int cmd_exec(const char *argv[], int argc) { int ret = 0; pid_t proc = pid_start(argv, argc, 0); pid_wait(proc, &ret); return ret; }
int main(void) { //Calibração do sensor /*configPWM(); setServoAngle(0); while(1){ }*/ double dt = 0.0; double curr_err = 0; float PID_Input = 0; float PID_Output = 0; int i_PID_Input = 0; int i_Output = 0; char c_PID_Input[4]; char c_Output[4]; char c_adc_value[4]; float gain = -20.0; ADC_config(); ADC_Start(); USART_config(); configPWM(); setServoAngle(0); ConfigSerie_BT(); pid_start(); pid_timer_config(); configMotorPWM(500); setMotorDirection(1); duty_cycle = 10; while(1) { if(mode == 1) { if(all_read == 1) { PID_Input = Centroid_Algorithm(); curr_err = (3.5 - PID_Input); dt = TCNT5; dt = (dt*16)/1000000; pid_update(ptr, curr_err,dt); PID_Output = PID.control; itoa(i_Output, c_Output, 10); SendString((char*)"\n-------------------\n"); SendString((char*)"\nSaída_PID 1: "); SendString(c_Output); PID_Output = PID_Output*gain; if(PID_Output > 75) PID_Output = 75; if(PID_Output < -75) PID_Output = -75; setServoAngle(PID_Output); i_PID_Input = (int) PID_Input; i_Output = (int) PID_Output; itoa(i_PID_Input, c_PID_Input ,10); itoa(i_Output, c_Output, 10); SendString((char*)"\nLeituras: "); for(int i = 0; i < 8; i++) { itoa(adc_value[i], c_adc_value, 10); SendString(c_adc_value); UsartSendByte(' '); } SendString((char*)"\nEntrada PID: "); SendString(c_PID_Input); SendString((char*)"\nSaída_PID 2: "); SendString(c_Output); all_read = 0; ADMUX &= 0XE0; //Limpa ADMUX ADMUX |= channel; //Selecciona o canal 0 ADCSRA |= (1<<ADSC); //Inicia conversão } } if(mode == 0) { // } } }