void loop()
{
input = encoderRead();
if(new_kP != old_kP)
{
myPID.SetTunings(new_kP,0,0);
old_kP = new_kP;
}
myPID.Compute();
double motorInput;
if (output < -1)
{
motorInput = (112.0/127.0)*output -15;
}
else if (output > 1)
{
motorInput = (112.0/127.0)*output +15;
}
else
{
motorInput = output;
}
motorInput = motorInput+127.0;
mySerial.write((int)motorInput);
delay(120);
}
void loop(void) {
SetTemp=cfg.DispTemp;
SetHumi=cfg.DispHumi;
float ndo = read_ds(&ds_stt);
if(ndo!=9999) NowTemp=ndo;
read_dht(&dht_temp,&dht_humi);
double gap = abs(SetTemp-NowTemp); //distance away from setpoint
if (gap < 10){ //we're close to setpoint, use conservative tuning parameters
myPID.SetTunings(consKp, consKi, consKd);
}else{ //we're far from setpoint, use aggressive tuning parameters
myPID.SetTunings(aggKp, aggKi, aggKd);
}
myPID.Compute();
analogWrite(SSR_PIN, (byte)OutPWM);
if(dht_humi<SetHumi){ digitalWrite(HUMI_GENERATE, HIGH);}else{ digitalWrite(HUMI_GENERATE, LOW);}
Display();
}
void onSetAnglePID()
{
Serial.println("Receiving Angle tuning command...");
float Kp, Ki, Kd;
readTuningArgs(&Kp, &Ki, &Kd);
anglePID.SetTunings(Kp, Ki, Kd);
cmdMessenger.sendCmd(kStatus, "Angle PID tuned");
}
void control_loop() {
pinMode( control_pin, OUTPUT );
if(tuning && auto_tune.Runtime()) {
finish_autotune();
} else if(!tuning) {
pid.SetMode(!config.paused);
pid.SetTunings(profiles[config.driving].kp, profiles[config.driving].ki, profiles[config.driving].kd);
pid.SetSampleTime(1000 * profiles[config.driving].sample_time); // Update the control value once per second
current_target_temp = profiles[config.driving].target_temp;
pid.Compute();
}
if(last_power != power) {
last_power = power;
analogWrite(control_pin, power);
Serial.print("Log\tpower\t");
Serial.println((100.0 * ((float)power / 255.0)));
}
}
void update_pid_tunings() {
pid.SetTunings(settings.pid.kp, settings.pid.ki, settings.pid.kd);
}
void loop() {
// put your main code here, to run repeatedly:
String str = Serial.readStringUntil('\n');
const char *cmd = str.c_str();
if(strncmp(cmd, "AT+ SetTemp", 11) == 0 && strlen(cmd) > 13) {
const char *target = cmd + 12;
targetTemp = (float)atoi(target) / 100.0f;
// Don't allow 100C to be exceeded.
if(targetTemp > 100.0f) targetTemp = 100.0f;
// Convert to Kelvin
targetTemp += 273.15;
// PID SetMode method ignores if we go from automatic
// to automatic
pid.SetMode(AUTOMATIC);
Serial.print("AT- SetTempOk\r\n");
} else if(strncmp(cmd, "AT+ GetActualTemp", 17) == 0) {
char buf[64];
snprintf(buf, 64, "AT- ActualTemp %u\r\n", (unsigned int)((actualTemp-273.15) * 100));
Serial.print(buf);
} else if(strncmp(cmd, "AT+ GetTargetTemp", 17) == 0) {
char buf[64];
snprintf(buf, 64, "AT- TargetTemp %u\r\n", (unsigned int)((targetTemp-273.15) * 100));
Serial.print(buf);
} else if(strncmp(cmd, "AT+ TurnOff", 11) == 0) {
pid.SetMode(MANUAL);
pulseWidth = 0;
Serial.print("AT- TurnOffOk\r\n");
} else if(str.length() > 0) {
Serial.print("AT- UnknownCmd\r\n");
}
// Get actual temp from thermistor
// Using Steinhart-Hart. Based on
// http://playground.arduino.cc/ComponentLib/Thermistor2
int pinValue = analogRead(pinThermistor);
//float v1 = (float)pinValue / 1024.0f * supplyVoltage;
// Simple voltage divider.
// v1 = supplyVoltage * Rt / (balanceResistor + Rt)
// Solve for Rt.
float rVal = balanceResistor * (1023.0f/pinValue-1);
float lnR = log(rVal);
float tinv = tA + tB * lnR + tC * lnR * lnR * lnR;
actualTemp = 1.0f / tinv;
if(fabs(actualTemp - targetTemp) > 5) {
pid.SetTunings(kPfar, kIfar, kDfar);
} else {
pid.SetTunings(kPnear, kInear, kDnear);
}
pid.Compute();
// TODO: not sure if analogWrite will work correctly,
// may turn heater pad on/off too quickly or relay may be
// too slow.
analogWrite(pinHeater, pulseWidth * 255);
}
int main(int argc, char **argv) {
START_EASYLOGGINGPP(argc, argv);
// Load configuration from file
el::Configurations conf("/home/debian/hackerboat/embedded_software/unified/setup/log.conf");
// Actually reconfigure all loggers instead
el::Loggers::reconfigureAllLoggers(conf);
BoatState *me = new BoatState();
me->rudder = new Servo();
me->throttle = new Throttle();
me->orient = new OrientationInput(SensorOrientation::SENSOR_AXIS_Z_UP);
double targetHeading = 0;
double in = 0, out = 0, setpoint = 0;
Pin enable(Conf::get()->servoEnbPort(), Conf::get()->servoEnbPin(), true, true);
PID *helm = new PID(&in, &out, &setpoint, 0, 0, 0, 0);
helm->SetMode(AUTOMATIC);
helm->SetControllerDirection(Conf::get()->rudderDir());
helm->SetSampleTime(Conf::get()->rudderPeriod());
helm->SetOutputLimits(Conf::get()->rudderMin(),
Conf::get()->rudderMax());
helm->SetTunings(10,0,0);
if (!me->rudder->attach(Conf::get()->rudderPort(), Conf::get()->rudderPin())) {
std::cout << "Rudder failed to attach 1" << std::endl;
return -1;
}
if (!me->rudder->isAttached()) {
std::cout << "Rudder failed to attach 2" << std::endl;
return -1;
}
if (me->orient->begin() && me->orient->isValid()) {
cout << "Initialization successful" << endl;
cout << "Oriented with Z axis up" << endl;
} else {
cout << "Initialization failed; exiting" << endl;
return -1;
}
for (int i = 0; i < 100; i++) {
double currentheading = me->orient->getOrientation()->makeTrue().heading;
if (isfinite(currentheading)) targetHeading += currentheading;
cout << ".";
std::this_thread::sleep_for(100ms);
}
cout << endl;
targetHeading = targetHeading/100;
cout << "Target heading is " << to_string(targetHeading) << " degrees true " << endl;
int count = 0;
for (;;) {
in = me->orient->getOrientation()->makeTrue().headingError(targetHeading);
count++;
LOG_EVERY_N(10, DEBUG) << "True Heading: " << me->orient->getOrientation()->makeTrue()
<< ", Target Course: " << targetHeading;
helm->Compute();
me->rudder->write(out);
LOG_EVERY_N(10, DEBUG) << "Rudder command: " << to_string(out);
std::this_thread::sleep_for(100ms);
if (count > 9) {
count = 0;
cout << "True Heading: " << me->orient->getOrientation()->makeTrue().heading
<< "\tTarget Course: " << targetHeading
<< "\tRudder command: " << to_string(out) << endl;
}
}
return 0;
}
