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我设计了一个带有拖曳马达的皮艇，并通过操纵杆驱动（我是一个四肢瘫痪的人，仍然想要皮划艇）。目前我的代码被设置为获得操纵杆位置的x/y值，然后相对于x值转动马达（只有90到90度），并调整螺旋桨的动力。操纵杆的Y值。X和Y电压在中性点为2.5V，Y轴为0.5V～4.5V最大值（YES，max为0.5V），0.5V～4.5V min至X轴最大值。当我做一个完整的左或右转弯时，X值是最小或最大电压，但Y值总是2.5V，因为操纵杆以Y方向为中心，X轴极值中的螺旋桨功率很小。螺旋桨的动力设置为5个前进挡和3个RE。诗齿轮。因此，我的控制循环读取操纵杆x/y值，然后通过9个I/IF I/OR语句来决定我在哪个档位（FWD5-RV3）。FWD5＆L.1.1V1.2V & lt；FWD4＆G.1.4V1.5 V & lt；FWD3＆Gt；1.71.8V & lt；FWD2＆Gt；2.0V2.1V＆L.FWD1＆G.2.3V2.4V＆L.；中性& gt；2.7V2.8V & lt；Rev1＆Gt；3.23.3V & lt；Rev2& gt；3.65 V3.7V＆lt；Rev3My问题是如何适当地合并X轴值。下面是环（齿轮/Y电压带）
以上来自于百度翻译 以下为原文 I designed a kayak with a trolling motor and driven via a joystick (I'm a quadriplegic and still want to kayak). Currently my code is setup to get the x/y values of the joystick position then turn the motor (only -90 to +90 degrees) relative to the x value and adjust the propeller power relative to the y value of the joystick. The x and y voltages are 2.5V in neutral and from 0.5V - 4.5V max to min of y axis (yes, max is 0.5V) and 0.5V - 4.5V min to max of the x axis. The first trial my simple algorithm has a rudimentary issue. When I'm making a full left or right turn the x value is either the min or max voltages BUT the y value is always the 2.5V since the joystick is centered in the y direction and I have little propeller power in the x axis extremes. The power to the propeller is set up to have 5 forward gears and 3 reverse gears. So my control loop reads the joystick x/y values then goes through a 9 if/else if/else statements to decide what gear (FWD5 - REV3) I'm in. Below is the loop (gear/y voltage band): FWD5 < 1.1V 1.2V < FWD4 > 1.4V 1.5V < FWD3 > 1.7 1.8V < FWD2 > 2.0V 2.1V < FWD1 > 2.3V 2.4V < NEUTRAL > 2.7V 2.8V < REV1 > 3.2 3.3V < REV2 >3.65V 3.7V < REV3 My question is how to properly incorporate the x axis value? 
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19个回答
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使X轴90°*（（X电压- 2.5 V）/ 2 V）（最终（2.5伏-X电压）-取决于锅是如何附着的）这样，您将获得最大分辨率。如果您希望获得更粗的角分辨率，bin差分电压（-2）。+2 V）进入你想要的波段。
以上来自于百度翻译 以下为原文 Make the x-axis 90 ° * ((x-voltage - 2.5 V)/ 2 V) (eventually (2.5 V - x-voltage) - depending on how the pot is attached) This way you'll get maximum resolution. If you desire to get a coarser angular resolution, bin the differential voltage (-2 .. +2 V) into as many bands as you desire. |
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我已经这么做了。转向效果良好。我的问题是如何将推进力（现在仅是Y的函数）包含X值（如果全转Y值为2.5V＝中性=没有动力到螺旋桨=没有转弯）。
以上来自于百度翻译 以下为原文 I already do that. The steering works fine. My question is how to incorporate the propulsion (now ONLY a function of y) to include the x value (if full turn the y value is 2.5v = NEUTRAL = no power to propeller = no turn) |
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你似乎有一个操纵杆的机械问题。正如你所说的，如果你一路向左或向右走，那么你就没有上下运动。你需要找到一个替代的操纵杆，它可以同时选择MI/max X和MI/Max Y，或者减少你的选择范围。O只移动半路左或右足以得到充分的转向，类似的一半向上或向下给最大功率，所以你可以得到两个极端时，它被移动到45度角。
以上来自于百度翻译 以下为原文 It seems you have a mechanical problem with the joystick. As you say, if you go all the way left or right, then you have no movement up or down. You either need to find an alternative joystick which does allow simultaneous selection of min/max X with min/max Y, or reduce the range of your selections so only moving halfway left or right is enough to get full steering, and similarly half up or down give max power, so you can get both extremes when it's moved to a 45 degree corner. |
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这并没有产生不同的建议：从某个RC单元中得到一个X-Y棒。那些设计用于操作电梯/副翼的人没有这样的限制。只要你能操作这样的“棒”，这样的解决方案将提供优越的控制。见下面的链接给我一个印象，我所说的：HTTPS://www. EBay.DE/ITM/2254243942。
以上来自于百度翻译 以下为原文 That didn't transpire ☺ Different suggestion: get one of the x-y sticks from some RC unit. Those designed to operate elevator/aileron have no such limitations. Provided you can operate such a "stick", such a solution would provide superior control. See the following link to get an impression what I'm talking about: https://www.ebay.de/itm/232542334942 |
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操纵杆在所有方向上都具有充分的流动性。这是同一个操纵杆在大多数轮椅上使用。当我把操纵杆向右或向左45度时，转弯是很好的。想想一辆带有标准马达的汽艇。控制船有两种方法。方向盘控制方向，节流杆控制电机的动力。该船可以选择将马达转动90度并增加动力。操纵杆操作的轮椅在一个操纵杆上都有功能。有可能握住操纵杆完全向左或向右旋转（一个轮子或另一个轮子的动力），然后用一个操纵杆完成。我试图想出一个好的代码，并把动力施加到螺旋桨上，因为X值很大，Y值接近NeATEST代码的中心（2.5V）。
以上来自于百度翻译 以下为原文 The joystick has full mobility in all directions. It is the same joystick used on most wheelchairs. Turning is fine when I point the joystick 45 degrees right or left. Think of a motor boat with a standard motor. There are two methods to control the boat. The steering wheel controls direction and the throttle stick controls power to the motor. The boat has the option of turning the motor full 90 degrees AND add power. A joystick operated wheelchair has both functions in one joystick. It is possible to hold the joystick full left or right to spin in place (power to one wheel or the other ~ not both) and all done with one joystick. I'm trying to come up with good code and apply power to the propeller if the x magnitude is large with the y value is near the center (2.5V) with the neatest code. |
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所以你不想独立控制转向角和动力？如果你想要的力量仅仅取决于你离中心有多远，那么用距离＝SqRT（x^ 2 +y^ 2）计算距离“偏离中心”。
以上来自于百度翻译 以下为原文 So you do NOT want independent control of steering angle and power? If you want power to just depend upon how far you are "off centre", then calculate the distance "off centre" with distance = SQRT(X^2 + Y^2) |
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如果X处于最小值或最大值，您想要“重写”y值吗？可以做到。唯一的问题是：你想分配哪个值？
以上来自于百度翻译 以下为原文 You want to "override" the y-value if x is at min or max? Could be done. The only question: which value would you like to assign? |
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我认为QHB用Prime= SqRT（x^ 2＋y^ 2）击中它，但我猜测伯格斯的代码下降了。以同样的方式，除法可以乘法和移位，有一种光滑的平方根方法（x2+y2）吗？
以上来自于百度翻译 以下为原文 I think qhb hit on it with power = SQRT(X^2 + Y^2) but I'm guessing SQRT boggs down the code. In the same manner division can be done by multiply and shift is there a sleek way to square root (x2 + y2)? |
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需要更新多少次每秒的数字？如果一秒钟只有十次，我就不会担心做一次SRRT的时间了。
以上来自于百度翻译 以下为原文 How many times per second do you need to update the figure? If it's only ten times a second, I wouldn't be worried about the time to do a SQRT. |
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阅读你的描述：当棒在停止后移动0到360°时，几何图形是什么？一个圆圈？RC操纵杆会给你一个正方形。对于轮椅来说，这个循环限制是有意义的：你不会进入一个紧凑的曲线全速迎头。而且你不会以最大前进速度或向后速度来驱动曲线。也有意义的方向和速度转向覆盖：两者都实现了2轮电机。你想实现与皮艇似乎是不同的。在这里，这个循环限制是不合适的。你更想要方形，最终你可以把限制装置（通常只是一些带有圆孔的薄片）移走。或“MODED”（方孔）。
以上来自于百度翻译 以下为原文 @ Rob re-reading your description: what is the geometrical form when the stick is moved 0 - 360 ° following the stops? A circle? The RC joystick would give you a square. For a wheelchair this circular limitation would make sense: you won't go into a tight curve full-speed head-on. And you won't drive curves at max forward or backward speed. Also makes sense as directional and speed steering overlay: both are realized by the 2 wheel motors. What you want to achieve with the kayak seems to be different. Here this circular limitation is not appropriate. You would rather want the square. Eventually you can get the limiting device (usually just some sheet with a circular hole) removed. Or "modded" (square hole). |
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需要更新多少次每秒的数字？如果它只有十秒一秒，我就不会担心做一个SqRT的时间了。“慢”取决于你需要多快。
以上来自于百度翻译 以下为原文 How many times per second do you need to update the figure? If it's only ten times a second, I wouldn't be worried about the time to do a SQRT. Yep, "slow" depends upon how fast you need to be! |
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这是一个需要回答的基本问题。当我读到这个问题时，我首先想到的是“我打赌操纵杆被限制在一个圆圈中移动”，我期待着从原始海报上看到答案。
以上来自于百度翻译 以下为原文 THIS is the fundamental question that needs to be answered. The very first thing I thought when I read the problem was "I bet the joystick is constrained to move in a circle". I look forward to reading the answer from the original poster. |
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这是一个需要回答的基本问题。当我读到这个问题的时候，我首先想到的是：“我打赌操纵杆被限制在一个圆圈中移动”。我期待着从原始海报上看到答案。他在帖子后面回答：显然，操纵杆不是问题。他可以把它上下移动到一边，但是他想把力量推到一边。
以上来自于百度翻译 以下为原文 THIS is the fundamental question that needs to be answered. The very first thing I thought when I read the problem was "I bet the joystick is constrained to move in a circle". I look forward to reading the answer from the original poster. He answered it in post#6. Apparently the joystick is not the problem. He CAN move it up and down when it's all the way to the side, but he wants to have power just pushing it to the side. |
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@ QHBHE的声明，他“只有”获得中型Y值时，在极端的X壶！这将符合一个循环极限。（我期望类似的行为为Y-POT极端。但我怀疑这是在“正常”操作下检测到的：当快速前进时，你不会想要皮艇窄转弯。但是当Rob回来的时候，我们会知道…
以上来自于百度翻译 以下为原文 @ qhb He's stating that he "only" gets mid-scale y values when having the x-pot at the extremes! This would fit a circular limit. (I expect a similar behavior for the y-pot extremes. But I doubt this is detected under "normal" operation: when going fast, you won't want to kayak narrow turns. But we'll learn about that when Rob comes back... |
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是的，你是正确的。这里是链接到操纵杆数据表（我有30代码，它是一个全循环操纵杆）：HTTP://www-CW-StulalGal.com /GATAtutCHunt/A6BB9DB0-F4B-47 C98E9D E893169469F/JC2000 BROCHURE X和Y电压范围是1V -4V线性，具有5 V电源。所以当我把操纵杆向前推进时，y＝1V，x= 2.5V（x为中心）。如果我稍微向左转动，x值就会下降，y值增加。全反转，Y值为4V，X为2.5V。在全左转时，X值为1V，Y为2.5V（Y轴为中心）。全右转x= 4V和y= 2.5V。
以上来自于百度翻译 以下为原文 Yes du0000001, you are correct. Here is the link to the joystick datasheet(I have the 30 code and it's a full circular joystick.): http://www.cw-industrialgroup.com/getattachment/a6bb9db0-f4be-47c9-8e9d-e8931694969f/jc2000_brochure the x and y voltage range are 1v - 4v linear with a 5 v supply. So when I push the joystick full forward y = 1v and x = 2.5v (x is centered). If i turn slightly left the x value drops as and the y value increases. Full reverse, the y value is 4v and the x is 2.5v. In a full left turn the x value is 1v and y is 2.5v (the y axis is centered). A full right turn x = 4v and y = 2.5v. |
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好的，我们很清楚地知道，我不知道你能操纵操纵杆有多明智，但是我推荐40的变型（0.5）。4.5 V用于改进的信号采集）加上S（QUARE）风格：虽然很容易实现限制（例如，在高速宽曲线，只有窄的曲线以降低的速度），“另一种方式”总是会有缺点。（“SqRT（X* 2＋Y 2）”方法将导致高的窄曲线。一个暂时的解决办法只能用70。80%的旅行可用（导致一个“减少广场”），这将需要一个更明智的处理棒。但从长远来看，一个“原生”方块（最终加上一些极限的极限）会给你一个更好的体验。所以忘记RC操纵杆的建议，得到一个“真实的”。BTW：我检查了这一个：这不是一个便宜货，但是我可以在本地买到一个。判定元件。
以上来自于百度翻译 以下为原文 OK, we cinally found out ☺ I don't know how sensible you can handle the joystick, but I would recommend the -40 variant (0.5 .. 4.5 V for improved signal acquisition) plus the S(quare) style: while it is easy to implement limitations (e.g. wider curves at high speed, narrow curves only with reduced speed), "the other way round" will always bear drawbacks. (The "sqrt(xˆ2 + yˆ2)" approach will result in narrow curves at high speed.) A teporary workaround could be to use only 70 .. 80 % of the travel available (resulting in a "reduced square"), which will require a more sensible handling of the stick. But in the long term, a "native" square stick (eventually plus some limiting at the extreme ends) will give a significantly better experience. So forget about the RC joystick suggestion and get the "real one" |
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我已经有了1个…4.0V圆形操纵杆，是的，SqRT（X2+Y2）将给我最大的推进45度的转弯，而不是向前直线前进。拖曳电机有4条电力线到绕组。黑色，白色，红色和黄色。它有5个前进挡和3个倒车。使用功率继电器的功率图是（用12V和GND从电池）：FWD1 GND为黑色，12V到WEWFWD2 GND为黑色，12V到白色，红色到黄色FWD3 GND为黑色，12V至黄色，白色WEFWD4 GND为黑色，12V至黄色，红色为白色FEWWD5 GND为黑色，12V至白色，红色。和黄色中性GND开放和12V OpenRev1 GND到白色和12V到BlutReV2 GND到黄色和白色，12V到BlaveRe3GND到白色、黄色和红色和12V到黑色，现在我将5个前进齿轮断开为以下电压带：中性2.4V和lt；2.7VFWD1 2.1V和lt；y和lt；2.3FWD2 1。8V和lt；2.0VFWD3 1.5V & lt；y和lt；1.7VFWD4 1.2V & lt；1.4VFWD5 1.1V & lt；yRev2.2.8V& lt；y& lt；3.2VRv2.3.3V& lt；y& lt；3.65 VRev3 3.7 & lt；Yi为y＝中性，I将在x方向上进行相同的故障（如果I/ESLE在IF Y＝中性语句下进行I/EL）。我从轮椅供应商那里得到新的操纵杆
以上来自于百度翻译 以下为原文 I already have the 1.0 .. 4.0v round joystick and yes, the sqrt(x2 + y2) will give me max propulsion at 45 degree turns and less going straight forward. The trolling motor has 4 power wires to the winding. Black, white, red and yellow. It has 5 forward gears and 3 reverse. Using power relays the power diagram is (with 12V and GND from the battery): FWD1 GND to black and 12V to white FWD2 GND to black and 12V to white and red to yellow FWD3 GND to black and 12V to yellow and white FWD4 GND to black and 12V to yellow and red to white FWD5 GND to black and 12V to white, red and yellow NEUTRAL GND open and 12V open REV1 GND to white and 12V to black REV2 GND to yellow and white and 12V to black REV3 GND to white, yellow and red and 12V to black Currently I break the 5 forward gears into the following voltage bands: NEUTRAL 2.4v < Y < 2.7v FWD1 2.1V < y < 2.3 FWD2 1.8V < y < 2.0V FWD3 1.5V < y < 1.7V FWD4 1.2V < y < 1.4V FWD5 1.1V < y REV1 2.8V < y < 3.2V REV2 3.3V < Y < 3.65V REV3 3.7 < y I'm thinking for the y = NEUTRAL I will do the same breakdowns in the x direction (so do an if/esle if/else under the if y = NEUTRAL statement. I get used (new condition) joysticks from my wheelchair provider |
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你也可以为X实现一些“死区”——以解决问题为代价。（我记得你的布线方案——我们很久以前就讨论过了）如果你能得到一个“S”型，5HIS肯定会有帮助。BTW：转向是如何实现的？某种类型的“伺服”？
以上来自于百度翻译 以下为原文 You can implement some "dead zone" for x as well - at the expense of resolution. (I recall your wiring scheme - we had a discussion about that long ago ☺) If you can get an "S" type, 5his would certainly help. BTW: how is the steering implemented? Some type of "servo"? |
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