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|
#include <PID_v2.h>
#include <EEPROM.h>
// Type of Motordriver as is, with just an PWM Interface = true
// DRV8803
#define PWMCONTROL 1
#define PWMMIN 65 // minimum value for PWM to turn the motor
#define PWMMAX 200 // maximum value for PWM
#define EEPIDADDR 1 // Adress for saved PID Values
// Connect to Hall Sensor PCB
#define encoder0PinA 2 // PA6
#define encoder0PinB 3 // PA7
#if PWMCONTROL
#define MotorIN1 0 // PA4
#define MotorIN2 1 // PA5
#else
#define MotorDIR 0 // PA4
#define MotorPWM 1 // PA5
#endif
//from ramps 1.4 stepper driver
#define STEP_PIN 12 // PC2
#define DIR_PIN 11 // PC1
#define EnableLED 15 // PB6
volatile long encoder0Pos = 0;
long GetSteps = 0;
// PID default values
struct MyObject {
double kp;
double ki;
double kd;
};
MyObject PIDvals = {
7.00, 0.04, 0.20 // defaut values for PID
};
double input = 0, output = 0, setpoint = 0, error = 0;
PID myPID(&input, &output, &setpoint, PIDvals.kp, PIDvals.ki, PIDvals.kd, DIRECT);
long LastInterval = 0;
long previousMillis = 0; // will store last time LED was updated
bool dir = false;
// ---------------------- SETUP -----------------------
void setup() {
Serial.begin(9600);
pinMode(EnableLED, OUTPUT);
digitalWrite (EnableLED, HIGH);
// get Saved (EEPROM) or default PID Values
MyObject PIDv;
EEPROM.get(EEPIDADDR, PIDv);
if(not (PIDv.kp > 0.01)){
PIDv = {
PIDvals.kp, PIDvals.ki, PIDvals.kd // defaut values
};
}
myPID.SetTunings(PIDv.kp, PIDv.ki, PIDv.kd);
Serial.println("Saved (EEPROM) or default PID Values:");
Serial.println(PIDv.kp);
Serial.println(PIDv.ki);
Serial.println(PIDv.kd);
// Set Pins
pinMode(encoder0PinA, INPUT);
pinMode(encoder0PinB, INPUT);
#if PWMCONTROL
pinMode(MotorIN1, OUTPUT);
pinMode(MotorIN2, OUTPUT);
#else
pinMode(MotorDIR, OUTPUT);
pinMode(MotorPWM, OUTPUT);
#endif
//motor control Pins
pinMode(STEP_PIN, INPUT_PULLUP);
pinMode(DIR_PIN, INPUT);
// Interupts for position and target steps
attachInterrupt(digitalPinToInterrupt(encoder0PinA), doEncoderMotor0, CHANGE); // encoderA pin on interrupt
attachInterrupt(digitalPinToInterrupt(STEP_PIN), countStep, RISING); // interrupt to count steppules
myPID.SetMode(AUTOMATIC); //set PID in Auto mode
myPID.SetSampleTime(2); // refresh rate of PID controller
myPID.SetOutputLimits(-255, 255); // this is the MAX PWM value to move motor
Serial.println("start");
Serial.println("Position ToPosition MotorPWM RealPWM");
delay(2000);
digitalWrite (EnableLED, LOW);
}
// ---------------------- LOOP -----------------------
void loop(){
byte n = Serial.available();
if (n != 0) {
MyObject PIDv;
PIDv.kp = Serial.parseFloat();
PIDv.ki = Serial.parseFloat();
PIDv.kd = Serial.parseFloat();
// write only PID values in eeprom if not rubbish
if( PIDv.kp > 0.00 && PIDv.ki > 0.00 && PIDv.kd > 0.00){
MyObject PIDvals = {
PIDv.kp, PIDv.ki, PIDv.kd // defaut values
};
Serial.println("Input PID values saved in eeprom:");
EEPROM.put(EEPIDADDR, PIDvals);
myPID.SetTunings(PIDv.kp, PIDv.ki, PIDv.kd);
}
// control PID values
Serial.println(PIDv.kp);
Serial.println(PIDv.ki);
Serial.println(PIDv.kd);
}
setpoint = GetSteps; // setpoint to Steps get from controller
input = encoder0Pos; // real Position
error = abs(setpoint - input);
myPID.Compute(); // compute correct value
int realpwm=0;
if(error){
realpwm = pwmOut(output); // get PWM Value from PID calculated
}
else {
realpwm = pwmOut(0); // break
}
// Diganostic via serialplotter from arduino ide
// Serial.println("Position ToPosition MotorPWM DIR");
if(millis() - LastInterval > (abs(error) > 10 ? 100 : 1000)){
if(output < PWMMIN){
digitalWrite (EnableLED, HIGH); // signal that mcu is running
}
Serial.print(input);
Serial.print(" ");
Serial.print(setpoint);
Serial.print(" ");
Serial.print(output);
Serial.print(" ");
Serial.print(realpwm);
Serial.println("");
if(output < PWMMIN){
digitalWrite (EnableLED, LOW);
}
LastInterval=millis();
}
}
// ---------------------- SUBS -----------------------
#if PWMCONTROL
int pwmOut(int out) {
int pwm = 0;
if (out > 0) {
// forward
pwm = map(out, 0, 255, PWMMIN, PWMMAX );
analogWrite ( MotorIN1, pwm );
digitalWrite ( MotorIN2, LOW );
}
else if (out < 0) {
// reverse
pwm = map(abs(out), 0, 255, PWMMIN, PWMMAX );
digitalWrite ( MotorIN1, LOW ); // if REV < encoderValue motor move in reverse direction.
analogWrite ( MotorIN2, pwm );
}
else {
// break
digitalWrite ( MotorIN1, LOW );
digitalWrite ( MotorIN2, LOW );
}
return pwm;
}
#else
void pwmOut(int out) {
if (out > 0) {
analogWrite( MotorPWM, out );
digitalWrite ( MotorDIR ,LOW );
}
else {
analogWrite( MotorPWM, abs(out) );
digitalWrite ( MotorDIR, HIGH ); // if REV < encoderValue motor move in reverse direction.
}
}
#endif
void doEncoderMotor0(){
if (digitalRead(encoder0PinA) == HIGH) { // found a low-to-high on channel A
if (digitalRead(encoder0PinB) == LOW) { // check channel B to see which way
// encoder is turning
encoder0Pos = encoder0Pos - 1; // CCW
}
else {
encoder0Pos = encoder0Pos + 1; // CW
}
}
else // found a high-to-low on channel A
{
if (digitalRead(encoder0PinB) == LOW) { // check channel B to see which way
// encoder is turning
encoder0Pos = encoder0Pos + 1; // CW
}
else {
encoder0Pos = encoder0Pos - 1; // CCW
}
}
}
void countStep(){
dir = digitalRead(DIR_PIN);
if(dir == HIGH){
GetSteps++;
}
else{
GetSteps--;
}
} |
