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Ajout suite code Arduino moteur DC

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Vincent MERIL 10 years ago
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commit 3b2c0b8751
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161
Moteur DC/Arduino-PID-AutoTune-Library/PID_AutoTune_v0/AutoTune_Example.pde
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#include <PID_v1.h>
#include <PID_AutoTune_v0.h>
byte ATuneModeRemember=2;
double input=80, output=50, setpoint=180;
double kp=2,ki=0.5,kd=2;
double kpmodel=1.5, taup=100, theta[50];
double outputStart=5;
double aTuneStep=50, aTuneNoise=1, aTuneStartValue=100;
unsigned int aTuneLookBack=20;
boolean tuning = false;
unsigned long modelTime, serialTime;
PID myPID(&input, &output, &setpoint,kp,ki,kd, DIRECT);
PID_ATune aTune(&input, &output);
//set to false to connect to the real world
boolean useSimulation = true;
void setup()
{
if(useSimulation)
{
for(byte i=0;i<50;i++)
{
theta[i]=outputStart;
}
modelTime = 0;
}
//Setup the pid
myPID.SetMode(AUTOMATIC);
if(tuning)
{
tuning=false;
changeAutoTune();
tuning=true;
}
serialTime = 0;
Serial.begin(9600);
}
void loop()
{
unsigned long now = millis();
if(!useSimulation)
{ //pull the input in from the real world
input = analogRead(0);
}
if(tuning)
{
byte val = (aTune.Runtime());
if (val!=0)
{
tuning = false;
}
if(!tuning)
{ //we're done, set the tuning parameters
kp = aTune.GetKp();
ki = aTune.GetKi();
kd = aTune.GetKd();
myPID.SetTunings(kp,ki,kd);
AutoTuneHelper(false);
}
}
else myPID.Compute();
if(useSimulation)
{
theta[30]=output;
if(now>=modelTime)
{
modelTime +=100;
DoModel();
}
}
else
{
analogWrite(0,output);
}
//send-receive with processing if it's time
if(millis()>serialTime)
{
SerialReceive();
SerialSend();
serialTime+=500;
}
}
void changeAutoTune()
{
if(!tuning)
{
//Set the output to the desired starting frequency.
output=aTuneStartValue;
aTune.SetNoiseBand(aTuneNoise);
aTune.SetOutputStep(aTuneStep);
aTune.SetLookbackSec((int)aTuneLookBack);
AutoTuneHelper(true);
tuning = true;
}
else
{ //cancel autotune
aTune.Cancel();
tuning = false;
AutoTuneHelper(false);
}
}
void AutoTuneHelper(boolean start)
{
if(start)
ATuneModeRemember = myPID.GetMode();
else
myPID.SetMode(ATuneModeRemember);
}
void SerialSend()
{
Serial.print("setpoint: ");Serial.print(setpoint); Serial.print(" ");
Serial.print("input: ");Serial.print(input); Serial.print(" ");
Serial.print("output: ");Serial.print(output); Serial.print(" ");
if(tuning){
Serial.println("tuning mode");
} else {
Serial.print("kp: ");Serial.print(myPID.GetKp());Serial.print(" ");
Serial.print("ki: ");Serial.print(myPID.GetKi());Serial.print(" ");
Serial.print("kd: ");Serial.print(myPID.GetKd());Serial.println();
}
}
void SerialReceive()
{
if(Serial.available())
{
char b = Serial.read();
Serial.flush();
if((b=='1' && !tuning) || (b!='1' && tuning))changeAutoTune();
}
}
void DoModel()
{
//cycle the dead time
for(byte i=0;i<49;i++)
{
theta[i] = theta[i+1];
}
//compute the input
input = (kpmodel / taup) *(theta[0]-outputStart) + input*(1-1/taup) + ((float)random(-10,10))/100;
}

161
Moteur DC/Arduino-PID-AutoTune-Library/PID_AutoTune_v0/AutoTune_Example/AutoTune_Example.pde
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#include <PID_v1.h>
#include <PID_AutoTune_v0.h>
byte ATuneModeRemember=2;
double input=80, output=50, setpoint=180;
double kp=2,ki=0.5,kd=2;
double kpmodel=1.5, taup=100, theta[50];
double outputStart=5;
double aTuneStep=50, aTuneNoise=1, aTuneStartValue=100;
unsigned int aTuneLookBack=20;
boolean tuning = false;
unsigned long modelTime, serialTime;
PID myPID(&input, &output, &setpoint,kp,ki,kd, DIRECT);
PID_ATune aTune(&input, &output);
//set to false to connect to the real world
boolean useSimulation = true;
void setup()
{
if(useSimulation)
{
for(byte i=0;i<50;i++)
{
theta[i]=outputStart;
}
modelTime = 0;
}
//Setup the pid
myPID.SetMode(AUTOMATIC);
if(tuning)
{
tuning=false;
changeAutoTune();
tuning=true;
}
serialTime = 0;
Serial.begin(9600);
}
void loop()
{
unsigned long now = millis();
if(!useSimulation)
{ //pull the input in from the real world
input = analogRead(0);
}
if(tuning)
{
byte val = (aTune.Runtime());
if (val!=0)
{
tuning = false;
}
if(!tuning)
{ //we're done, set the tuning parameters
kp = aTune.GetKp();
ki = aTune.GetKi();
kd = aTune.GetKd();
myPID.SetTunings(kp,ki,kd);
AutoTuneHelper(false);
}
}
else myPID.Compute();
if(useSimulation)
{
theta[30]=output;
if(now>=modelTime)
{
modelTime +=100;
DoModel();
}
}
else
{
analogWrite(0,output);
}
//send-receive with processing if it's time
if(millis()>serialTime)
{
SerialReceive();
SerialSend();
serialTime+=500;
}
}
void changeAutoTune()
{
if(!tuning)
{
//Set the output to the desired starting frequency.
output=aTuneStartValue;
aTune.SetNoiseBand(aTuneNoise);
aTune.SetOutputStep(aTuneStep);
aTune.SetLookbackSec((int)aTuneLookBack);
AutoTuneHelper(true);
tuning = true;
}
else
{ //cancel autotune
aTune.Cancel();
tuning = false;
AutoTuneHelper(false);
}
}
void AutoTuneHelper(boolean start)
{
if(start)
ATuneModeRemember = myPID.GetMode();
else
myPID.SetMode(ATuneModeRemember);
}
void SerialSend()
{
Serial.print("setpoint: ");Serial.print(setpoint); Serial.print(" ");
Serial.print("input: ");Serial.print(input); Serial.print(" ");
Serial.print("output: ");Serial.print(output); Serial.print(" ");
if(tuning){
Serial.println("tuning mode");
} else {
Serial.print("kp: ");Serial.print(myPID.GetKp());Serial.print(" ");
Serial.print("ki: ");Serial.print(myPID.GetKi());Serial.print(" ");
Serial.print("kd: ");Serial.print(myPID.GetKd());Serial.println();
}
}
void SerialReceive()
{
if(Serial.available())
{
char b = Serial.read();
Serial.flush();
if((b=='1' && !tuning) || (b!='1' && tuning))changeAutoTune();
}
}
void DoModel()
{
//cycle the dead time
for(byte i=0;i<49;i++)
{
theta[i] = theta[i+1];
}
//compute the input
input = (kpmodel / taup) *(theta[0]-outputStart) + input*(1-1/taup) + ((float)random(-10,10))/100;
}

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Moteur DC/Arduino-PID-AutoTune-Library/PID_AutoTune_v0/AutoTune_Example/PID_AutoTune_v0.cpp
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#if ARDUINO >= 100
#include "Arduino.h"
#else
#include "WProgram.h"
#endif
#include <PID_AutoTune_v0.h>
PID_ATune::PID_ATune(double* Input, double* Output)
{
input = Input;
output = Output;
controlType =0 ; //default to PI
noiseBand = 0.5;
running = false;
oStep = 30;
SetLookbackSec(10);
lastTime = millis();
}
void PID_ATune::Cancel()
{
running = false;
}
int PID_ATune::Runtime()
{
justevaled=false;
if(peakCount>9 && running)
{
running = false;
FinishUp();
return 1;
}
unsigned long now = millis();
if((now-lastTime)<sampleTime) return false;
lastTime = now;
double refVal = *input;
justevaled=true;
if(!running)
{ //initialize working variables the first time around
peakType = 0;
peakCount=0;
justchanged=false;
absMax=refVal;
absMin=refVal;
setpoint = refVal;
running = true;
outputStart = *output;
*output = outputStart+oStep;
}
else
{
if(refVal>absMax)absMax=refVal;
if(refVal<absMin)absMin=refVal;
}
//oscillate the output base on the input's relation to the setpoint
if(refVal>setpoint+noiseBand) *output = outputStart-oStep;
else if (refVal<setpoint-noiseBand) *output = outputStart+oStep;
//bool isMax=true, isMin=true;
isMax=true;isMin=true;
//id peaks
for(int i=nLookBack-1;i>=0;i--)
{
double val = lastInputs[i];
if(isMax) isMax = refVal>val;
if(isMin) isMin = refVal<val;
lastInputs[i+1] = lastInputs[i];
}
lastInputs[0] = refVal;
if(nLookBack<9)
{ //we don't want to trust the maxes or mins until the inputs array has been filled
return 0;
}
if(isMax)
{
if(peakType==0)peakType=1;
if(peakType==-1)
{
peakType = 1;
justchanged=true;
peak2 = peak1;
}
peak1 = now;
peaks[peakCount] = refVal;
}
else if(isMin)
{
if(peakType==0)peakType=-1;
if(peakType==1)
{
peakType=-1;
peakCount++;
justchanged=true;
}
if(peakCount<10)peaks[peakCount] = refVal;
}
if(justchanged && peakCount>2)
{ //we've transitioned. check if we can autotune based on the last peaks
double avgSeparation = (abs(peaks[peakCount-1]-peaks[peakCount-2])+abs(peaks[peakCount-2]-peaks[peakCount-3]))/2;
if( avgSeparation < 0.05*(absMax-absMin))
{
FinishUp();
running = false;
return 1;
}
}
justchanged=false;
return 0;
}
void PID_ATune::FinishUp()
{
*output = outputStart;
//we can generate tuning parameters!
Ku = 4*(2*oStep)/((absMax-absMin)*3.14159);
Pu = (double)(peak1-peak2) / 1000;
}
double PID_ATune::GetKp()
{
return controlType==1 ? 0.6 * Ku : 0.4 * Ku;
}
double PID_ATune::GetKi()
{
return controlType==1? 1.2*Ku / Pu : 0.48 * Ku / Pu; // Ki = Kc/Ti
}
double PID_ATune::GetKd()
{
return controlType==1? 0.075 * Ku * Pu : 0; //Kd = Kc * Td
}
void PID_ATune::SetOutputStep(double Step)
{
oStep = Step;
}
double PID_ATune::GetOutputStep()
{
return oStep;
}
void PID_ATune::SetControlType(int Type) //0=PI, 1=PID
{
controlType = Type;
}
int PID_ATune::GetControlType()
{
return controlType;
}
void PID_ATune::SetNoiseBand(double Band)
{
noiseBand = Band;
}
double PID_ATune::GetNoiseBand()
{
return noiseBand;
}
void PID_ATune::SetLookbackSec(int value)
{
if (value<1) value = 1;
if(value<25)
{
nLookBack = value * 4;
sampleTime = 250;
}
else
{
nLookBack = 100;
sampleTime = value*10;
}
}
int PID_ATune::GetLookbackSec()
{
return nLookBack * sampleTime / 1000;
}

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Moteur DC/Arduino-PID-AutoTune-Library/PID_AutoTune_v0/AutoTune_Example/PID_AutoTune_v0.h
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#ifndef PID_AutoTune_v0
#define PID_AutoTune_v0
#define LIBRARY_VERSION 0.0.1
class PID_ATune
{
public:
//commonly used functions **************************************************************************
PID_ATune(double*, double*); // * Constructor. links the Autotune to a given PID
int Runtime(); // * Similar to the PID Compue function, returns non 0 when done
void Cancel(); // * Stops the AutoTune
void SetOutputStep(double); // * how far above and below the starting value will the output step?
double GetOutputStep(); //
void SetControlType(int); // * Determies if the tuning parameters returned will be PI (D=0)
int GetControlType(); // or PID. (0=PI, 1=PID)
void SetLookbackSec(int); // * how far back are we looking to identify peaks
int GetLookbackSec(); //
void SetNoiseBand(double); // * the autotune will ignore signal chatter smaller than this value
double GetNoiseBand(); // this should be acurately set
double GetKp(); // * once autotune is complete, these functions contain the
double GetKi(); // computed tuning parameters.
double GetKd(); //
private:
void FinishUp();
bool isMax, isMin;
double *input, *output;
double setpoint;
double noiseBand;
int controlType;
bool running;
unsigned long peak1, peak2, lastTime;
int sampleTime;
int nLookBack;
int peakType;
double lastInputs[101];
double peaks[10];
int peakCount;
bool justchanged;
bool justevaled;
double absMax, absMin;
double oStep;
double outputStart;
double Ku, Pu;
};
#endif

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Moteur DC/Arduino-PID-AutoTune-Library/PID_AutoTune_v0/AutoTune_Example/PID_v1.cpp
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/**********************************************************************************************
* Arduino PID Library - Version 1
* by Brett Beauregard <br3ttb@gmail.com> brettbeauregard.com
*
* This Code is licensed under a Creative Commons Attribution-ShareAlike 3.0 Unported License.
**********************************************************************************************/
#include <Arduino.h>
#include "PID_v1.h"
/*Constructor (...)*********************************************************
* The parameters specified here are those for for which we can't set up
* reliable defaults, so we need to have the user set them.
***************************************************************************/
PID::PID(double* Input, double* Output, double* Setpoint,
double Kp, double Ki, double Kd, int ControllerDirection)
{
PID::SetOutputLimits(0, 255); //default output limit corresponds to
//the arduino pwm limits
SampleTime = 100; //default Controller Sample Time is 0.1 seconds
PID::SetControllerDirection(ControllerDirection);
PID::SetTunings(Kp, Ki, Kd);
lastTime = millis()-SampleTime;
inAuto = false;
myOutput = Output;
myInput = Input;
mySetpoint = Setpoint;
}
/* Compute() **********************************************************************
* This, as they say, is where the magic happens. this function should be called
* every time "void loop()" executes. the function will decide for itself whether a new
* pid Output needs to be computed
**********************************************************************************/
void PID::Compute()
{
if(!inAuto) return;
unsigned long now = millis();
int timeChange = (now - lastTime);
if(timeChange>=SampleTime)
{
/*Compute all the working error variables*/
double input = *myInput;
double error = *mySetpoint - input;
ITerm+= (ki * error);
if(ITerm > outMax) ITerm= outMax;
else if(ITerm < outMin) ITerm= outMin;
double dInput = (input - lastInput);
/*Compute PID Output*/
double output = kp * error + ITerm- kd * dInput;
if(output > outMax) output = outMax;
else if(output < outMin) output = outMin;
*myOutput = output;
/*Remember some variables for next time*/
lastInput = input;
lastTime = now;
}
}
/* SetTunings(...)*************************************************************
* This function allows the controller's dynamic performance to be adjusted.
* it's called automatically from the constructor, but tunings can also
* be adjusted on the fly during normal operation
******************************************************************************/
void PID::SetTunings(double Kp, double Ki, double Kd)
{
if (Kp<0 || Ki<0 || Kd<0) return;
dispKp = Kp; dispKi = Ki; dispKd = Kd;
double SampleTimeInSec = ((double)SampleTime)/1000;
kp = Kp;
ki = Ki * SampleTimeInSec;
kd = Kd / SampleTimeInSec;
if(controllerDirection ==REVERSE)
{
kp = (0 - kp);
ki = (0 - ki);
kd = (0 - kd);
}
}
/* SetSampleTime(...) *********************************************************
* sets the period, in Milliseconds, at which the calculation is performed
******************************************************************************/
void PID::SetSampleTime(int NewSampleTime)
{
if (NewSampleTime > 0)
{
double ratio = (double)NewSampleTime
/ (double)SampleTime;
ki *= ratio;
kd /= ratio;
SampleTime = (unsigned long)NewSampleTime;
}
}
/* SetOutputLimits(...)****************************************************
* This function will be used far more often than SetInputLimits. while
* the input to the controller will generally be in the 0-1023 range (which is
* the default already,) the output will be a little different. maybe they'll
* be doing a time window and will need 0-8000 or something. or maybe they'll
* want to clamp it from 0-125. who knows. at any rate, that can all be done
* here.
**************************************************************************/
void PID::SetOutputLimits(double Min, double Max)
{
if(Min >= Max) return;
outMin = Min;
outMax = Max;
if(inAuto)
{
if(*myOutput > outMax) *myOutput = outMax;
else if(*myOutput < outMin) *myOutput = outMin;
if(ITerm > outMax) ITerm= outMax;
else if(ITerm < outMin) ITerm= outMin;
}
}
/* SetMode(...)****************************************************************
* Allows the controller Mode to be set to manual (0) or Automatic (non-zero)
* when the transition from manual to auto occurs, the controller is
* automatically initialized
******************************************************************************/
void PID::SetMode(int Mode)
{
bool newAuto = (Mode == AUTOMATIC);
if(newAuto == !inAuto)
{ /*we just went from manual to auto*/
PID::Initialize();
}
inAuto = newAuto;
}
/* Initialize()****************************************************************
* does all the things that need to happen to ensure a bumpless transfer
* from manual to automatic mode.
******************************************************************************/
void PID::Initialize()
{
ITerm = *myOutput;
lastInput = *myInput;
if(ITerm > outMax) ITerm = outMax;
else if(ITerm < outMin) ITerm = outMin;
}
/* SetControllerDirection(...)*************************************************
* The PID will either be connected to a DIRECT acting process (+Output leads
* to +Input) or a REVERSE acting process(+Output leads to -Input.) we need to
* know which one, because otherwise we may increase the output when we should
* be decreasing. This is called from the constructor.
******************************************************************************/
void PID::SetControllerDirection(int Direction)
{
if(inAuto && Direction !=controllerDirection)
{
kp = (0 - kp);
ki = (0 - ki);
kd = (0 - kd);
}
controllerDirection = Direction;
}
/* Status Funcions*************************************************************
* Just because you set the Kp=-1 doesn't mean it actually happened. these
* functions query the internal state of the PID. they're here for display
* purposes. this are the functions the PID Front-end uses for example
******************************************************************************/
double PID::GetKp(){ return dispKp; }
double PID::GetKi(){ return dispKi;}
double PID::GetKd(){ return dispKd;}
int PID::GetMode(){ return inAuto ? AUTOMATIC : MANUAL;}
int PID::GetDirection(){ return controllerDirection;}

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Moteur DC/Arduino-PID-AutoTune-Library/PID_AutoTune_v0/AutoTune_Example/PID_v1.h
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#ifndef PID_v1_h
#define PID_v1_h
#define LIBRARY_VERSION 1.0.0
class PID
{
public:
//Constants used in some of the functions below
#define AUTOMATIC 1
#define MANUAL 0
#define DIRECT 0
#define REVERSE 1
//commonly used functions **************************************************************************
PID(double*, double*, double*, // * constructor. links the PID to the Input, Output, and
double, double, double, int); // Setpoint. Initial tuning parameters are also set here
void SetMode(int Mode); // * sets PID to either Manual (0) or Auto (non-0)
void Compute(); // * performs the PID calculation. it should be
// called every time loop() cycles. ON/OFF and
// calculation frequency can be set using SetMode
// SetSampleTime respectively
void SetOutputLimits(double, double); //clamps the output to a specific range. 0-255 by default, but
//it's likely the user will want to change this depending on
//the application
//available but not commonly used functions ********************************************************
void SetTunings(double, double, // * While most users will set the tunings once in the
double); // constructor, this function gives the user the option
// of changing tunings during runtime for Adaptive control
void SetControllerDirection(int); // * Sets the Direction, or "Action" of the controller. DIRECT
// means the output will increase when error is positive. REVERSE
// means the opposite. it's very unlikely that this will be needed
// once it is set in the constructor.
void SetSampleTime(int); // * sets the frequency, in Milliseconds, with which
// the PID calculation is performed. default is 100
//Display functions ****************************************************************
double GetKp(); // These functions query the pid for interal values.
double GetKi(); // they were created mainly for the pid front-end,
double GetKd(); // where it's important to know what is actually
int GetMode(); // inside the PID.
int GetDirection(); //
private:
void Initialize();
double dispKp; // * we'll hold on to the tuning parameters in user-entered
double dispKi; // format for display purposes
double dispKd; //
double kp; // * (P)roportional Tuning Parameter
double ki; // * (I)ntegral Tuning Parameter
double kd; // * (D)erivative Tuning Parameter
int controllerDirection;
double *myInput; // * Pointers to the Input, Output, and Setpoint variables
double *myOutput; // This creates a hard link between the variables and the
double *mySetpoint; // PID, freeing the user from having to constantly tell us
// what these values are. with pointers we'll just know.
unsigned long lastTime;
double ITerm, lastInput;
int SampleTime;
double outMin, outMax;
bool inAuto;
};
#endif

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#include <PID_v1.h>
#include <PID_AutoTune_v0.h>
byte ATuneModeRemember=2;
double input=80, output=50, setpoint=180;
double kp=2,ki=0.5,kd=2;
double kpmodel=1.5, taup=100, theta[50];
double outputStart=5;
double aTuneStep=50, aTuneNoise=1, aTuneStartValue=100;
unsigned int aTuneLookBack=20;
boolean tuning = false;
unsigned long modelTime, serialTime;
PID myPID(&input, &output, &setpoint,kp,ki,kd, DIRECT);
PID_ATune aTune(&input, &output);
//set to false to connect to the real world
boolean useSimulation = true;
void setup()
{
if(useSimulation)
{
for(byte i=0;i<50;i++)
{
theta[i]=outputStart;
}
modelTime = 0;
}
//Setup the pid
myPID.SetMode(AUTOMATIC);
if(tuning)
{
tuning=false;
changeAutoTune();
tuning=true;
}
serialTime = 0;
Serial.begin(9600);
}
void loop()
{
unsigned long now = millis();
if(!useSimulation)
{ //pull the input in from the real world
input = analogRead(0);
}
if(tuning)
{
byte val = (aTune.Runtime());
if (val!=0)
{
tuning = false;
}
if(!tuning)
{ //we're done, set the tuning parameters
kp = aTune.GetKp();
ki = aTune.GetKi();
kd = aTune.GetKd();
myPID.SetTunings(kp,ki,kd);
AutoTuneHelper(false);
}
}
else myPID.Compute();
if(useSimulation)
{
theta[30]=output;
if(now>=modelTime)
{
modelTime +=100;
DoModel();
}
}
else
{
analogWrite(0,output);
}
//send-receive with processing if it's time
if(millis()>serialTime)
{
SerialReceive();
SerialSend();
serialTime+=500;
}
}
void changeAutoTune()
{
if(!tuning)
{
//Set the output to the desired starting frequency.
output=aTuneStartValue;
aTune.SetNoiseBand(aTuneNoise);
aTune.SetOutputStep(aTuneStep);
aTune.SetLookbackSec((int)aTuneLookBack);
AutoTuneHelper(true);
tuning = true;
}
else
{ //cancel autotune
aTune.Cancel();
tuning = false;
AutoTuneHelper(false);
}
}
void AutoTuneHelper(boolean start)
{
if(start)
ATuneModeRemember = myPID.GetMode();
else
myPID.SetMode(ATuneModeRemember);
}
void SerialSend()
{
Serial.print("setpoint: ");Serial.print(setpoint); Serial.print(" ");
Serial.print("input: ");Serial.print(input); Serial.print(" ");
Serial.print("output: ");Serial.print(output); Serial.print(" ");
if(tuning){
Serial.println("tuning mode");
} else {
Serial.print("kp: ");Serial.print(myPID.GetKp());Serial.print(" ");
Serial.print("ki: ");Serial.print(myPID.GetKi());Serial.print(" ");
Serial.print("kd: ");Serial.print(myPID.GetKd());Serial.println();
}
}
void SerialReceive()
{
if(Serial.available())
{
char b = Serial.read();
Serial.flush();
if((b=='1' && !tuning) || (b!='1' && tuning))changeAutoTune();
}
}
void DoModel()
{
//cycle the dead time
for(byte i=0;i<49;i++)
{
theta[i] = theta[i+1];
}
//compute the input
input = (kpmodel / taup) *(theta[0]-outputStart) + input*(1-1/taup) + ((float)random(-10,10))/100;
}

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#if ARDUINO >= 100
#include "Arduino.h"
#else
#include "WProgram.h"
#endif
#include <PID_AutoTune_v0.h>
PID_ATune::PID_ATune(double* Input, double* Output)
{
input = Input;
output = Output;
controlType =0 ; //default to PI
noiseBand = 0.5;
running = false;
oStep = 30;
SetLookbackSec(10);
lastTime = millis();
}
void PID_ATune::Cancel()
{
running = false;
}
int PID_ATune::Runtime()
{
justevaled=false;
if(peakCount>9 && running)
{
running = false;
FinishUp();
return 1;
}
unsigned long now = millis();
if((now-lastTime)<sampleTime) return false;
lastTime = now;
double refVal = *input;
justevaled=true;
if(!running)
{ //initialize working variables the first time around
peakType = 0;
peakCount=0;
justchanged=false;
absMax=refVal;
absMin=refVal;
setpoint = refVal;
running = true;
outputStart = *output;
*output = outputStart+oStep;
}
else
{
if(refVal>absMax)absMax=refVal;
if(refVal<absMin)absMin=refVal;
}
//oscillate the output base on the input's relation to the setpoint
if(refVal>setpoint+noiseBand) *output = outputStart-oStep;
else if (refVal<setpoint-noiseBand) *output = outputStart+oStep;
//bool isMax=true, isMin=true;
isMax=true;isMin=true;
//id peaks
for(int i=nLookBack-1;i>=0;i--)
{
double val = lastInputs[i];
if(isMax) isMax = refVal>val;
if(isMin) isMin = refVal<val;
lastInputs[i+1] = lastInputs[i];
}
lastInputs[0] = refVal;
if(nLookBack<9)
{ //we don't want to trust the maxes or mins until the inputs array has been filled
return 0;
}
if(isMax)
{
if(peakType==0)peakType=1;
if(peakType==-1)
{
peakType = 1;
justchanged=true;
peak2 = peak1;
}
peak1 = now;
peaks[peakCount] = refVal;
}
else if(isMin)
{
if(peakType==0)peakType=-1;
if(peakType==1)
{
peakType=-1;
peakCount++;
justchanged=true;
}
if(peakCount<10)peaks[peakCount] = refVal;
}
if(justchanged && peakCount>2)
{ //we've transitioned. check if we can autotune based on the last peaks
double avgSeparation = (abs(peaks[peakCount-1]-peaks[peakCount-2])+abs(peaks[peakCount-2]-peaks[peakCount-3]))/2;
if( avgSeparation < 0.05*(absMax-absMin))
{
FinishUp();
running = false;
return 1;
}
}
justchanged=false;
return 0;
}
void PID_ATune::FinishUp()
{
*output = outputStart;
//we can generate tuning parameters!
Ku = 4*(2*oStep)/((absMax-absMin)*3.14159);
Pu = (double)(peak1-peak2) / 1000;
}
double PID_ATune::GetKp()
{
return controlType==1 ? 0.6 * Ku : 0.4 * Ku;
}
double PID_ATune::GetKi()
{
return controlType==1? 1.2*Ku / Pu : 0.48 * Ku / Pu; // Ki = Kc/Ti
}
double PID_ATune::GetKd()
{
return controlType==1? 0.075 * Ku * Pu : 0; //Kd = Kc * Td
}
void PID_ATune::SetOutputStep(double Step)
{
oStep = Step;
}
double PID_ATune::GetOutputStep()
{
return oStep;
}
void PID_ATune::SetControlType(int Type) //0=PI, 1=PID
{
controlType = Type;
}
int PID_ATune::GetControlType()
{
return controlType;
}
void PID_ATune::SetNoiseBand(double Band)
{
noiseBand = Band;
}
double PID_ATune::GetNoiseBand()
{
return noiseBand;
}
void PID_ATune::SetLookbackSec(int value)
{
if (value<1) value = 1;
if(value<25)
{
nLookBack = value * 4;
sampleTime = 250;
}
else
{
nLookBack = 100;
sampleTime = value*10;
}
}
int PID_ATune::GetLookbackSec()
{
return nLookBack * sampleTime / 1000;
}

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#ifndef PID_AutoTune_v0
#define PID_AutoTune_v0
#define LIBRARY_VERSION 0.0.1
class PID_ATune
{
public:
//commonly used functions **************************************************************************
PID_ATune(double*, double*); // * Constructor. links the Autotune to a given PID
int Runtime(); // * Similar to the PID Compue function, returns non 0 when done
void Cancel(); // * Stops the AutoTune
void SetOutputStep(double); // * how far above and below the starting value will the output step?
double GetOutputStep(); //
void SetControlType(int); // * Determies if the tuning parameters returned will be PI (D=0)
int GetControlType(); // or PID. (0=PI, 1=PID)
void SetLookbackSec(int); // * how far back are we looking to identify peaks
int GetLookbackSec(); //
void SetNoiseBand(double); // * the autotune will ignore signal chatter smaller than this value
double GetNoiseBand(); // this should be acurately set
double GetKp(); // * once autotune is complete, these functions contain the
double GetKi(); // computed tuning parameters.
double GetKd(); //
private:
void FinishUp();
bool isMax, isMin;
double *input, *output;
double setpoint;
double noiseBand;
int controlType;
bool running;
unsigned long peak1, peak2, lastTime;
int sampleTime;
int nLookBack;
int peakType;
double lastInputs[101];
double peaks[10];
int peakCount;
bool justchanged;
bool justevaled;
double absMax, absMin;
double oStep;
double outputStart;
double Ku, Pu;
};
#endif

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/**********************************************************************************************
* Arduino PID AutoTune Library - Version 0.0.1
* by Brett Beauregard <br3ttb@gmail.com> brettbeauregard.com
*
* This Library is ported from the AutotunerPID Toolkit by William Spinelli
* (http://www.mathworks.com/matlabcentral/fileexchange/4652)
* Copyright (c) 2004
*
* This Library is licensed under the BSD License:
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are
* met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the distribution
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
**********************************************************************************************/
Note: I'd really hoped to have this more polished before release, but with the
osPID coming out I felt that this needed to be out there NOW. if you
encounter any issues please contact me, or post to the diy-pid-control
google group.

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/* i have made this code for the LMD18245 motor controller,
i have merged the pid code of Josh Kopel
whith the code of makerbot servo-controller board,
you can use this code on the some board changing some values.
Daniele Poddighe
external ardware require a quadrature encoder, timing slit strip and a dc motor,
all you can find inside an old printer, i have took it from canon and hp printers(psc1510)
for motor controll you can choose different type of H-bridge, i have used LMD18245,
you can order 3 of it on ti.com sample request, the hardware needed is explained on the datasheet but i'm drowing
the schematic and PCB layout on eagle.
read a rotary encoder with interrupts
Encoder hooked up with common to GROUND,
encoder0PinA to pin 2, encoder0PinB to pin 4 (or pin 3 see below)
it doesn't matter which encoder pin you use for A or B
is possible to change PID costants by sending on serial interfaces the values separated by ',' in this order: KP,KD,KI
example: 5.2,3.1,0 so we have KP=5.2 KD=3.1 KI=0 is only for testing purposes,
but i will leave this function with eeprom storage
*/
#include <digitalWriteFast.h> //this is to use DWF library, it will increase the speed of digitalRead/Write command
//used in the interrupt function doEncoderMotor0, but may be used everywhere.
#define encoder0PinA 2
#define encoder0PinB 4
#define SpeedPin 9
#define DirectionPin 8
//from ramps 1.4 stepper driver
#define STEP_PIN 3
#define DIR_PIN 12
#define ENABLE_PIN 13
volatile long encoder0Pos = 0;
long target = 0;
long target1 = 0;
int amp=212;
//correction = Kp * error + Kd * (error - prevError) + kI * (sum of errors)
//PID controller constants
float KP = 6.0 ; //position multiplier (gain) 2.25
float KI = 0.1; // Intergral multiplier (gain) .25
float KD = 1.3; // derivative multiplier (gain) 1.0
int lastError = 0;
int sumError = 0;
//Integral term min/max (random value and not yet tested/verified)
int iMax = 100;
int iMin = 0;
long previousTarget = 0;
long previousMillis = 0; // will store last time LED was updated
long interval = 5; // interval at which to blink (milliseconds)
//for motor control ramps 1.4
bool newStep = false;
bool oldStep = false;
bool dir = false;
void setup() {
pinMode(encoder0PinA, INPUT);
pinMode(encoder0PinB, INPUT);
pinMode(DirectionPin, OUTPUT);
pinMode(SpeedPin, OUTPUT);
//ramps 1.4 motor control
pinMode(STEP_PIN, INPUT);
pinMode(DIR_PIN, INPUT);
attachInterrupt(0, doEncoderMotor0, CHANGE); // encoder pin on interrupt 0 - pin 2
attachInterrupt(1, countStep, RISING); //on pin 3
Serial.begin (115200);
Serial.println("start"); // a personal quirk
}
void loop(){
while (Serial.available() > 0) {
KP = Serial.parseFloat();
KD = Serial.parseFloat();
KI = Serial.parseFloat();
Serial.println(KP);
Serial.println(KD);
Serial.println(KI);
}
/*if(millis() - previousTarget > 500){ //enable this code only for test purposes
Serial.print(encoder0Pos);
Serial.print(',');
Serial.println(target1);
previousTarget=millis();
}*/
target = target1;
docalc();
}
void docalc() {
if (millis() - previousMillis > interval)
{
previousMillis = millis(); // remember the last time we blinked the LED
long error = encoder0Pos - target ; // find the error term of current position - target
//generalized PID formula
//correction = Kp * error + Kd * (error - prevError) + kI * (sum of errors)
long ms = KP * error + KD * (error - lastError) +KI * (sumError);
lastError = error;
sumError += error;
//scale the sum for the integral term
if(sumError > iMax) {
sumError = iMax;
} else if(sumError < iMin){
sumError = iMin;
}
if(ms > 0){
digitalWrite ( DirectionPin ,HIGH );
}
if(ms < 0){
digitalWrite ( DirectionPin , LOW );
ms = -1 * ms;
}
int motorspeed = map(ms,0,amp,0,255);
if( motorspeed >= 255) motorspeed=255;
//analogWrite ( SpeedPin, (255 - motorSpeed) );
analogWrite ( SpeedPin, motorspeed );
//Serial.print ( ms );
//Serial.print ( ',' );
//Serial.println ( motorspeed );
}
}
void doEncoderMotor0(){
if (digitalReadFast2(encoder0PinA) == HIGH) { // found a low-to-high on channel A
if (digitalReadFast2(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 (digitalReadFast2(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) target1++;
else target1--;
}

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#include <digitalWriteFast.h>
/* i have made this code for the LMD18245 motor controller,
i have merged the pid code of Josh Kopel
whith the code of makerbot servo-controller board,
you can use this code on the some board changing some values.
Daniele Poddighe
external ardware require a quadrature encoder, timing slit strip and a dc motor,
all you can find inside an old printer, i have took it from canon and hp printers(psc1510)
for motor controll you can choose different type of H-bridge, i have used LMD18245,
you can order 3 of it on ti.com sample request, the hardware needed is explained on the datasheet but i'm drowing
the schematic and PCB layout on eagle.
read a rotary encoder with interrupts
Encoder hooked up with common to GROUND,
encoder0PinA to pin 2, encoder0PinB to pin 4 (or pin 3 see below)
it doesn't matter which encoder pin you use for A or B
is possible to change PID costants by sending on serial interfaces the values separated by ',' in this order: KP,KD,KI
example: 5.2,3.1,0 so we have KP=5.2 KD=3.1 KI=0 is only for testing purposes, but i will leave this function with eeprom storage
*/
#define encoder0PinA 2 // PD2;
#define encoder0PinB 8 // PB0;
#define SpeedPin 6
#define DirectionPin 15 //PC1;
//from ramps 1.4 stepper driver
#define STEP_PIN 3 //PD3;
#define DIR_PIN 14 //PC0;
//#define ENABLE_PIN 13 //PB5; for now is USELESS
//to use current motor as speed control, the LMD18245 has 4 bit cuttent output
//#define M0 9 //assign 4 bit from PORTB register to current control -> Bxx0000x (x mean any)
//#define M1 10 // PB1; PB2; PB3; PB4
//#define M2 11
//#define M3 12
volatile long encoder0Pos = 0;
long target = 0;
long target1 = 0;
int amp=212;
//correction = Kp * error + Kd * (error - prevError) + kI * (sum of errors)
//PID controller constants
float KP = 6.0 ; //position multiplier (gain) 2.25
float KI = 0.1; // Intergral multiplier (gain) .25
float KD = 1.3; // derivative multiplier (gain) 1.0
int lastError = 0;
int sumError = 0;
//Integral term min/max (random value and not yet tested/verified)
int iMax = 100;
int iMin = 0;
long previousTarget = 0;
long previousMillis = 0; // will store last time LED was updated
long interval = 5; // interval at which to blink (milliseconds)
//for motor control ramps 1.4
bool newStep = false;
bool oldStep = false;
bool dir = false;
void setup() {
pinModeFast(2, INPUT);
pinModeFast(encoder0PinA, INPUT);
pinModeFast(encoder0PinB, INPUT);
pinModeFast(DirectionPin, OUTPUT);
//pinMode(SpeedPin, OUTPUT);
//ramps 1.4 motor control
pinModeFast(STEP_PIN, INPUT);
pinModeFast(DIR_PIN, INPUT);
//pinModeFast(M0,OUTPUT);
//pinModeFast(M1,OUTPUT);
//pinModeFast(M2,OUTPUT);
//pinModeFast(M3,OUTPUT);
attachInterrupt(0, doEncoderMotor0, CHANGE); // encoder pin on interrupt 0 - pin 2
attachInterrupt(1, countStep, RISING); //on pin 3
Serial.begin (115200);
Serial.println("start"); // a personal quirk
}
void loop(){
while (Serial.available() > 0) {
KP = Serial.parseFloat();
KD = Serial.parseFloat();
KI = Serial.parseFloat();
Serial.println(KP);
Serial.println(KD);
Serial.println(KI);
}
if(millis() - previousTarget > 1000){ //enable this code only for test purposes because it loss a lot of time
Serial.print(encoder0Pos);
Serial.print(',');
Serial.println(target1);
previousTarget=millis();
}
target = target1;
docalc();
}
void docalc() {
if (millis() - previousMillis > interval)
{
previousMillis = millis(); // remember the last time we blinked the LED
long error = encoder0Pos - target ; // find the error term of current position - target
//generalized PID formula
//correction = Kp * error + Kd * (error - prevError) + kI * (sum of errors)
long ms = KP * error + KD * (error - lastError) +KI * (sumError);
lastError = error;
sumError += error;
//scale the sum for the integral term
if(sumError > iMax) {
sumError = iMax;
} else if(sumError < iMin){
sumError = iMin;
}
if(ms > 0){
PORTC |=B00000010; //digitalWriteFast2 ( DirectionPin ,HIGH ); write PC1 HIGH
}
if(ms < 0){
PORTC &=(B11111101); //digitalWriteFast2 ( DirectionPin , LOW ); write PC1 LOW
ms = -1 * ms;
}
int motorspeed = map(ms,0,amp,0,255);
if( motorspeed >= 255) motorspeed=255;
//PORTB |=(motorspeed<<1); // is a sort of: digitalwrite(M0 M1 M2 M3, 0 0 0 0 to 1 1 1 1); it set directly PORTB to B**M3M2M1M0*;
//analogWrite ( SpeedPin, (255 - motorSpeed) );
analogWrite ( SpeedPin, motorspeed );
//Serial.print ( ms );
//Serial.print ( ',' );
//Serial.println ( motorspeed );
}
}
void doEncoderMotor0(){
if (((PIND&B0000100)>>2) == HIGH) { // found a low-to-high on channel A; if(digitalRead(encoderPinA)==HIGH){.... read PB0
// because PD0is used for serial, i will change in the stable version TO USE PD2
if ((PINB&B0000001) == LOW) { // check channel B to see which way; if(digitalRead(encoderPinB)==LOW){.... read PB0
// encoder is turning
encoder0Pos-- ; // CCW
}
else {
encoder0Pos++ ; // CW
}
}
else // found a high-to-low on channel A
{
if ((PINB&B0000001) == LOW) { // check channel B to see which way; if(digitalRead(encoderPinB)==LOW){.... read PB0
// encoder is turning
encoder0Pos++ ; // CW
}
else {
encoder0Pos-- ; // CCW
}
}
}
void countStep(){
dir = (PINC&B0000001); // dir=digitalRead(dir_pin) read PC0, 14 digital;
//here will be (PINB&B0000001) to not use shift in the stable version
if (dir) target1++;
else target1--;
}

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/* i have made this code for the LMD18245 motor controller,
i have merged the pid code of Josh Kopel
whith the code of makerbot servo-controller board,
you can use this code on the some board changing some values.
Daniele Poddighe
external ardware require a quadrature encoder, timing slit strip and a dc motor,
all you can find inside an old printer, i have took it from canon and hp printers(psc1510)
for motor controll you can choose different type of H-bridge, i have used LMD18245,
you can order 3 of it on ti.com sample request, the hardware needed is explained on the datasheet but i'm drowing
the schematic and PCB layout on eagle.
read a rotary encoder with interrupts
Encoder hooked up with common to GROUND,
encoder0PinA to pin 2, encoder0PinB to pin 4 (or pin 3 see below)
it doesn't matter which encoder pin you use for A or B
is possible to change PID costants by sending on SerialUSB interfaces the values separated by ',' in this order: KP,KD,KI
example: 5.2,3.1,0 so we have KP=5.2 KD=3.1 KI=0 is only for testing purposes, but i will leave this function with eeprom storage
*/
#define encoder0PinA 2
#define encoder0PinB 4
#define SpeedPin 9
#define DirectionPin 8
//from ramps 1.4 stepper driver
#define STEP_PIN 3
#define DIR_PIN 12
#define ENABLE_PIN 13
volatile long encoder0Pos = 0;
long target = 0;
long target1 = 0;
int amp=212;
//correction = Kp * error + Kd * (error - prevError) + kI * (sum of errors)
//PID controller constants
float KP = 6.0 ; //position multiplier (gain) 2.25
float KI = 0.1; // Intergral multiplier (gain) .25
float KD = 1.3; // derivative multiplier (gain) 1.0
int lastError = 0;
int sumError = 0;
//Integral term min/max (random value and not yet tested/verified)
int iMax = 100;
int iMin = 0;
long previousTarget = 0;
long previousMillis = 0; // will store last time LED was updated
long interval = 5; // interval at which to blink (milliseconds)
//for motor control ramps 1.4
bool newStep = false;
bool oldStep = false;
bool dir = false;
void setup() {
pinMode(encoder0PinA, INPUT);
pinMode(encoder0PinB, INPUT);
pinMode(DirectionPin, OUTPUT);
pinMode(SpeedPin, OUTPUT);
//ramps 1.4 motor control
pinMode(STEP_PIN, INPUT);
pinMode(DIR_PIN, INPUT);
attachInterrupt(2, doEncoderMotor0, CHANGE); // encoder pin on interrupt 0 - pin 2
attachInterrupt(3, countStep, RISING); //on pin 3
SerialUSB.println("start"); // a personal quirk
}
void loop(){
while (SerialUSB.available() > 0) {
KP = SerialUSB.read();
KD = SerialUSB.read();
KI = SerialUSB.read();
SerialUSB.println(KP);
SerialUSB.println(KD);
SerialUSB.println(KI);
}
if(millis() - previousTarget > 500){ //enable this code only for test purposes
SerialUSB.print(encoder0Pos);
SerialUSB.print(',');
SerialUSB.println(target1);
previousTarget=millis();
}
target = target1;
docalc();
}
void docalc() {
if (millis() - previousMillis > interval)
{
previousMillis = millis(); // remember the last time we blinked the LED
long error = encoder0Pos - target ; // find the error term of current position - target
//generalized PID formula
//correction = Kp * error + Kd * (error - prevError) + kI * (sum of errors)
long ms = KP * error + KD * (error - lastError) +KI * (sumError);
lastError = error;
sumError += error;
//scale the sum for the integral term
if(sumError > iMax) {
sumError = iMax;
} else if(sumError < iMin){
sumError = iMin;
}
if(ms > 0){
digitalWrite ( DirectionPin ,HIGH );
}
if(ms < 0){
digitalWrite ( DirectionPin , LOW );
ms = -1 * ms;
}
int motorspeed = map(ms,0,amp,0,255);
if( motorspeed >= 255) motorspeed=255;
//analogWrite ( SpeedPin, (255 - motorSpeed) );
analogWrite ( SpeedPin, motorspeed );
//SerialUSB.print ( ms );
//SerialUSB.print ( ',' );
//SerialUSB.println ( motorspeed );
}
}
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) target1++;
else target1--;
}

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#######################################
# Syntax Coloring Map For DigitalWriteFast
#######################################
#######################################
# Datatypes (KEYWORD1)
#######################################
DigitalWriteFast KEYWORD1
#######################################
# Methods and Functions (KEYWORD2)
#######################################
digitalWriteFast KEYWORD2
digitalWriteFast2 KEYWORD2
pinModeFast KEYWORD2
pinModeFast2 KEYWORD2
digitalReadFast KEYWORD2
digitalReadFast2 KEYWORD2

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#include <digitalWriteFast.h>
/* i have made this code for the LMD18245 motor controller,
i have merged the pid code of Josh Kopel
whith the code of makerbot servo-controller board,
you can use this code on the some board changing some values.
Daniele Poddighe
external ardware require a quadrature encoder, timing slit strip and a dc motor,
all you can find inside an old printer, i have took it from canon and hp printers(psc1510)
for motor controll you can choose different type of H-bridge, i have used LMD18245,
you can order 3 of it on ti.com sample request, the hardware needed is explained on the datasheet but i'm drowing
the schematic and PCB layout on eagle.
read a rotary encoder with interrupts
Encoder hooked up with common to GROUND,
encoder0PinA to pin 2, encoder0PinB to pin 4 (or pin 3 see below)
it doesn't matter which encoder pin you use for A or B
is possible to change PID costants by sending on serial interfaces the values separated by ',' in this order: KP,KD,KI
example: 5.2,3.1,0 so we have KP=5.2 KD=3.1 KI=0 is only for testing purposes, but i will leave this function with eeprom storage
*/
#define encoder0PinA 7 // PD2;
#define encoder0PinB 8 // PB0;
#define SpeedPin 10
#define DirectionPin 9 //PC1;
//from ramps 1.4 stepper driver
#define STEP_PIN 3 //PD3;
#define DIR_PIN 5 //PC0;
//#define ENABLE_PIN 13 //PB5; for now is USELESS
//to use current motor as speed control, the LMD18245 has 4 bit cuttent output
//#define M0 9 //assign 4 bit from PORTB register to current control -> Bxx0000x (x mean any)
//#define M1 10 // PB1; PB2; PB3; PB4
//#define M2 11
//#define M3 12
volatile long encoder0Pos = 0;
long target = 0;
long target1 = 0;
int amp=212;
//correction = Kp * error + Kd * (error - prevError) + kI * (sum of errors)
//PID controller constants
float KP = 6.0 ; //position multiplier (gain) 2.25
float KI = 0.1; // Intergral multiplier (gain) .25
float KD = 1.3; // derivative multiplier (gain) 1.0
int lastError = 0;
int sumError = 0;
//Integral term min/max (random value and not yet tested/verified)
int iMax = 100;
int iMin = 0;
long previousTarget = 0;
long previousMillis = 0; // will store last time LED was updated
long interval = 5; // interval at which to blink (milliseconds)
//for motor control ramps 1.4
bool newStep = false;
bool oldStep = false;
bool dir = false;
void setup() {
pinModeFast(2, INPUT);
pinModeFast(encoder0PinA, INPUT);
pinModeFast(encoder0PinB, INPUT);
pinModeFast(DirectionPin, OUTPUT);
//pinMode(SpeedPin, OUTPUT);
//ramps 1.4 motor control
pinModeFast(STEP_PIN, INPUT);
pinModeFast(DIR_PIN, INPUT);
//pinModeFast(M0,OUTPUT);
//pinModeFast(M1,OUTPUT);
//pinModeFast(M2,OUTPUT);
//pinModeFast(M3,OUTPUT);
attachInterrupt(0, doEncoderMotor0, CHANGE); // encoder pin on interrupt 0 - pin 2
attachInterrupt(1, countStep, RISING); //on pin 3
Serial.begin (115200);
Serial.println("start"); // a personal quirk
}
void loop(){
while (Serial.available() > 0) {
KP = Serial.parseFloat();
KD = Serial.parseFloat();
KI = Serial.parseFloat();
Serial.println(KP);
Serial.println(KD);
Serial.println(KI);
}
if(millis() - previousTarget > 1000){ //enable this code only for test purposes because it loss a lot of time
Serial.print(encoder0Pos);
Serial.print(',');
Serial.println(target1);
previousTarget=millis();
}
target = target1;
docalc();
}
void docalc() {
if (millis() - previousMillis > interval)
{
previousMillis = millis(); // remember the last time we blinked the LED
long error = encoder0Pos - target ; // find the error term of current position - target
//generalized PID formula
//correction = Kp * error + Kd * (error - prevError) + kI * (sum of errors)
long ms = KP * error + KD * (error - lastError) +KI * (sumError);
lastError = error;
sumError += error;
//scale the sum for the integral term
if(sumError > iMax) {
sumError = iMax;
} else if(sumError < iMin){
sumError = iMin;
}
if(ms > 0){
PORTC |=B00000010; //digitalWriteFast2 ( DirectionPin ,HIGH ); write PC1 HIGH
}
if(ms < 0){
PORTC &=(B11111101); //digitalWriteFast2 ( DirectionPin , LOW ); write PC1 LOW
ms = -1 * ms;
}
int motorspeed = map(ms,0,amp,0,255);
if( motorspeed >= 255) motorspeed=255;
//PORTB |=(motorspeed<<1); // is a sort of: digitalwrite(M0 M1 M2 M3, 0 0 0 0 to 1 1 1 1); it set directly PORTB to B**M3M2M1M0*;
//analogWrite ( SpeedPin, (255 - motorSpeed) );
analogWrite ( SpeedPin, motorspeed );
//Serial.print ( ms );
//Serial.print ( ',' );
//Serial.println ( motorspeed );
}
}
void doEncoderMotor0(){
if (((PIND&B0000100)>>2) == HIGH) { // found a low-to-high on channel A; if(digitalRead(encoderPinA)==HIGH){.... read PB0
// because PD0is used for serial, i will change in the stable version TO USE PD2
if ((PINB&B0000001) == LOW) { // check channel B to see which way; if(digitalRead(encoderPinB)==LOW){.... read PB0
// encoder is turning
encoder0Pos-- ; // CCW
}
else {
encoder0Pos++ ; // CW
}
}
else // found a high-to-low on channel A
{
if ((PINB&B0000001) == LOW) { // check channel B to see which way; if(digitalRead(encoderPinB)==LOW){.... read PB0
// encoder is turning
encoder0Pos++ ; // CW
}
else {
encoder0Pos-- ; // CCW
}
}
}
void countStep(){
dir = (PINC&B0000001); // dir=digitalRead(dir_pin) read PC0, 14 digital;
//here will be (PINB&B0000001) to not use shift in the stable version
if (dir) target1++;
else target1--;
}

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#if !defined(digitalPinToPortReg)
#if !defined(__AVR_ATmega1280__)
// Standard Arduino Pins
#define digitalPinToPortReg(P) \
(((P) >= 0 && (P) <= 7) ? &PORTD : (((P) >= 8 && (P) <= 13) ? &PORTB : &PORTC))
#define digitalPinToDDRReg(P) \
(((P) >= 0 && (P) <= 7) ? &DDRD : (((P) >= 8 && (P) <= 13) ? &DDRB : &DDRC))
#define digitalPinToPINReg(P) \
(((P) >= 0 && (P) <= 7) ? &PIND : (((P) >= 8 && (P) <= 13) ? &PINB : &PINC))
#define digitalPinToBit(P) \
(((P) >= 0 && (P) <= 7) ? (P) : (((P) >= 8 && (P) <= 13) ? (P) - 8 : (P) - 14))
#if defined(__AVR_ATmega8__)
// 3 PWM
#define digitalPinToTimer(P) \
(((P) == 9 || (P) == 10) ? &TCCR1A : (((P) == 11) ? &TCCR2 : 0))
#define digitalPinToTimerBit(P) \
(((P) == 9) ? COM1A1 : (((P) == 10) ? COM1B1 : COM21))
#else
// 6 PWM
#define digitalPinToTimer(P) \
(((P) == 6 || (P) == 5) ? &TCCR0A : \
(((P) == 9 || (P) == 10) ? &TCCR1A : \
(((P) == 11 || (P) == 3) ? &TCCR2A : 0)))
#define digitalPinToTimerBit(P) \
(((P) == 6) ? COM0A1 : (((P) == 5) ? COM0B1 : \
(((P) == 9) ? COM1A1 : (((P) == 10) ? COM1B1 : \
(((P) == 11) ? COM2A1 : COM2B1)))))
#endif
#else
// Arduino Mega Pins
#define digitalPinToPortReg(P) \
(((P) >= 22 && (P) <= 29) ? &PORTA : \
((((P) >= 10 && (P) <= 13) || ((P) >= 50 && (P) <= 53)) ? &PORTB : \
(((P) >= 30 && (P) <= 37) ? &PORTC : \
((((P) >= 18 && (P) <= 21) || (P) == 38) ? &PORTD : \
((((P) >= 0 && (P) <= 3) || (P) == 5) ? &PORTE : \
(((P) >= 54 && (P) <= 61) ? &PORTF : \
((((P) >= 39 && (P) <= 41) || (P) == 4) ? &PORTG : \
((((P) >= 6 && (P) <= 9) || (P) == 16 || (P) == 17) ? &PORTH : \
(((P) == 14 || (P) == 15) ? &PORTJ : \
(((P) >= 62 && (P) <= 69) ? &PORTK : &PORTL))))))))))
#define digitalPinToDDRReg(P) \
(((P) >= 22 && (P) <= 29) ? &DDRA : \
((((P) >= 10 && (P) <= 13) || ((P) >= 50 && (P) <= 53)) ? &DDRB : \
(((P) >= 30 && (P) <= 37) ? &DDRC : \
((((P) >= 18 && (P) <= 21) || (P) == 38) ? &DDRD : \
((((P) >= 0 && (P) <= 3) || (P) == 5) ? &DDRE : \
(((P) >= 54 && (P) <= 61) ? &DDRF : \
((((P) >= 39 && (P) <= 41) || (P) == 4) ? &DDRG : \
((((P) >= 6 && (P) <= 9) || (P) == 16 || (P) == 17) ? &DDRH : \
(((P) == 14 || (P) == 15) ? &DDRJ : \
(((P) >= 62 && (P) <= 69) ? &DDRK : &DDRL))))))))))
#define digitalPinToPINReg(P) \
(((P) >= 22 && (P) <= 29) ? &PINA : \
((((P) >= 10 && (P) <= 13) || ((P) >= 50 && (P) <= 53)) ? &PINB : \
(((P) >= 30 && (P) <= 37) ? &PINC : \
((((P) >= 18 && (P) <= 21) || (P) == 38) ? &PIND : \
((((P) >= 0 && (P) <= 3) || (P) == 5) ? &PINE : \
(((P) >= 54 && (P) <= 61) ? &PINF : \
((((P) >= 39 && (P) <= 41) || (P) == 4) ? &PING : \
((((P) >= 6 && (P) <= 9) || (P) == 16 || (P) == 17) ? &PINH : \
(((P) == 14 || (P) == 15) ? &PINJ : \
(((P) >= 62 && (P) <= 69) ? &PINK : &PINL))))))))))
#define digitalPinToBit(P) \
(((P) >= 7 && (P) <= 9) ? (P) - 3 : \
(((P) >= 10 && (P) <= 13) ? (P) - 6 : \
(((P) >= 22 && (P) <= 29) ? (P) - 22 : \
(((P) >= 30 && (P) <= 37) ? 37 - (P) : \
(((P) >= 39 && (P) <= 41) ? 41 - (P) : \
(((P) >= 42 && (P) <= 49) ? 49 - (P) : \
(((P) >= 50 && (P) <= 53) ? 53 - (P) : \
(((P) >= 54 && (P) <= 61) ? (P) - 54 : \
(((P) >= 62 && (P) <= 69) ? (P) - 62 : \
(((P) == 0 || (P) == 15 || (P) == 17 || (P) == 21) ? 0 : \
(((P) == 1 || (P) == 14 || (P) == 16 || (P) == 20) ? 1 : \
(((P) == 19) ? 2 : \
(((P) == 5 || (P) == 6 || (P) == 18) ? 3 : \
(((P) == 2) ? 4 : \
(((P) == 3 || (P) == 4) ? 5 : 7)))))))))))))))
// 15 PWM
#define digitalPinToTimer(P) \
(((P) == 13 || (P) == 4) ? &TCCR0A : \
(((P) == 11 || (P) == 12) ? &TCCR1A : \
(((P) == 10 || (P) == 9) ? &TCCR2A : \
(((P) == 5 || (P) == 2 || (P) == 3) ? &TCCR3A : \
(((P) == 6 || (P) == 7 || (P) == 8) ? &TCCR4A : \
(((P) == 46 || (P) == 45 || (P) == 44) ? &TCCR5A : 0))))))
#define digitalPinToTimerBit(P) \
(((P) == 13) ? COM0A1 : (((P) == 4) ? COM0B1 : \
(((P) == 11) ? COM1A1 : (((P) == 12) ? COM1B1 : \
(((P) == 10) ? COM2A1 : (((P) == 9) ? COM2B1 : \
(((P) == 5) ? COM3A1 : (((P) == 2) ? COM3B1 : (((P) == 3) ? COM3C1 : \
(((P) == 6) ? COM4A1 : (((P) == 7) ? COM4B1 : (((P) == 8) ? COM4C1 : \
(((P) == 46) ? COM5A1 : (((P) == 45) ? COM5B1 : COM5C1))))))))))))))
#endif
#endif
#if !defined(digitalWriteFast)
#define digitalWriteFast(P, V) \
if (__builtin_constant_p(P) && __builtin_constant_p(V)) { \
if (digitalPinToTimer(P)) \
bitClear(*digitalPinToTimer(P), digitalPinToTimerBit(P)); \
bitWrite(*digitalPinToPortReg(P), digitalPinToBit(P), (V)); \
} else { \
digitalWrite((P), (V)); \
}
#endif
#if !defined(pinModeFast)
#define pinModeFast(P, V) \
if (__builtin_constant_p(P) && __builtin_constant_p(V)) { \
bitWrite(*digitalPinToDDRReg(P), digitalPinToBit(P), (V)); \
} else { \
pinMode((P), (V)); \
}
#endif
#if !defined(digitalReadFast)
#define digitalReadFast(P) ( (int) __digitalReadFast__((P)) )
#define __digitalReadFast__(P ) \
(__builtin_constant_p(P) ) ? ( \
digitalPinToTimer(P) ? ( \
bitClear(*digitalPinToTimer(P), digitalPinToTimerBit(P)) , \
bitRead(*digitalPinToPINReg(P), digitalPinToBit(P))) : \
bitRead(*digitalPinToPINReg(P), digitalPinToBit(P))) : \
digitalRead((P))
#endif
#if !defined(digitalWriteFast2)
#define digitalWriteFast2(P, V) \
if (__builtin_constant_p(P) && __builtin_constant_p(V)) { \
bitWrite(*digitalPinToPortReg(P), digitalPinToBit(P), (V)); \
} else { \
digitalWrite((P), (V)); \
}
#endif
#if !defined(pinModeFast2)
#define pinModeFast2(P, V) \
if (__builtin_constant_p(P) && __builtin_constant_p(V)) { \
if (digitalPinToTimer(P)) \
bitClear(*digitalPinToTimer(P), digitalPinToTimerBit(P)); \
bitWrite(*digitalPinToDDRReg(P), digitalPinToBit(P), (V)); \
} else { \
pinMode((P), (V)); \
}
#endif
#if !defined(digitalReadFast2)
#define digitalReadFast2(P) ( (int) __digitalReadFast2__((P)) )
#define __digitalReadFast2__(P ) \
(__builtin_constant_p(P) ) ? ( \
( bitRead(*digitalPinToPINReg(P), digitalPinToBit(P))) ) : \
digitalRead((P))
#endif

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GNU GENERAL PUBLIC LICENSE
Version 2, June 1991
Copyright (C) 1989, 1991 Free Software Foundation, Inc., <http://fsf.org/>
51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
Everyone is permitted to copy and distribute verbatim copies
of this license document, but changing it is not allowed.
Preamble
The licenses for most software are designed to take away your
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Foundation's software and to any other program whose authors commit to
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The precise terms and conditions for copying, distribution and
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NO WARRANTY
11. BECAUSE THE PROGRAM IS LICENSED FREE OF CHARGE, THERE IS NO WARRANTY
FOR THE PROGRAM, TO THE EXTENT PERMITTED BY APPLICABLE LAW. EXCEPT WHEN
OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR OTHER PARTIES
PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED
OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. THE ENTIRE RISK AS
TO THE QUALITY AND PERFORMANCE OF THE PROGRAM IS WITH YOU. SHOULD THE
PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF ALL NECESSARY SERVICING,
REPAIR OR CORRECTION.
12. IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MAY MODIFY AND/OR
REDISTRIBUTE THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES,
INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING
OUT OF THE USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED
TO LOSS OF DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY
YOU OR THIRD PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER
PROGRAMS), EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE
POSSIBILITY OF SUCH DAMAGES.
END OF TERMS AND CONDITIONS
How to Apply These Terms to Your New Programs
If you develop a new program, and you want it to be of the greatest
possible use to the public, the best way to achieve this is to make it
free software which everyone can redistribute and change under these terms.
To do so, attach the following notices to the program. It is safest
to attach them to the start of each source file to most effectively
convey the exclusion of warranty; and each file should have at least
the "copyright" line and a pointer to where the full notice is found.
{description}
Copyright (C) {year} {fullname}
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License along
with this program; if not, write to the Free Software Foundation, Inc.,
51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
Also add information on how to contact you by electronic and paper mail.
If the program is interactive, make it output a short notice like this
when it starts in an interactive mode:
Gnomovision version 69, Copyright (C) year name of author
Gnomovision comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
This is free software, and you are welcome to redistribute it
under certain conditions; type `show c' for details.
The hypothetical commands `show w' and `show c' should show the appropriate
parts of the General Public License. Of course, the commands you use may
be called something other than `show w' and `show c'; they could even be
mouse-clicks or menu items--whatever suits your program.
You should also get your employer (if you work as a programmer) or your
school, if any, to sign a "copyright disclaimer" for the program, if
necessary. Here is a sample; alter the names:
Yoyodyne, Inc., hereby disclaims all copyright interest in the program
`Gnomovision' (which makes passes at compilers) written by James Hacker.
{signature of Ty Coon}, 1 April 1989
Ty Coon, President of Vice
This General Public License does not permit incorporating your program into
proprietary programs. If your program is a subroutine library, you may
consider it more useful to permit linking proprietary applications with the
library. If this is what you want to do, use the GNU Lesser General
Public License instead of this License.

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ServoStrap
==========
servo-controlled reprap 3D printer:
this code take as input stepper information from a standard 3D printer motherboard
and use it to control a servo-motor with active position tracker.
i have made this code for the LMD18245 motor controller,
i have merged the pid code of Josh Kopel
whith the code of makerbot servo-controller board,
you can use this code on the some board changing some values.
Daniele Poddighe
external ardware require a quadrature encoder, timing slit strip and a dc motor,
all you can find inside an old printer, i have took it from canon and hp printers(psc1510)
for motor controll you can choose different type of H-bridge, i have used LMD18245,
you can order 3 of it on ti.com sample request, the hardware needed is explained on the datasheet but i'm drowing
the schematic and PCB layout on eagle to make an integrated board aesy to add to ramps 1.4 or other printer motherboard
improvements:
1)moore faster movements on x-y axys, it mean less time to wait to print a part
2)less noise from the motors, it will be silent
3)the couple of the motor not decrease with the speed (like in a stepper motor)
4)active position tracking, no more step losses,
almost all prints will end in perfect condition because if something stop
the head it will return to the print position
5)less price to build a printer, almost all electronic woste (like 2D printers)
have inside dc motors with all needed to control it
6)resolution increased by fine setting PID costants and using angular encoder, doesn't matter if is slit disk or magnetic
7)potentially endstops are not needed because the timing strip have special code at the begin/end
that can be interpreted as endstop
To use the code you need first to put the two files called digitalWriteFast.h and Keywords.txt in a folder inside arduino/libraries
here the youtube link of the test with this code: http://goo.gl/gAia5y

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/* i have made this code for the LMD18245 motor controller,
i have merged the pid code of Josh Kopel
whith the code of makerbot servo-controller board,
you can use this code on the some board changing some values.
Daniele Poddighe
external ardware require a quadrature encoder, timing slit strip and a dc motor,
all you can find inside an old printer, i have took it from canon and hp printers(psc1510)
for motor controll you can choose different type of H-bridge, i have used LMD18245,
you can order 3 of it on ti.com sample request, the hardware needed is explained on the datasheet but i'm drowing
the schematic and PCB layout on eagle.
read a rotary encoder with interrupts
Encoder hooked up with common to GROUND,
encoder0PinA to pin 2, encoder0PinB to pin 4 (or pin 3 see below)
it doesn't matter which encoder pin you use for A or B
is possible to change PID costants by sending on SerialUSB interfaces the values separated by ',' in this order: KP,KD,KI
example: 5.2,3.1,0 so we have KP=5.2 KD=3.1 KI=0 is only for testing purposes, but i will leave this function with eeprom storage
*/
#define encoder0PinA 2
#define encoder0PinB 4
#define SpeedPin 9
#define DirectionPin 8
//from ramps 1.4 stepper driver
#define STEP_PIN 3
#define DIR_PIN 12
#define ENABLE_PIN 13
volatile long encoder0Pos = 0;
long target = 0;
long target1 = 0;
int amp=212;
//correction = Kp * error + Kd * (error - prevError) + kI * (sum of errors)
//PID controller constants
float KP = 6.0 ; //position multiplier (gain) 2.25
float KI = 0.1; // Intergral multiplier (gain) .25
float KD = 1.3; // derivative multiplier (gain) 1.0
int lastError = 0;
int sumError = 0;
//Integral term min/max (random value and not yet tested/verified)
int iMax = 100;
int iMin = 0;
long previousTarget = 0;
long previousMillis = 0; // will store last time LED was updated
long interval = 5; // interval at which to blink (milliseconds)
//for motor control ramps 1.4
bool newStep = false;
bool oldStep = false;
bool dir = false;
void setup() {
pinMode(encoder0PinA, INPUT);
pinMode(encoder0PinB, INPUT);
pinMode(DirectionPin, OUTPUT);
pinMode(SpeedPin, OUTPUT);
//ramps 1.4 motor control
pinMode(STEP_PIN, INPUT);
pinMode(DIR_PIN, INPUT);
attachInterrupt(2, doEncoderMotor0, CHANGE); // encoder pin on interrupt 0 - pin 2
attachInterrupt(3, countStep, RISING); //on pin 3
SerialUSB.println("start"); // a personal quirk
}
void loop(){
while (SerialUSB.available() > 0) {
KP = SerialUSB.read();
KD = SerialUSB.read();
KI = SerialUSB.read();
SerialUSB.println(KP);
SerialUSB.println(KD);
SerialUSB.println(KI);
}
if(millis() - previousTarget > 500){ //enable this code only for test purposes
SerialUSB.print(encoder0Pos);
SerialUSB.print(',');
SerialUSB.println(target1);
previousTarget=millis();
}
target = target1;
docalc();
}
void docalc() {
if (millis() - previousMillis > interval)
{
previousMillis = millis(); // remember the last time we blinked the LED
long error = encoder0Pos - target ; // find the error term of current position - target
//generalized PID formula
//correction = Kp * error + Kd * (error - prevError) + kI * (sum of errors)
long ms = KP * error + KD * (error - lastError) +KI * (sumError);
lastError = error;
sumError += error;
//scale the sum for the integral term
if(sumError > iMax) {
sumError = iMax;
} else if(sumError < iMin){
sumError = iMin;
}
if(ms > 0){
digitalWrite ( DirectionPin ,HIGH );
}
if(ms < 0){
digitalWrite ( DirectionPin , LOW );
ms = -1 * ms;
}
int motorspeed = map(ms,0,amp,0,255);
if( motorspeed >= 255) motorspeed=255;
//analogWrite ( SpeedPin, (255 - motorSpeed) );
analogWrite ( SpeedPin, motorspeed );
//SerialUSB.print ( ms );
//SerialUSB.print ( ',' );
//SerialUSB.println ( motorspeed );
}
}
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) target1++;
else target1--;
}

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#if !defined(digitalPinToPortReg)
#if !defined(__AVR_ATmega1280__)
// Standard Arduino Pins
#define digitalPinToPortReg(P) \
(((P) >= 0 && (P) <= 7) ? &PORTD : (((P) >= 8 && (P) <= 13) ? &PORTB : &PORTC))
#define digitalPinToDDRReg(P) \
(((P) >= 0 && (P) <= 7) ? &DDRD : (((P) >= 8 && (P) <= 13) ? &DDRB : &DDRC))
#define digitalPinToPINReg(P) \
(((P) >= 0 && (P) <= 7) ? &PIND : (((P) >= 8 && (P) <= 13) ? &PINB : &PINC))
#define digitalPinToBit(P) \
(((P) >= 0 && (P) <= 7) ? (P) : (((P) >= 8 && (P) <= 13) ? (P) - 8 : (P) - 14))
#if defined(__AVR_ATmega8__)
// 3 PWM
#define digitalPinToTimer(P) \
(((P) == 9 || (P) == 10) ? &TCCR1A : (((P) == 11) ? &TCCR2 : 0))
#define digitalPinToTimerBit(P) \
(((P) == 9) ? COM1A1 : (((P) == 10) ? COM1B1 : COM21))
#else
// 6 PWM
#define digitalPinToTimer(P) \
(((P) == 6 || (P) == 5) ? &TCCR0A : \
(((P) == 9 || (P) == 10) ? &TCCR1A : \
(((P) == 11 || (P) == 3) ? &TCCR2A : 0)))
#define digitalPinToTimerBit(P) \
(((P) == 6) ? COM0A1 : (((P) == 5) ? COM0B1 : \
(((P) == 9) ? COM1A1 : (((P) == 10) ? COM1B1 : \
(((P) == 11) ? COM2A1 : COM2B1)))))
#endif
#else
// Arduino Mega Pins
#define digitalPinToPortReg(P) \
(((P) >= 22 && (P) <= 29) ? &PORTA : \
((((P) >= 10 && (P) <= 13) || ((P) >= 50 && (P) <= 53)) ? &PORTB : \
(((P) >= 30 && (P) <= 37) ? &PORTC : \
((((P) >= 18 && (P) <= 21) || (P) == 38) ? &PORTD : \
((((P) >= 0 && (P) <= 3) || (P) == 5) ? &PORTE : \
(((P) >= 54 && (P) <= 61) ? &PORTF : \
((((P) >= 39 && (P) <= 41) || (P) == 4) ? &PORTG : \
((((P) >= 6 && (P) <= 9) || (P) == 16 || (P) == 17) ? &PORTH : \
(((P) == 14 || (P) == 15) ? &PORTJ : \
(((P) >= 62 && (P) <= 69) ? &PORTK : &PORTL))))))))))
#define digitalPinToDDRReg(P) \
(((P) >= 22 && (P) <= 29) ? &DDRA : \
((((P) >= 10 && (P) <= 13) || ((P) >= 50 && (P) <= 53)) ? &DDRB : \
(((P) >= 30 && (P) <= 37) ? &DDRC : \
((((P) >= 18 && (P) <= 21) || (P) == 38) ? &DDRD : \
((((P) >= 0 && (P) <= 3) || (P) == 5) ? &DDRE : \
(((P) >= 54 && (P) <= 61) ? &DDRF : \
((((P) >= 39 && (P) <= 41) || (P) == 4) ? &DDRG : \
((((P) >= 6 && (P) <= 9) || (P) == 16 || (P) == 17) ? &DDRH : \
(((P) == 14 || (P) == 15) ? &DDRJ : \
(((P) >= 62 && (P) <= 69) ? &DDRK : &DDRL))))))))))
#define digitalPinToPINReg(P) \
(((P) >= 22 && (P) <= 29) ? &PINA : \
((((P) >= 10 && (P) <= 13) || ((P) >= 50 && (P) <= 53)) ? &PINB : \
(((P) >= 30 && (P) <= 37) ? &PINC : \
((((P) >= 18 && (P) <= 21) || (P) == 38) ? &PIND : \
((((P) >= 0 && (P) <= 3) || (P) == 5) ? &PINE : \
(((P) >= 54 && (P) <= 61) ? &PINF : \
((((P) >= 39 && (P) <= 41) || (P) == 4) ? &PING : \
((((P) >= 6 && (P) <= 9) || (P) == 16 || (P) == 17) ? &PINH : \
(((P) == 14 || (P) == 15) ? &PINJ : \
(((P) >= 62 && (P) <= 69) ? &PINK : &PINL))))))))))
#define digitalPinToBit(P) \
(((P) >= 7 && (P) <= 9) ? (P) - 3 : \
(((P) >= 10 && (P) <= 13) ? (P) - 6 : \
(((P) >= 22 && (P) <= 29) ? (P) - 22 : \
(((P) >= 30 && (P) <= 37) ? 37 - (P) : \
(((P) >= 39 && (P) <= 41) ? 41 - (P) : \
(((P) >= 42 && (P) <= 49) ? 49 - (P) : \
(((P) >= 50 && (P) <= 53) ? 53 - (P) : \
(((P) >= 54 && (P) <= 61) ? (P) - 54 : \
(((P) >= 62 && (P) <= 69) ? (P) - 62 : \
(((P) == 0 || (P) == 15 || (P) == 17 || (P) == 21) ? 0 : \
(((P) == 1 || (P) == 14 || (P) == 16 || (P) == 20) ? 1 : \
(((P) == 19) ? 2 : \
(((P) == 5 || (P) == 6 || (P) == 18) ? 3 : \
(((P) == 2) ? 4 : \
(((P) == 3 || (P) == 4) ? 5 : 7)))))))))))))))
// 15 PWM
#define digitalPinToTimer(P) \
(((P) == 13 || (P) == 4) ? &TCCR0A : \
(((P) == 11 || (P) == 12) ? &TCCR1A : \
(((P) == 10 || (P) == 9) ? &TCCR2A : \
(((P) == 5 || (P) == 2 || (P) == 3) ? &TCCR3A : \
(((P) == 6 || (P) == 7 || (P) == 8) ? &TCCR4A : \
(((P) == 46 || (P) == 45 || (P) == 44) ? &TCCR5A : 0))))))
#define digitalPinToTimerBit(P) \
(((P) == 13) ? COM0A1 : (((P) == 4) ? COM0B1 : \
(((P) == 11) ? COM1A1 : (((P) == 12) ? COM1B1 : \
(((P) == 10) ? COM2A1 : (((P) == 9) ? COM2B1 : \
(((P) == 5) ? COM3A1 : (((P) == 2) ? COM3B1 : (((P) == 3) ? COM3C1 : \
(((P) == 6) ? COM4A1 : (((P) == 7) ? COM4B1 : (((P) == 8) ? COM4C1 : \
(((P) == 46) ? COM5A1 : (((P) == 45) ? COM5B1 : COM5C1))))))))))))))
#endif
#endif
#if !defined(digitalWriteFast)
#define digitalWriteFast(P, V) \
if (__builtin_constant_p(P) && __builtin_constant_p(V)) { \
if (digitalPinToTimer(P)) \
bitClear(*digitalPinToTimer(P), digitalPinToTimerBit(P)); \
bitWrite(*digitalPinToPortReg(P), digitalPinToBit(P), (V)); \
} else { \
digitalWrite((P), (V)); \
}
#endif
#if !defined(pinModeFast)
#define pinModeFast(P, V) \
if (__builtin_constant_p(P) && __builtin_constant_p(V)) { \
bitWrite(*digitalPinToDDRReg(P), digitalPinToBit(P), (V)); \
} else { \
pinMode((P), (V)); \
}
#endif
#if !defined(digitalReadFast)
#define digitalReadFast(P) ( (int) __digitalReadFast__((P)) )
#define __digitalReadFast__(P ) \
(__builtin_constant_p(P) ) ? ( \
digitalPinToTimer(P) ? ( \
bitClear(*digitalPinToTimer(P), digitalPinToTimerBit(P)) , \
bitRead(*digitalPinToPINReg(P), digitalPinToBit(P))) : \
bitRead(*digitalPinToPINReg(P), digitalPinToBit(P))) : \
digitalRead((P))
#endif
#if !defined(digitalWriteFast2)
#define digitalWriteFast2(P, V) \
if (__builtin_constant_p(P) && __builtin_constant_p(V)) { \
bitWrite(*digitalPinToPortReg(P), digitalPinToBit(P), (V)); \
} else { \
digitalWrite((P), (V)); \
}
#endif
#if !defined(pinModeFast2)
#define pinModeFast2(P, V) \
if (__builtin_constant_p(P) && __builtin_constant_p(V)) { \
if (digitalPinToTimer(P)) \
bitClear(*digitalPinToTimer(P), digitalPinToTimerBit(P)); \
bitWrite(*digitalPinToDDRReg(P), digitalPinToBit(P), (V)); \
} else { \
pinMode((P), (V)); \
}
#endif
#if !defined(digitalReadFast2)
#define digitalReadFast2(P) ( (int) __digitalReadFast2__((P)) )
#define __digitalReadFast2__(P ) \
(__builtin_constant_p(P) ) ? ( \
( bitRead(*digitalPinToPINReg(P), digitalPinToBit(P))) ) : \
digitalRead((P))
#endif

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#######################################
# Syntax Coloring Map For DigitalWriteFast
#######################################
#######################################
# Datatypes (KEYWORD1)
#######################################
DigitalWriteFast KEYWORD1
#######################################
# Methods and Functions (KEYWORD2)
#######################################
digitalWriteFast KEYWORD2
digitalWriteFast2 KEYWORD2
pinModeFast KEYWORD2
pinModeFast2 KEYWORD2
digitalReadFast KEYWORD2
digitalReadFast2 KEYWORD2
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