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dsr
DSR algorithm for NS 2.34
- 2012-01-14 17:50:36下载
- 积分：1
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实现倒立摆,2013年电赛题目，代码简单耐看yicishnhe
实现倒立摆,2013年电赛题目，代码简单耐看(Implementing inverted pendulum)
- 2020-06-21 00:00:02下载
- 积分：1
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目标跟踪算法例子
Kernel-Based-Object-Tracking
============================
REQUIREMENTS:
+ OpenCV 2.2 or above (originally developed on OpenCV 2.3.1)
+ This a Visual Studio 2010 project with OpenCV 2.3.1 linked. To use on other platforms use only main.cpp with "conio" and "getch" removed.
This project is the C++ implementation of kernel based object tracking as discussed by Visvanathan Ramesh, Dorin Comaniciu & Peter Meer in their paper "Kernel-Based Object Tracking".
In this project the objects are represented by their color histograms weighted by isotropic kernel. Targets (or objects) are compared in subsequent frames to calculate Bhattacharya distance which is then used to move the tracked using mean shift.
Ceck out the result video - http://youtu.be/Ng8H-mjs62Y
- 2023-08-23 14:55:03下载
- 积分：1
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network_report
计算机网络的实验报告和源码,包含聊天软件的源玛(An experimental computer network reports and source code, including chat software source ma)
- 2009-01-03 16:51:44下载
- 积分：1
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车速引导算法1
实现车速引导的小程序，计算车速并提示驾驶员建议的引导车速已实现辅助驾驶的目的(A Small Program to Realize Speed Guidance)
- 2021-03-01 00:39:35下载
- 积分：1
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Source are in the Windows Server 2003 under the developed procedures to test the...
源程序都是在Windows Server 2003下开发的，程序测试环境为Windows Server 2003。用户只有在Windows Server 2003下正确配置程序所需的运行环境后，软件开发平台如下：
操作系统：Windows Server 2003；
数 据 库：SQL Server 2000、SQL Server 2005、Access 2003；
开发环境：Microsoft Visual Studio 2005；
分 辨 率：最佳效果1024×768；-Source are in the Windows Server 2003 under the developed procedures to test the environment for Windows Server 2003. Users only in Windows Server 2003 under the correct procedures needed to configure the operating environment, the software development platform are as follows: Operating System: Windows Server 2003 Database: SQL Server 2000, SQL Server 2005, Access 2003 development environment: Microsoft Visual Studio 2005 Resolution: best 1024 × 768
- 2022-10-11 23:15:03下载
- 积分：1
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featuremaiztain
说明： 本示例是制作个性化界面,利用资源制作多国语言切换,(This example is to create a personalized interface, using resources to create multi-language switching,)
- 2018-12-24 01:43:27下载
- 积分：1
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reactor
C network reactor modal.
use linux epoll.
callback notify event.
- 2013-11-28 12:18:34下载
- 积分：1
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CplSample
一个WinCE下的控制面板的例子.希望对想学习这方面的朋友有帮助.(A control panel under WinCE example. Want to want to learn in this regard to help friends.)
- 2008-01-28 15:47:35下载
- 积分：1
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步进电机位置速度双闭环串级调控
/**
******************************************************************************
******************************************************************************
*/
/* 包含头文件 ----------------------------------------------------------------*/
#include "stm32f1xx_hal.h"
#include "StepMotor/bsp_STEPMOTOR.h"
#include "usart/bsp_debug_usart.h"
#include "EncoderTIM/bsp_EncoderTIM.h"
#include
#include
/* 私有类型定义 --------------------------------------------------------------*/
typedef struct
{
__IO float SetPoint; // 目标值 单位:mm
__IO int LastError; // 前一次误差
__IO int PrevError; // 前两次误差
__IO long SumError; // 累计误差
__IO double Proportion; // Kp系数
__IO double Integral; // Ki系数
__IO double Derivative; // Kd系数
}PID;
/* 私有宏定义 ----------------------------------------------------------------*/
#define TXDCYCLE 1000 // 数据发送周期;单位：ms
#define SAMPLING 0x01 // 采样标记
#define TXD 0x02 // 发送数据标记
#define MAX_SPEED 200
#define abs(x) ((x)Proportion * iError) // E[k]项
-(ptr->Integral * ptr->LastError) // E[k-1]项
(ptr->Derivative * ptr->PrevError); // E[k-2]项
ptr->PrevError = ptr->LastError; // 存储误差，用于下次计算
ptr->LastError = iError;
return(iIncpid); // 返回增量值
}
/**
* 函数功能：PID参数初始化
* 输入参数：无
* 返 回 值：无
* 说 明：无
*/
void PID_Init()
{
sPID.Proportion = 0.01; //比例系数
sPID.Integral = 0; //积分系数
sPID.Derivative = 0; //微分系数
sPID.LastError = 0; //前一次的误差
sPID.PrevError = 0; //前两次的误差
sPID.SetPoint = 50; //目标值
sPID.SumError = 0; //累计误差
vPID.Proportion = 0.035; //比例系数
vPID.Integral = 0.005; //积分系数
vPID.Derivative = 0; //微分系数
vPID.LastError = 0; //前一次的误差
vPID.PrevError = 0; //前两次的误差
vPID.SetPoint = 7; //目标值
vPID.SumError = 0; //累计误差
}
/**
* 函数功能: 系统时钟配置
* 输入参数: 无
* 返 回 值: 无
* 说 明: 无
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct;
RCC_ClkInitTypeDef RCC_ClkInitStruct;
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE; // 外部晶振，8MHz
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9; // 9倍频，得到72MHz主时钟
HAL_RCC_OscConfig(&RCC_OscInitStruct);
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; // 系统时钟：72MHz
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; // AHB时钟：72MHz
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2; // APB1时钟：36MHz
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1; // APB2时钟：72MHz
HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2);
// HAL_RCC_GetHCLKFreq()/1000 1ms中断一次
// HAL_RCC_GetHCLKFreq()/100000 10us中断一次
// HAL_RCC_GetHCLKFreq()/1000000 1us中断一次
HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000); // 配置并启动系统滴答定时器
/* 系统滴答定时器时钟源 */
HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);
/* 系统滴答定时器中断优先级配置 */
HAL_NVIC_SetPriority(SysTick_IRQn, 1, 0);
}
/**
* 函数功能: 主函数.
* 输入参数: 无
* 返 回 值: 无
* 说 明: 无
*/
int main(void)
{
static float Dis_Exp_Val = 0; // PID计算出来的期望值
static float Vel_Exp_Val = 0; // PID计算出来的期望值
float Dis_Target = 0; // 目标位置所对应编码器脉冲值
float Vel_Target = 0; // 每单位采样周期内的脉冲数(频率)
uint16_t SUM_Pulse = 0; // 1秒内的总脉冲
int16_t MSF = 0; // 电机反馈速度
__IO int32_t CaptureNumber=0; // 输入捕获数
__IO int32_t Last_CaptureNumber=0;// 上一次捕获值
uint8_t aTxBuffer[SENDBUFF_SIZE]; // 串口DMA发送缓冲区
uint8_t Motion_Dir = 0; // 电机运动方向
/* 复位所有外设，初始化Flash接口和系统滴答定时器 */
HAL_Init();
/* 配置系统时钟 */
SystemClock_Config();
/* 调试串口初始化 */
MX_DEBUG_USART_Init();
/* 编码器定时器初始化并配置输入捕获功能 */
ENCODER_TIMx_Init();
/* 启动编码器接口 */
HAL_TIM_Encoder_Start(&htimx_Encoder, TIM_CHANNEL_ALL);
/* PID参数初始化*/
PID_Init();
Dis_Target = (sPID.SetPoint*PPM);//目标位置所对应编码器脉冲值
Vel_Target = (vPID.SetPoint*P_PERIOD);//每单位采样周期内的脉冲数(频率)
/* 步进电机定时器初始化*/
STEPMOTOR_TIMx_Init();
/* 首先禁止步进电机动作*/
STEPMOTOR_OUTPUT_DISABLE();
/* 启动定时器 */
HAL_TIM_Base_Start(&htimx_STEPMOTOR);
/* 启动比较输出并使能中断 */
HAL_TIM_OC_Start_IT(&htimx_STEPMOTOR,TIM_CHANNEL_1);
/* 无限循环 */
while (1)
{
//采样和控制周期为20ms
if(Time_Flag & SAMPLING)
{
//获得编码器的脉冲值
CaptureNumber = OverflowCount*65535 __HAL_TIM_GET_COUNTER(&htimx_Encoder);
//M法 测速度
MSF = CaptureNumber - Last_CaptureNumber;
Last_CaptureNumber = CaptureNumber;
MSF = abs(MSF);
//对速度进行累计,得到1s内的脉冲数
SUM_Pulse = MSF;
//位置环PID计算,根据计算结果判断电机运动方向
Dis_Exp_Val = IncPIDCalc(CaptureNumber,Dis_Target,&sPID);
Motion_Dir= Dis_Exp_Val= Vel_Target)
Dis_Exp_Val = Vel_Target;
Vel_Exp_Val = IncPIDCalc(MSF,Dis_Exp_Val,&vPID);
//当到达目标位置的时候,这时候已经电机非常慢了.为了减少超调,可以直接将速度环的输出清零
if(Vel_Exp_Val = TXDCYCLE) // 1s
{
Time_Flag |= TXD;
time_count = 0;
}
}
- 2021-10-18 00:30:55下载
- 积分：1
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