1 files changed, 99 insertions, 0 deletions
diff --git a/code/debug/motors/with-pid/with-pid.ino b/code/debug/motors/with-pid/with-pid.ino
new file mode 100644
index 0000000..ce8e811
--- /dev/null
+++ b/code/debug/motors/with-pid/with-pid.ino
@@ -0,0 +1,99 @@
+//motor: https://www.pololu.com/product/4861
+//motor driver: https://www.pololu.com/product/2997
+
+//Create the timers
+IntervalTimer pwm_timer;
+IntervalTimer enc_timer;
+
+//define the pins
+//If the motors are spinning incorectly, change pins not the drive function.
+int led = 13;
+
+int m1enA = 6;
+int m1enB = 5;
+int m1pwm1 = 4;
+int m1pwm2 = 3;
+int m1encoA = 32;
+int m1encoB = 31;
+
+int m3encoB = 23;
+
+//PWM variables
+int pwmacc = 100; //how accurate the PWM is, means you can enter value from 0 to the value of pwmacc
+int PWMval1 = 0;  //value of the PWM1, means you can enter value from 0 to the value of pwmacc
+
+//encoder variables
+const int refreshrate = 50; //refresh rate of the encoder
+volatile long oneENCcount = 0; //the amount of pulses from motor one encoder
+
+double ONErpm = 0.00; //the amount of revolutions motor one makes per minute
+
+
+
+void setup() {
+  pinMode(m1enA, OUTPUT);
+  pinMode(m1enB, OUTPUT);
+  pinMode(m1pwm1, OUTPUT);
+  pinMode(m1pwm2, OUTPUT);
+
+  pwm_timer.begin(updatePWM, refreshrate); //speed at wich PWM is updated PWM
+  enc_timer.begin(enc_refr, 50);  //refresh rate of the encoder
+
+  attachInterrupt(digitalPinToInterrupt(m1encoA), AoneIRS, CHANGE); //calls void AoneIRS if there is a change of the stare of m1encoA
+  attachInterrupt(digitalPinToInterrupt(m1encoB), BoneIRS, CHANGE); //ditto
+
+  Serial.begin(9600);
+  Serial.print("start");
+
+}
+
+void updatePWM() {
+  //PWM one
+  //if the entered valvue is less the zero set it to zero, because lower that zero is not posible
+  if (PWMval1 < 0) {
+    PWMval1 = 0;
+  }
+  //if the enterd value is higher than the maximum posible value, set it to max.
+  if (PWMval1 > pwmacc) {
+    PWMval1 = pwmacc;
+  }
+  //check if the counter has passed the PWM value, and turn of the motor based on that.
+  if (counter1 < PWMval1) {
+    digitalWrite(m1enA, HIGH);
+  } else {
+    digitalWrite(m1enA, LOW);
+  }
+  counter1++;
+
+  if (counter1 >= pwmacc) {
+    counter1 = 0;
+  }
+}
+
+void AoneIRS(){
+  oneENCcount++ //adds one to the count
+}
+void BoneIRS(){
+  oneENCcount++ //dieselbe
+}
+
+void enc_refr(){
+  //calculate RPM. It gets updated 48 times per rotation.
+  ONErpm = (oneENCcount/48.00) * (60000000.00 / refreshrate)
+  //reset the counting to zero for next cycle.
+  oneENCcount = 0;
+}
+void PID(int speed){
+  Serial.println(ONErpm);
+  PWMval1 = ; //enter output from PID algorith here
+  digitalWrite(m1enB, LOW);
+  digitalWrite(m1pwm1, HIGH);
+  digitalWrite(m1pwm2, LOW);
+}
+
+//the loop routine runs over and over again forever:
+void loop() {
+  drive(50); //speed value between 0-100
+  Serial.println("Motor one is at: "+ ONErpm + " RPM.");
+  delay(50);
+}