初始提交：龙芯2K0300智能车卖家Demo完整代码

2026-05-28 15:24:33 +08:00
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+/*
+ * @Author: ilikara 3435193369@qq.com
+ * @Date: 2024-10-10 14:36:42
+ * @LastEditors: ilikara 3435193369@qq.com
+ * @LastEditTime: 2025-03-21 10:41:17
+ * @FilePath: /smartcar/src/MotorController.cpp
+ * @Description: 这是默认设置,请设置`customMade`, 打开koroFileHeader查看配置 进行设置: https://github.com/OBKoro1/koro1FileHeader/wiki/%E9%85%8D%E7%BD%AE
+ */
+#include "MotorController.h"
+
+MotorController::MotorController(int pwmchip, int pwmnum, int gpioNum, unsigned int period_ns,
+                                 double kp, double ki, double kd, double targetSpeed,
+                                 int encoder_pwmNum, int encoder_gpioNum, int encoder_dir_)
+    : pwmController(pwmchip, pwmnum), directionGPIO(gpioNum), pidController(kp, ki, kd, targetSpeed, INCREMENTAL, 80),
+      encoder(encoder_pwmNum, encoder_gpioNum), encoder_dir(encoder_dir_)
+{
+    pwmController.setPeriod(period_ns); // 设置 PWM 周期
+    directionGPIO.setDirection("out");
+    pwmController.enable(); // 启用 PWM
+}
+
+MotorController::~MotorController(void)
+{
+    pwmController.disable();
+}
+
+void MotorController::updateduty(double dutyCycle)
+{
+    int newduty = pwmController.readPeriod() * abs(dutyCycle) / 100.0;
+    if (newduty != pwmController.readDutyCycle())
+    {
+        pwmController.setDutyCycle(newduty);
+    }
+
+    // 根据 PID 输出设置 GPIO 的方向
+    if (dutyCycle > 0)
+    {
+        directionGPIO.setValue(1); // 正向
+    }
+    else
+    {
+        directionGPIO.setValue(0); // 反向
+    }
+    //std::cout << encoder.pulse_counter_update() << std::endl;
+}
+
+void MotorController::updateSpeed(void)
+{
+    double encoderReading = encoder.pulse_counter_update() * encoder_dir;
+    // std::cout << encoderReading << std::endl;
+    double output = pidController.update(encoderReading);
+    // int dutyCycle = static_cast<int>(output);
+
+    // 设置 PWM 占空比
+    updateduty(output);
+    std::cout << encoderReading << "  " << output << std::endl;
+}
+
+void MotorController::updateTarget(int speed)
+{
+    pidController.setTarget(speed);
+}