根据arduino代码的编码器四倍频模式修改base_controller.py代码中编码器计数获取参数直接为1320个

src/ros_arduino_bridge/ros_arduino_python/cfg/my_arduino_params.yaml

@@ -28,10 +28,10 @@ base_frame: base_footprint
 odom_name: odom
 
 # Robot drivetrain parameters
-wheel_diameter: 0.067   #车轮的直径
+wheel_diameter: 0.067 #车轮的直径
 wheel_track: 0.17     #两个车轮之间距离
-encoder_resolution: 11  #12V DC motors
-gear_reduction: 30      #空载转速330rpm电机的减速比
+motor_encoder_cnt: 1320  #电机的减速比30,CHANGE触发模式,两路编码器输出中断计数
+motor_accel_limit: 0.1   #配置电机转动时脉冲加速度值
 linear_scale_correction: 1.00
 angular_scale_correction: 1.00
 
@@ -51,8 +51,6 @@ speed_ki: 0.01     #速度环的ki参数,一般情况ki=kp/200
 # PID parameters
 debugPID: False
 
-accel_limit: 0.1
-
 AWheel_Kp: 18
 AWheel_Kd: 18
 AWheel_Ki: 0

src/ros_arduino_bridge/ros_arduino_python/src/ros_arduino_python/base_controller.py

@@ -9,6 +9,8 @@
     20200704:当超过给下位机发送控制移动命令时间后,不需要再发送pwm控制0的命令.
         因为在arduino代码会根据超时自己会执行pwm清零停止电机移动的命令.
     20210913:为增加两轮平衡车模式优化代码.
+    20220927:将电机编码器计数的参数获取改为一个参数motor_encoder_cnt,直接为
+      CHANGE模式四倍频的总计数1320个,不使用减速比和编码器分辨率参数.
 """
 import os,rospy,roslib
 import dynamic_reconfigure.client
@@ -35,10 +37,6 @@ class BaseController:
         self.debugPID   = rospy.get_param('/dynamic_tutorials/debugPID', False)
 
         pid_params = dict()
-        pid_params['wheel_diameter']     = rospy.get_param("~wheel_diameter", 0.067)
-        pid_params['wheel_track']        = rospy.get_param("~wheel_track", 0.126)
-        pid_params['encoder_resolution'] = rospy.get_param("~encoder_resolution", 11)
-        pid_params['gear_reduction']     = rospy.get_param("~gear_reduction", 30)
         pid_params['AWheel_Kp'] = rospy.get_param("~AWheel_Kp", 18)
         pid_params['AWheel_Kd'] = rospy.get_param("~AWheel_Kd", 18)
         pid_params['AWheel_Ki'] = rospy.get_param("~AWheel_Ki", 0)
@@ -49,19 +47,25 @@ class BaseController:
         pid_params['BWheel_Ki'] = rospy.get_param("~BWheel_Ki", 0)
         pid_params['BWheel_Ko'] = rospy.get_param("~BWheel_Ko", 10)
 
-        self.accel_limit  = rospy.get_param('~accel_limit', 0.1)
         self.linear_scale_correction  = rospy.get_param("~linear_scale_correction",  1.0)
         self.angular_scale_correction = rospy.get_param("~angular_scale_correction", 1.0)
 
+        #获取两轮子之间距离的配置参数,影响小车的转动角速度大小
+        self.wheel_track = rospy.get_param("~wheel_track", 0.126)
+        self.wheel_track = self.wheel_track/self.angular_scale_correction
+
         #配置电机pid参数
-        self.setup_pid(pid_params)
+        self.setup_motor_pid(pid_params)
 
         #配置电机每米有多少个脉冲数
-        self.ticks_per_meter = self.encoder_resolution*self.gear_reduction*2/(self.wheel_diameter*pi)
-        self.ticks_per_meter = self.ticks_per_meter/self.linear_scale_correction
+        self.motor_encoder_cnt = rospy.get_param("~motor_encoder_cnt", 1320)
+        self.wheel_diameter    = rospy.get_param("~wheel_diameter", 0.067)
+        self.ticks_per_meter   = self.motor_encoder_cnt/(self.wheel_diameter*pi)
+        self.ticks_per_meter   = self.ticks_per_meter/self.linear_scale_correction
 
         #设置电机的加速度最大值
-        self.max_accel = self.accel_limit*self.ticks_per_meter
+        self.accel_limit = rospy.get_param('~motor_accel_limit', 0.1)
+        self.max_accel   = self.accel_limit*self.ticks_per_meter
 
         now = rospy.Time.now()
         self.old_time = now  # time for determining dx/dy
@@ -108,9 +112,7 @@ class BaseController:
             self.AVelPub     = rospy.Publisher('Avel',     Int32, queue_size=5)
             self.BVelPub     = rospy.Publisher('Bvel',     Int32, queue_size=5)
 
-        rospy.loginfo("Started base controller of " + str(self.wheel_track) + "m with " + str(self.encoder_resolution) + " ticks per rev")
-
-    def setup_pid(self, pid_params):
+    def setup_motor_pid(self, pid_params):
         # Check to see if any PID parameters are missing
         missing_params = False
         for param in pid_params:
@@ -121,12 +123,6 @@ class BaseController:
         if missing_params:
             os._exit(1)
 
-        self.encoder_resolution = pid_params['encoder_resolution']
-        self.gear_reduction = pid_params['gear_reduction']
-        self.wheel_diameter = pid_params['wheel_diameter']
-        self.wheel_track    = pid_params['wheel_track']
-        self.wheel_track    = self.wheel_track/self.angular_scale_correction
-
         self.AWheel_Kp = pid_params['AWheel_Kp']
         self.AWheel_Kd = pid_params['AWheel_Kd']
         self.AWheel_Ki = pid_params['AWheel_Ki']
@@ -238,7 +234,6 @@ class BaseController:
         va = dist_A/dt
         vb = dist_B/dt
 
-
         #正向运动学模型,计算里程计模型
         vx  = (va + vb)/2.0
         vth = (va - vb)/(self.wheel_track)