基于PID的java机器人转向
我目前有一个PID算法来控制我的机器人在自主状态下转弯。我的机器人有编码器,每个马达上有四个,还有一个BNO055IMU。此外,每个电机都是Andymark的一个永不休息的40电机,不幸的是,我被编码器卡住了,它可以产生3个脉冲。我想通过使用不同的算法或改进我当前的算法来提高转弯的准确性
我当前的转弯代码:
public void turn(int angle, Direction DIRECTION, double timeOut, int sleepTime, double kp, double ki, double kd) {
double targetAngle = imu.adjustAngle(imu.getHeading() + (DIRECTION.value * angle));
double acceptableError = 0.5;
double currentError = 1;
double prevError = 0;
double integral = 0;
double newPower;
double previousTime = 0;
timeoutClock.reset();
while (opModeIsActive() && (imu.adjustAngle(Math.abs(currentError)) > acceptableError)
&& !timeoutClock.elapsedTime(timeOut, MasqClock.Resolution.SECONDS)) {
double tChange = System.nanoTime() - previousTime;
previousTime = System.nanoTime();
tChange = tChange / 1e9;
double imuVAL = imu.getHeading();
currentError = imu.adjustAngle(targetAngle - imuVAL);
integral += currentError * ID;
double errorkp = currentError * kp;
double integralki = integral * ki * tChange;
double dervitive = (currentError - prevError) / tChange;
double dervitivekd = dervitive * kd;
newPower = (errorkp + integralki + dervitivekd);
newPower *= color;
if (Math.abs(newPower) > 1.0) {newPower /= newPower;}
driveTrain.setPower(newPower, -newPower);
prevError = currentError;
DashBoard.getDash().create("TargetAngle", targetAngle);
DashBoard.getDash().create("Heading", imuVAL);
DashBoard.getDash().create("AngleLeftToCover", currentError);
DashBoard.getDash().update();
}
driveTrain.setPower(0,0);
sleep(sleepTime);
}
注: 当动力传动系。设定功率(x,y);称为左参数是设置到左侧的功率,右参数设置到右侧
方向是一个枚举,用于存储wither-1,或用于在左转和右转之间切换的1
仪表板。格达什。create只是记录正在发生的事情
伊莫大学。adjustAngle执行以下操作:
public double adjustAngle(double angle) {
while (angle > 180) angle -= 360;
while (angle <= -180) angle += 360;
return angle;
}
伊莫大学。getHeading()是不言自明的,它获取机器人的偏航
我的pid常量的当前值。(它们工作得很好。)
KP_TURN = 0.005,
KI_TURN = 0.0002,
KD_TURN = 0,
ID = 1;
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