update

1 files changed, 112 insertions, 0 deletions

diff --git a/CODE/debug/prewk/motordriver/PID/PID.ino b/CODE/debug/prewk/motordriver/PID/PID.ino
new file mode 100644
index 0000000..c7f351a
--- /dev/null
+++ b/CODE/debug/prewk/motordriver/PID/PID.ino
@@ -0,0 +1,112 @@
+#include <TimerThree.h>
+#include <QuickPID.h>
+
+
+//https://www.pololu.com/product/2997
+//https://www.pololu.com/product/4861
+
+
+float Setpoint, Input, Output;
+float Kp = 2, Ki = 5, Kd = 1;
+QuickPID myPID(&Input, &Output, &Setpoint);
+
+
+int enA = 1;  // PWM pin
+int enB = 2;  // GND
+int pwm1 = 3; // Motor control pin 1
+int pwm2 = 4; // Motor control pin 2
+int encoA = 5; // Encoder pin A
+int encoB = 6; // Encoder pin B
+
+double sp = 0.00;
+double rpm = 0.00;
+volatile long encount = 0;
+unsigned long Ltime = 0;
+unsigned long Ctime = 0;
+unsigned long Ptime = 0;
+
+volatile int PWMval = 0;   // PWM value 0-1000
+
+void setup() {
+  pinMode(enA, OUTPUT);
+  pinMode(enB, OUTPUT);
+  pinMode(pwm1, OUTPUT);
+  pinMode(pwm2, OUTPUT);
+
+  pinMode(encoA, INPUT_PULLUP);
+  pinMode(encoB, INPUT_PULLUP);
+
+  attachInterrupt(digitalPinToInterrupt(encoA), encoderISR, CHANGE);
+  attachInterrupt(digitalPinToInterrupt(encoB), encoderISR, CHANGE);
+
+  Timer3.initialize(800); // 800 microseconds or 1.25kHz
+  Timer3.attachInterrupt(updatePWM); 
+
+  Serial.begin(9600);
+
+  // PID settings
+  Input = rpm;
+  Setpoint = 500;
+  myPID.SetTunings(Kp, Ki, Kd);
+  myPID.SetMode(myPID.Control::automatic);
+}
+
+void updatePWM() {
+  static int counter = 0;
+
+  if (counter < PWMval) {
+    digitalWrite(enA, HIGH);
+  } else {
+    digitalWrite(enA, LOW);
+  }
+
+  counter++;
+  if (counter >= 1000) {
+    counter = 0;
+  }
+}
+
+void mcpsoftpwm(int value) {
+  if (value < 0) value = 0;
+  if (value > 1000) value = 1000;
+
+  PWMval = value; 
+}
+
+void encoderISR() {
+  encount++;
+}
+
+void readenc() {
+  Ctime = micros();
+  Ptime = Ctime - Ltime;
+  Ltime = Ctime;
+  rpm = (encount / 211.2) * (60000000.0 / Ptime); // Adjust the encoder counts per revolution here if necessary
+  encount = 0;
+}
+
+void resetenc() {
+  Ctime = micros();
+  Ltime = Ctime;
+  encount = 0;
+}
+
+void move(int sped) {
+  sp = abs(sped) * 0.1;
+  mcpsoftpwm(sp);
+  digitalWrite(enB, LOW);
+  if (sped < 0) {
+    digitalWrite(pwm1, LOW);
+    digitalWrite(pwm2, HIGH);
+  } else {
+    digitalWrite(pwm1, HIGH);
+    digitalWrite(pwm2, LOW);
+  }
+}
+
+void loop() {
+  Input = rpm;
+  myPID.Compute();
+  move(Output);
+  
+}