平衡小车代码
时间: 2023-07-02 16:21:59 浏览: 50
平衡小车的代码相对复杂,需要涉及到多个传感器和控制器的配合,包括加速度计、陀螺仪、编码器等硬件设备,以及PID控制器等算法实现。以下是一个简单的平衡小车代码示例,仅供参考:
```C++
#include <Wire.h>
#include <Adafruit_MotorShield.h>
#include <Adafruit_Sensor.h>
#include <Adafruit_L3GD20_U.h>
#include <Adafruit_LSM303_Accel.h>
#include <Adafruit_LSM303DLHC.h>
#define M1 1
#define M2 2
#define M3 3
#define M4 4
#define K 25
#define KP 0.2
#define KI 0.05
#define KD 0.1
Adafruit_MotorShield AFMS = Adafruit_MotorShield();
Adafruit_DCMotor *motor1 = AFMS.getMotor(M1);
Adafruit_DCMotor *motor2 = AFMS.getMotor(M2);
Adafruit_DCMotor *motor3 = AFMS.getMotor(M3);
Adafruit_DCMotor *motor4 = AFMS.getMotor(M4);
Adafruit_L3GD20_Unified gyro = Adafruit_L3GD20_Unified(20);
Adafruit_LSM303_Accel_Unified accel = Adafruit_LSM303_Accel_Unified(30301);
Adafruit_LSM303DLHC mag = Adafruit_LSM303DLHC();
float pitch, pitch_offset, pitch_setpoint, pitch_integral, pitch_derivative, last_pitch_error;
float roll, roll_offset, roll_setpoint, roll_integral, roll_derivative, last_roll_error;
float gyro_x, gyro_y, gyro_z;
float accel_x, accel_y, accel_z;
unsigned long last_time;
void setup() {
Serial.begin(9600);
AFMS.begin();
AFMS.setPWMFreq(1000);
motor1->setSpeed(0);
motor1->run(FORWARD);
motor2->setSpeed(0);
motor2->run(FORWARD);
motor3->setSpeed(0);
motor3->run(FORWARD);
motor4->setSpeed(0);
motor4->run(FORWARD);
delay(1000);
gyro.begin();
accel.begin();
mag.init();
calibrate();
}
void loop() {
gyro.getEvent(&event);
gyro_x = event.gyro.x;
gyro_y = event.gyro.y;
gyro_z = event.gyro.z;
accel.getEvent(&event);
accel_x = event.acceleration.x;
accel_y = event.acceleration.y;
accel_z = event.acceleration.z;
pitch = atan2(-accel_x, sqrt(pow(accel_y, 2) + pow(accel_z, 2))) * 180 / PI;
pitch = K * (pitch - pitch_offset);
roll = atan2(accel_y, sqrt(pow(accel_x, 2) + pow(accel_z, 2))) * 180 / PI;
roll = K * (roll - roll_offset);
unsigned long current_time = millis();
float delta_time = (float)(current_time - last_time) / 1000;
last_time = current_time;
pitch_setpoint = 0;
roll_setpoint = 0;
float pitch_error = pitch_setpoint - pitch;
pitch_integral += pitch_error * delta_time;
pitch_derivative = (pitch_error - last_pitch_error) / delta_time;
last_pitch_error = pitch_error;
float roll_error = roll_setpoint - roll;
roll_integral += roll_error * delta_time;
roll_derivative = (roll_error - last_roll_error) / delta_time;
last_roll_error = roll_error;
float pitch_output = KP * pitch_error + KI * pitch_integral + KD * pitch_derivative;
float roll_output = KP * roll_error + KI * roll_integral + KD * roll_derivative;
motor1->setSpeed(min(max(0, (int)(-pitch_output - roll_output)), 255));
motor2->setSpeed(min(max(0, (int)(-pitch_output + roll_output)), 255));
motor3->setSpeed(min(max(0, (int)(pitch_output - roll_output)), 255));
motor4->setSpeed(min(max(0, (int)(pitch_output + roll_output)), 255));
}
void calibrate() {
float pitch_sum = 0.0;
float roll_sum = 0.0;
for (int i = 0; i < 100; i++) {
gyro.getEvent(&event);
pitch_sum += atan2(-event.acceleration.x, sqrt(pow(event.acceleration.y, 2) + pow(event.acceleration.z, 2))) * 180 / PI;
roll_sum += atan2(event.acceleration.y, sqrt(pow(event.acceleration.x, 2) + pow(event.acceleration.z, 2))) * 180 / PI;
delay(10);
}
pitch_offset = pitch_sum / 100;
roll_offset = roll_sum / 100;
}
```
该示例代码使用Arduino开发板,通过陀螺仪和加速度计获取平衡小车当前的倾斜角度,并通过PID控制器计算出电机的输出速度,从而实现平衡控制。需要注意的是,该代码仅供参考,实际情况需要根据具体硬件设备和实际需求进行适当修改。