;
        }

        __delay_cycles(1000);

        if (left_speed < MAX_SPEED)
        {
            LEFT_MOTOR_OUT &= ~LEFT_MOTOR_PIN;
        }
        if (right_speed < MAX_SPEED)
        {
            RIGHT_MOTOR_OUT &= ~RIGHT_MOTOR_PIN;
        }

        last_error = error;
    }
}

此代码基于MSP430F5529芯片，使用红外线传感器模块来检测车辆行驶的路线，并采用pID控制算法来进行控制。在程序中，会不断读取传感器输出，根据检测结果计算出误差值，进而进行pID控制，控制电机的转速，使车辆行驶在正确的路线上。需要注意的是，此代码仅供参考，实际使用需要根据具体情况进行修改和优化。