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 setup()
{
Wire.begin(myAddress);
Wire.onReceive(i2cReceive);
Wire.onRequest(i2cRequest);
pinMode(limit_switch_pin, INPUT);
mySerial.begin(9600); // Serial commuication to motor controller start.
setpoint = 0.0;
calibration(); // Running the calibration code on every start up
input = encoderRead();
myPID.SetMode(AUTOMATIC);
myPID.SetOutputLimits(-127, 127);
myPID.SetSampleTime(20);
}
/*
* get increment/decrement keys.
* This may be extended for rotary encoders in future version.
*/
int8_t get_key_increment(void)
{
#ifdef ENCODER
#warning encoder gets key increment
int8_t keys = encoderRead();
// limit
if (keys > 0)
return 1;
if (keys < 0)
return -1;
#else
uint8_t keys = get_key_press((1 << KEY_MINUS) | (1 << KEY_PLUS));
if(keys & (1 << KEY_PLUS))
return 1;
if(keys & (1 << KEY_MINUS))
return -1;
#endif
return 0;
}
void main() {
timerInit();
sei();
pwmInit();
int16_t i = 0;
uint32_t lastDetentTimestamp;
pwmSet(0);
int8_t encoderPulses = 0;
while(1) {
encoderPulses += encoderRead();
if( encoderPulses > 3 || encoderPulses < -3 ) {
int8_t encoderStep = encoderPulses / 4;
if(millis - lastDetentTimestamp < 20) {
i+= encoderStep*10;
} else if(millis - lastDetentTimestamp < 30) {
i+= encoderStep*5;
} else if(millis - lastDetentTimestamp < 40) {
i+= encoderStep*2;
} else {
i+= encoderStep;
}
if(i > 187) {
i = 187;
}
if(i < 0) {
i = 0;
}
targetPwm = (uint8_t) pgm_read_byte(&(pwm[i]));
lastDetentTimestamp = millis;
//_delay_ms(1);
encoderPulses = 0;
}
// _delay_ms(5);
}
}
