1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
|
#include <TimerThree.h>
#include "ArduPID.h"
ArduPID myController;
double input;
double output;
double setpoint = 950; // Desired RPM
double p = 40; // PID P-term
double i = 2; // PID I-term
double d = 0; // PID D-term
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
myController.begin(&input, &output, &setpoint, p, i, d);
myController.setOutputLimits(0, 1000); // Output limits for PWM control
myController.setBias(500); // Starting bias for PWM
myController.setWindUpLimits(-50, 50);
myController.start();
}
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() {
readenc();
input = rpm;
myController.compute();
myController.debug(&Serial, "myController", PRINT_INPUT);
move(output); // Replace with plant control signal
delay(100);
}
|
