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#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);
}
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