智能车差速串级pid代码

以下是一个简单的基于差速串级PID的智能车代码示例，仅供参考：

#include <Arduino.h>

// 左右电机控制引脚
#define LEFT_MOTOR_PIN 9
#define RIGHT_MOTOR_PIN 10

// 左右编码器引脚
#define LEFT_ENCODER_PIN 2
#define RIGHT_ENCODER_PIN 3

// PID参数
#define KP_OUTER 1.0
#define KI_OUTER 0.0
#define KD_OUTER 0.0
#define KP_INNER 1.0
#define KI_INNER 0.0
#define KD_INNER 0.0

// 控制周期
#define CONTROL_PERIOD_MS 10

// PID控制器
class PIDController {
  public:
    PIDController(float kp, float ki, float kd) : kp_(kp), ki_(ki), kd_(kd) {}

    float Update(float error, float dt) {
      float derivative = (error - last_error_) / dt;
      last_error_ = error;
      integral_ += error * dt;
      float output = kp_ * error + ki_ * integral_ + kd_ * derivative;
      return output;
    }

  private:
    float kp_;
    float ki_;
    float kd_;
    float last_error_ = 0.0;
    float integral_ = 0.0;
};

// 左右PID控制器
PIDController left_outer_pid(KP_OUTER, KI_OUTER, KD_OUTER);
PIDController right_outer_pid(KP_OUTER, KI_OUTER, KD_OUTER);
PIDController left_inner_pid(KP_INNER, KI_INNER, KD_INNER);
PIDController right_inner_pid(KP_INNER, KI_INNER, KD_INNER);

// 编码器计数
volatile int left_encoder_count = 0;
volatile int right_encoder_count = 0;

// 左右电机PWM值
int left_pwm = 0;
int right_pwm = 0;

// 控制循环函数
void ControlLoop() {
  // 计算控制周期
  static unsigned long last_control_time = 0;
  unsigned long now = millis();
  float dt = (now - last_control_time) / 1000.0;
  last_control_time = now;

  // 读取编码器计数
  noInterrupts();
  int left_count = left_encoder_count;
  int right_count = right_encoder_count;
  left_encoder_count = 0;
  right_encoder_count = 0;
  interrupts();

  // 计算左右轮速度
  float left_speed = left_count / dt;
  float right_speed = right_count / dt;

  // 计算左右轮误差
  float left_error = target_left_speed - left_speed;
  float right_error = target_right_speed - right_speed;

  // 更新PID控制器
  float left_outer_output = left_outer_pid.Update(left_error, dt);
  float right_outer_output = right_outer_pid.Update(right_error, dt);
  float left_inner_output = left_inner_pid.Update(left_outer_output, dt);
  float right_inner_output = right_inner_pid.Update(right_outer_output, dt);

  // 计算左右电机PWM值
  left_pwm += left_inner_output + left_outer_output;
  right_pwm += right_inner_output + right_outer_output;

  // 限制PWM值范围
  left_pwm = constrain(left_pwm, -255, 255);
  right_pwm = constrain(right_pwm, -255, 255);

  // 控制左右电机
  analogWrite(LEFT_MOTOR_PIN, abs(left_pwm));
  analogWrite(RIGHT_MOTOR_PIN, abs(right_pwm));
  if (left_pwm >= 0) {
    digitalWrite(LEFT_MOTOR_PIN + 1, LOW);
  } else {
    digitalWrite(LEFT_MOTOR_PIN + 1, HIGH);
  }
  if (right_pwm >= 0) {
    digitalWrite(RIGHT_MOTOR_PIN + 1, LOW);
  } else {
    digitalWrite(RIGHT_MOTOR_PIN + 1, HIGH);
  }
}

// 左编码器中断处理函数
void LeftEncoderInterrupt() {
  left_encoder_count++;
}

// 右编码器中断处理函数
void RightEncoderInterrupt() {
  right_encoder_count++;
}

void setup() {
  // 初始化电机控制引脚
  pinMode(LEFT_MOTOR_PIN, OUTPUT);
  pinMode(LEFT_MOTOR_PIN + 1, OUTPUT);
  pinMode(RIGHT_MOTOR_PIN, OUTPUT);
  pinMode(RIGHT_MOTOR_PIN + 1, OUTPUT);

  // 初始化编码器引脚
  pinMode(LEFT_ENCODER_PIN, INPUT_PULLUP);
  pinMode(RIGHT_ENCODER_PIN, INPUT_PULLUP);
  attachInterrupt(digitalPinToInterrupt(LEFT_ENCODER_PIN), LeftEncoderInterrupt, RISING);
  attachInterrupt(digitalPinToInterrupt(RIGHT_ENCODER_PIN), RightEncoderInterrupt, RISING);

  // 初始化串口
  Serial.begin(9600);
}

void loop() {
  // 读取串口命令
  if (Serial.available()) {
    String command = Serial.readStringUntil('\n');
    if (command.startsWith("Speed")) {
      // 解析速度命令
      int comma_index = command.indexOf(',');
      if (comma_index > 0) {
        target_left_speed = command.substring(5, comma_index).toFloat();
        target_right_speed = command.substring(comma_index + 1).toFloat();
      }
    }
  }

  // 控制循环
  unsigned long now = millis();
  if (now - last_control_time >= CONTROL_PERIOD_MS) {
    ControlLoop();
    last_control_time = now;
  }
}

需要注意的是，这只是一个简单的示例代码，并没有考虑许多实现细节和调试。实际使用时，您需要根据您的具体硬件和控制要求进行适当的修改和调整。