update: version 4.6.2 fix the motor bug

Author: FennMai

Basic_Development/New_Car_Control/.~lock.Test_Engineering.ods#

@@ -1,8 +1,9 @@
-/** 
+/**
  * @author FENN MAI
- * @date 06/05/2024
- * @version Basic 4.6
- * @brief pos-vol-pid control test
+ * @date 26/06/2024
+ * @version Basic 4.6.2
+ * @brief 左右电机控制测试 
+ * pos-vol-pid control test
  */
 
 #include <iostream>
@@ -51,71 +52,77 @@ int main() {
     PID position_pid2(0.1, 0.01, 0.05); // 位置PID motor2
     PID speed_pid2(0.1, 0.01, 0.05);    // 速度PID motor2
 
-    int target_pulses = calculatePulsesForDistance(1.0); // 计算前进1米所需的脉冲数
+    // 计算前进1米所需的脉冲数
+    int target_pulses = calculatePulsesForDistance(1.0); 
+
+    // 必须步骤，重置编码器位置，都设定为0
     motor1->resetEncoder();
     motor2->resetEncoder();
 
-    int previous_pulses1 = 0;
-    int previous_pulses2 = 0;
-    double delta_time = 0.1; // 假设每0.1秒进行一次速度计算
-
-    motor1->setSpeed(128);
-    motor2->setSpeed(128);
+    gpioDelay(2500000);
+    // 控制左轮（motor1）前进
+    motor1->setSpeed(50);
     motor1->run(FORWARD);
+    std::cout << "左轮-FORWARD" << std::endl;
+
+    // 获取编码器的方向
+    int dir1 = motor1->getDirection();
+    std::cout << "左轮方向：" << dir1 << std::endl;
+    
+    gpioDelay(2500000);
+
+    // 获取编码器的方向
+    dir1 = motor1->getDirection();
+    std::cout << "左轮方向：" << dir1 << std::endl;
+    gpioDelay(2500000);
+    // 停止电机1
+    motor1->run(BRAKE);
+    std::cout << "左轮-BRAKE" << std::endl;
+    gpioDelay(5000000); 
+
+    // 控制右轮（motor2）前进
+    motor2->setSpeed(50);
     motor2->run(FORWARD);
-
-    bool reached_target1 = false;
-    bool reached_target2 = false;
-    while (!reached_target1 || !reached_target2) {
-        // Motor 1
-        int actual_pulses1 = motor1->readEncoder();
-        double position_error1 = target_pulses - actual_pulses1;
-        double desired_speed1 = position_pid1.calculate(target_pulses, actual_pulses1);
-        double actual_speed1 = calculateSpeed(actual_pulses1, previous_pulses1, delta_time);
-        previous_pulses1 = actual_pulses1;
-        double pwm_value1 = speed_pid1.calculate(desired_speed1, actual_speed1);
-        motor1->setSpeed(static_cast<uint8_t>(std::min(std::max(pwm_value1, 0.0), 255.0)));
-
-        int direction1 = motor1->getDirection();
-        std::string direction_str1 = (direction1 == 1) ? "顺时针" : (direction1 == -1) ? "逆时针" : "静止";
-
-        std::cout << "电机编号：1；理想前进值：" << target_pulses
-                  << "；实际前进值：" << actual_pulses1
-                  << "；误差：" << position_error1
-                  << "；方向：" << direction_str1
-                  << "；PWM值：" << pwm_value1 << std::endl;
-
-        // Motor 2
-        int actual_pulses2 = motor2->readEncoder();
-        double position_error2 = target_pulses - actual_pulses2;
-        double desired_speed2 = position_pid2.calculate(target_pulses, actual_pulses2);
-        double actual_speed2 = calculateSpeed(actual_pulses2, previous_pulses2, delta_time);
-        previous_pulses2 = actual_pulses2;
-        double pwm_value2 = speed_pid2.calculate(desired_speed2, actual_speed2);
-        motor2->setSpeed(static_cast<uint8_t>(std::min(std::max(pwm_value2, 0.0), 255.0)));
-
-        int direction2 = motor2->getDirection();
-        std::string direction_str2 = (direction2 == 1) ? "顺时针" : (direction2 == -1) ? "逆时针" : "静止";
-
-        std::cout << "电机编号：2；理想前进值：" << target_pulses
-                  << "；实际前进值：" << actual_pulses2
-                  << "；误差：" << position_error2
-                  << "；方向：" << direction_str2
-                  << "；PWM值：" << pwm_value2 << std::endl;
-
-        // 判断是否达到目标位置
-        if (abs(position_error1) < 618) { // 允许的误差范围
-            reached_target1 = true;
-        }
-        if (abs(position_error2) < 618) { // 允许的误差范围
-            reached_target2 = true;
-        }
-
-        gpioDelay(static_cast<unsigned int>(delta_time * 1000 * 1000)); // 延时delta_time秒
-    }
-
-    motor1->run(RELEASE);
-    motor2->run(RELEASE);
+    std::cout << "右轮-FORWARD" << std::endl;
+    // 获取编码器的方向
+    int dir2 = motor2->getDirection();
+    std::cout << "右轮方向：" << dir2 << std::endl; 
+    // 持续5s
+    gpioDelay(2500000); 
+    // 获取编码器的方向
+    dir2 = motor2->getDirection();
+    std::cout << "右轮方向：" << dir2 << std::endl; 
+    gpioDelay(2500000);
+    // 停止电机2
+    motor2->run(BRAKE);
+    std::cout << "右轮-RELEASE" << std::endl;
+
+    // // 控制左轮（motor1）后退
+    // motor1->setSpeed(50);
+    // motor1->run(BACKWARD);
+    // std::cout << "Left motor (motor1) running backward at speed 50" << std::endl;
+    // gpioDelay(5000000); 
+    // motor1->run(RELEASE);
+    // std::cout << "Left motor (motor1) stopped" << std::endl;
+
+    // // 控制右轮（motor2）后退
+    // motor2->setSpeed(50);
+    // motor2->run(BACKWARD);
+    // std::cout << "Right motor (motor2) running backward at speed 50" << std::endl;
+    // gpioDelay(5000000); 
+    // motor2->run(RELEASE);
+    // std::cout << "Right motor (motor2) stopped" << std::endl;
+
+    // // 控制左右轮同时前进
+    // motor1->setSpeed(50);
+    // motor2->setSpeed(50);
+    // motor1->run(FORWARD);
+    // motor2->run(FORWARD);
+    // std::cout << "Both motors running forward at speed 50" << std::endl;
+    // gpioDelay(5000000); 
+    // motor1->run(RELEASE);
+    // motor2->run(RELEASE);
+    // std::cout << "Both motors stopped" << std::endl;
     gpioTerminate();
     return 0;
 }

Basic_Development/New_Car_Control/Encoder_Base/DC_MotoTest.cpp

@@ -53,39 +53,28 @@ void EncoderMotor::run(uint8_t cmd) {
     MDIR = cmd;
     uint16_t pwm_val = _speed * 16;  // Adjusted for the PCA9685 PWM range
     switch (cmd) {
-        // case FORWARD:
-        //     MC->setPin(IN2pin, 0);
-        //     MC->setPWM(IN1pin, pwm_val);
-        //     break;
-        // case BACKWARD:
-        //     MC->setPin(IN1pin, 0);
-        //     MC->setPWM(IN2pin, pwm_val);
-        //     break;
-        // case RELEASE:
-        //     MC->setPin(IN1pin, 0);
-        //     MC->setPin(IN2pin, 0);
-        //     break;
-        // case BRAKE:
-        //     MC->setPin(IN1pin, 1);
-        //     MC->setPin(IN2pin, 1);
-        //     break;
-        case FORWARD:
+        // BACKWARD：设置IN2pin为低电平（0），并为IN1pin设置PWM值。           
+        case BACKWARD:
             std::cout << "Setting IN2pin: " << static_cast<int>(IN2pin) << " to 0" << std::endl;
             std::cout << "Setting PWM IN1pin: " << static_cast<int>(IN1pin) << " to " << pwm_val << std::endl;
             MC->setPin(IN2pin, 0);
             MC->setPWM(IN1pin, pwm_val);
             break;
-        case BACKWARD:
+        // FORWARD：设置IN1pin为低电平（0），并为IN2pin设置PWM值。
+        case FORWARD:
             std::cout << "Setting IN1pin: " << static_cast<int>(IN1pin) << " to 0" << std::endl;
             std::cout << "Setting PWM IN2pin: " << static_cast<int>(IN2pin) << " to " << pwm_val << std::endl;
             MC->setPin(IN1pin, 0);
             MC->setPWM(IN2pin, pwm_val);
+            
             break;
+        // RELEASE：将IN1pin和IN2pin都设置为低电平（0），释放电机。
         case RELEASE:
             std::cout << "Releasing motor" << std::endl;
             MC->setPin(IN1pin, 0);
             MC->setPin(IN2pin, 0);
             break;
+        // BRAKE：将IN1pin和IN2pin都设置为高电平（1），刹车。
         case BRAKE:
             std::cout << "Braking motor" << std::endl;
             MC->setPin(IN1pin, 1);

Basic_Development/New_Car_Control/Encoder_Base/EncoderMotTest.cpp

@@ -16,29 +16,15 @@ B      |         |         |         |         |         |
  */
 
 
-
 #include "encoder.h"
 
 // Encoder 构造函数
-Encoder::Encoder(int gpioA, int gpioB, encoderCallback_t callback) {
-    this->gpioA = gpioA;
-    this->gpioB = gpioB;
-    this->callback = callback;
-    position = 0;
-    levA = 0;
-    levB = 0;
-    lastGpio = -1;
-    direction = 0;
-
-    // 将 gpioA 和 gpioB 引脚设置为输入模式
+Encoder::Encoder(int gpioA, int gpioB, encoderCallback_t callback)
+    : gpioA(gpioA), gpioB(gpioB), position(0), direction(0), levA(0), levB(0), lastGpio(-1), callback(callback) {
     gpioSetMode(gpioA, PI_INPUT);
     gpioSetMode(gpioB, PI_INPUT);
-    // 启用了 gpioA 和 gpioB 引脚的上拉电阻。上拉电阻用于确保引脚在未连接或未驱动时具有确定的电平（在这里是高电平）。
     gpioSetPullUpDown(gpioA, PI_PUD_UP);
     gpioSetPullUpDown(gpioB, PI_PUD_UP);
-    // gpioA 和 gpioB 引脚设置了一个回调函数 _pulseEx。
-    // 当引脚的电平发生变化（从高到低或从低到高）时，将调用 _pulseEx 函数。
-    // 通过这种方式，我们可以检测编码器的脉冲信号
     gpioSetAlertFuncEx(gpioA, _pulseEx, this);
     gpioSetAlertFuncEx(gpioB, _pulseEx, this);
 }
@@ -51,13 +37,14 @@ Encoder::~Encoder() {
 
 // 静态脉冲回调函数
 void Encoder::_pulseEx(int gpio, int level, uint32_t tick, void *user) {
-    Encoder *mySelf = (Encoder *) user;
+    Encoder *mySelf = static_cast<Encoder *>(user);
     mySelf->_pulse(gpio, level, tick);
 }
 
 // 实例脉冲回调函数
 void Encoder::_pulse(int gpio, int level, uint32_t tick) {
-    if (gpio == gpioA) levA = level; else levB = level;
+    if (gpio == gpioA) levA = level;
+    else levB = level;
 
     if (gpio != lastGpio) {
         lastGpio = gpio;
@@ -79,7 +66,7 @@ void Encoder::_pulse(int gpio, int level, uint32_t tick) {
 }
 
 // 获取编码器位置
-int32_t Encoder::getPosition() {
+int Encoder::getPosition() {
     return position;
 }
 

Basic_Development/New_Car_Control/Encoder_Base/EncoderShield.cpp

@@ -1,36 +1,28 @@
-/** 
- * 
- * @author FENN MAI
- * @date 06/05/2024
- * @version Basic 4.0
- * @brief 编码电机初次测试
- */
-
-#ifndef _ENCODER_H_
-#define _ENCODER_H_
+#ifndef ENCODER_H
+#define ENCODER_H
 
 #include <pigpio.h>
 
-typedef void (*encoderCallback_t)(int);
+typedef void (*encoderCallback_t)(int direction);
 
 class Encoder {
 public:
     Encoder(int gpioA, int gpioB, encoderCallback_t callback = nullptr);
     ~Encoder();
-    int32_t getPosition();
+    int getPosition();
     void reset();
-    int getDirection(); // 新增方法，获取方向
+    int getDirection();
 
 private:
     int gpioA, gpioB;
-    int32_t position;
-    int lastGpio;
+    int position;
+    int direction;
     int levA, levB;
+    int lastGpio;
     encoderCallback_t callback;
-    int direction; // 记录方向
 
-    static void _pulseEx(int gpio, int level, uint32_t tick, void *user);
     void _pulse(int gpio, int level, uint32_t tick);
+    static void _pulseEx(int gpio, int level, uint32_t tick, void *user);
 };
 
-#endif
+#endif // ENCODER_H

Basic_Development/New_Car_Control/Encoder_Base/encoder.cpp

@@ -42,4 +42,10 @@ Raspi_i2c --> Emakefun_MotorDriver -->
 20240607:
 1. pos-vol-pid control test
 2. motor2 still have bug
-3. the pos and pulse have bug
+3. the pos and pulse have bug
+
+20240626：
+1. 缠了黑色带子的电机--以我的视觉方向平行车头朝向，视觉上是是右边
+2. 现在的代码，可以测试可以运行
+3. 但是！一个很重要的问题，有个编码器没有变化
+4.