void runPIDConfigurationValueSync(){
int i;
for (i=0;i<NUM_PID_GROUPS;i++){
if(dyPid[i].flagValueSync == true){
dyPid[i].flagValueSync = false;
println_E("Syncing PID values");
WritePIDvalues(&pidGroups[i],&dyPid[i],i);
}
}
}
void InitPID(void){
BYTE i;
//WORD loop;
for (i=0;i<NUM_PID_GROUPS;i++){
//DyPID values
dyPid[i].inputChannel=DYPID_NON_USED;
dyPid[i].outputChannel=DYPID_NON_USED;
dyPid[i].inputMode=0;
dyPid[i].outputMode=0;
pidGroups[i].Enabled=FALSE;
pidGroups[i].channel = i;
vel[i].enabled=FALSE;
vel[i].K.P=.1;
limits[i].type=NO_LIMIT;
LoadPIDvals(&pidGroups[i],&dyPid[i]);
if( dyPid[i].inputChannel==DYPID_NON_USED ||
dyPid[i].outputChannel==DYPID_NON_USED ||
dyPid[i].outputChannel==dyPid[i].inputChannel)
{
dyPid[i].inputChannel=DYPID_NON_USED;
dyPid[i].outputChannel=DYPID_NON_USED;
WritePIDvalues(&pidGroups[i],&dyPid[i]);
}
force[i].MsTime=0;
force[i].setPoint=200;
}
InitilizePidController( pidGroups,
vel,
NUM_PID_GROUPS,
&getPositionMine,
&setOutputMine,
&resetPositionMine,
//&asyncCallback,
&onPidConfigureMine,
&checkPIDLimitEventsMine);
for (i=0;i<NUM_PID_GROUPS;i++){
printPIDvals(i);
if(pidGroups[i].Enabled){
initPIDChans(i);
println_I("Resetting PID channel from init");
int value = 0;
if(dyPid[i].inputMode == IS_ANALOG_IN)
value = 512;
pidReset(i,value);
}
}
}
BYTE ConfigDyPID(BowlerPacket * Packet){
BYTE chan = Packet->use.data[0];
dyPid[chan].inputChannel =Packet->use.data[1];
dyPid[chan].inputMode =Packet->use.data[2];
dyPid[chan].outputChannel =Packet->use.data[3];
dyPid[chan].outputMode =Packet->use.data[4];
initPIDChans(chan);
WritePIDvalues(&pidGroups[chan],&dyPid[chan]);
return TRUE;
}
void InitPID(void){
//println_I("Starting PID initialization ");
uint8_t i;
//uint16_t loop;
for (i=0;i<NUM_PID_GROUPS;i++){
//DyPID values
dyPid[i].inputChannel=DYPID_NON_USED;
dyPid[i].outputChannel=DYPID_NON_USED;
dyPid[i].inputMode=0;
dyPid[i].outputMode=0;
dyPid[i].flagValueSync=false;
pidGroups[i].config.tipsScale=1.0;
pidGroups[i].config.Enabled = false;
pidGroups[i].config.Async = 1;
pidGroups[i].config.IndexLatchValue = 0;
pidGroups[i].config.stopOnIndex = 0;
pidGroups[i].config.useIndexLatch = 0;
pidGroups[i].config.K.P = .1;
pidGroups[i].config.K.I = 0;
pidGroups[i].config.K.D = 0;
pidGroups[i].config.V.P = .1;
pidGroups[i].config.V.D = 0;
pidGroups[i].config.Polarity = 0;
pidGroups[i].config.stop = 0;
pidGroups[i].config.upperHistoresis = 0;
pidGroups[i].config.lowerHistoresis = 0;
pidGroups[i].config.offset = 0.0;
pidGroups[i].config.calibrationState = CALIBRARTION_DONE;
pidGroups[i].interpolate.set=0;
pidGroups[i].interpolate.setTime=0;
pidGroups[i].interpolate.start=0;
pidGroups[i].interpolate.startTime=0;
limits[i].type=NO_LIMIT;
LoadPIDvals(&pidGroups[i],&dyPid[i],i);
if( dyPid[i].inputChannel==DYPID_NON_USED ||
dyPid[i].outputChannel==DYPID_NON_USED ||
dyPid[i].outputChannel==dyPid[i].inputChannel||
pidGroups[i].config.Enabled !=true)
{
dyPid[i].inputChannel=DYPID_NON_USED;
dyPid[i].outputChannel=DYPID_NON_USED;
pidGroups[i].config.Enabled = false;
WritePIDvalues(&pidGroups[i],&dyPid[i],i);
}
force[i].MsTime=0;
force[i].setPoint=200;
}
InitilizePidController( pidGroups,
NUM_PID_GROUPS,
&getPositionMine,
&setOutputMine,
&resetPositionMine,
&onPidConfigureMine,
&checkPIDLimitEventsMine);
for (i=0;i<NUM_PID_GROUPS;i++){
//
if(pidGroups[i].config.Enabled){
println_W("PID ");p_int_W(i);
printPIDvals(i);
initPIDChans(i);
int value = getPositionMine(i);
pidGroups[i].CurrentState=value;
pidReset(i,value);
}
}
}
void onPidConfigureMine(int group){
WritePIDvalues(&pidGroups[group],&dyPid[group]);
}
