Testaufbau:
Arduino UNO, Doppel H-Bridge, 2xDC-Motor 12V, 3x Porti ca. 5K Ohm
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/* TEST_PID_DC_MOTOR L298N H-Bridge driving DC motor on Arduino Einfache Regelung mit PID Regler Geregelt werden zwei DC Motore mit Encoder K-Parameter Daten werden im eeprom gespeichert Mähwert ein cut=255, aus cut=0 */ #include <EEPROM.h> #include <TimerOne.h> #include <PID_v1.h> #include <avr/wdt.h> #define PROG_NAME "Double H-Brige PID Motorcontroller" #define PROG_VERSION "1.0.0" // Programm Version #define PROG_DATE "13.10.2016" // Programm Datum #define PROG_AUTOR "banto@gmx.net" // Programm Autor #define DRIVEMODE_STOP 0 #define DRIVEMODE_FW 1 #define DRIVEMODE_BW 2 #define DRIVEMODE_CW 3 #define DRIVEMODE_CCW 4 struct PID_PARA { double p; double i; double d; }; PID_PARA KA; // Hier werden die PID Parameter p i d gespeichert PID_PARA KB; double SetpointA, InputA, OutputA; // Stellgroeßen double SetpointB, InputB, OutputB; PID PIDA(&InputA, &OutputA, &SetpointA, KA.p, KA.i, KA.d, DIRECT); PID PIDB(&InputB, &OutputB, &SetpointB, KB.p, KB.i, KB.d, DIRECT); const int ENA = 9; // MCU PWM Pin 9 to ENA on L298n Board const int IN1 = 8; // MCU Digital Pin 8 to IN1 on L298n Board const int IN2 = 7; // MCU Digital Pin 7 to IN2 on L298n Board const int IN3 = 6; // MCU Digital pin 6 to IN3 on L298n Board const int IN4 = 5; // MCU Digital pin 5 to IN4 on L298n Board const int ENB = 3; // MCU PWM Pin 3 to ENB on L298n Board const int EncoderA = 2; // 2 const int EncoderB = 4; // 4 const int KpInput = A0; const int KiInput = A1; const int KdInput = A2; const int CUT = 10; // Mähwerk PWM const int VCC = 12; // Für die PID Potis const int GND = 13; // Für die PID Potis // Variablen //////////////////////////////////////////////////////////////// char buf[80]; // Allgemeiner Puffer für die Ausgabe int eeAddress = 0; // Hier beginnt das EEPROM int driveMode; // Zeigt die aktuelle Radrichtung int oldDriveMode; // Zeigt die vorherige Radrichtung int driveSpeedA; // Speed Rad A int driveSpeedB; // Speed Rad B int driveSpeedCut=0;// Speed Rad B unsigned long encoderTimeA; // unsigned long encoderTimeB; // int sollWertA = 55; // Wert bei ca PWM 235 int sollWertB = 55; // Wert bei ca PWM 235 int istWertA; int istWertB; boolean optimierungPerPotiA = false; // Schalter für Poti Einstellung boolean optimierungPerPotiB = false; // Schalter für Poti Einstellung boolean debug=true; ////////////////////////////////////////////////////// void setup() { ////////////////////////////////////////////////////// pinMode(ENA, OUTPUT); //Set all the L298n Pin to output pinMode(ENB, OUTPUT); pinMode(IN1, OUTPUT); pinMode(IN2, OUTPUT); pinMode(IN3, OUTPUT); pinMode(IN4, OUTPUT); pinMode(EncoderA, INPUT_PULLUP); pinMode(EncoderB, INPUT_PULLUP); pinMode(VCC, OUTPUT); pinMode(GND, OUTPUT); digitalWrite(VCC,HIGH); digitalWrite(GND,LOW); Serial.begin(115200); space(60, '*'); Serial.println(buf); sprintf(buf," Program........: %s",PROG_NAME); Serial.println(buf); sprintf(buf," Version........: %s",PROG_VERSION);Serial.println(buf); sprintf(buf," Date...........: %s",PROG_DATE); Serial.println(buf); sprintf(buf," Autor..........: %s",PROG_AUTOR); Serial.println(buf); space(60, '*'); Serial.println(buf); Timer1.initialize(2000000); // 2 Sekunden Timer1.attachInterrupt(timer1Isr); driveMode = DRIVEMODE_FW; oldDriveMode = DRIVEMODE_STOP; driveSpeedA = 200; EEPROM.get(eeAddress, KA); //lesen EEPROM.get(eeAddress+sizeof(KA), KB); InputA = encoderTimeA; InputB = encoderTimeB; //initialize the variables we're linked to SetpointA = sollWertA; SetpointB = sollWertB; //tell the PID to range between 0 and 255 PIDA.SetOutputLimits(0, 255); PIDB.SetOutputLimits(0, 255); PIDA.SetMode(AUTOMATIC); PIDB.SetMode(AUTOMATIC); } /////////////////////////////////////////// void timer1Isr() { /////////////////////////////////////////// if(debug){ Serial.print(" istWertA EncoderA...: "); Serial.println(encoderTimeA); Serial.print(" istWertB EncoderB...: "); Serial.println(encoderTimeB); Serial.print(" sollWertA...........: "); Serial.println(sollWertA); Serial.print(" sollWertB...........: "); Serial.println(sollWertB); Serial.print(" driveMode...........: "); Serial.println(driveMode); Serial.print(" oldDriveMode........: "); Serial.println(oldDriveMode); Serial.print(" driveSpeedA.........: "); Serial.println(driveSpeedA); Serial.print(" driveSpeedB.........: "); Serial.println(driveSpeedB); char str_temp1[6],str_temp2[6],str_temp3[6]; char buf[80]; sprintf(buf," KA p %s i %s d %s", dtostrf(KA.p, 2, 2, str_temp1), dtostrf(KA.i, 2, 2, str_temp2), dtostrf(KA.d, 2, 2, str_temp3)); Serial.print(buf); optimierungPerPotiA ? Serial.println (" -> Optimierung A per Poti") : Serial.println(); sprintf(buf," KB p %s i %s d %s", dtostrf(KB.p, 2, 2, str_temp1), dtostrf(KB.i, 2, 2, str_temp2), dtostrf(KB.d, 2, 2, str_temp3)); Serial.print(buf); optimierungPerPotiB ? Serial.println (" -> Optimierung B per Poti") : Serial.println(); Serial.println(); } } ////////////////////////////////////////////////////// void loop() { ////////////////////////////////////////////////////// readConsole(); if (driveMode==DRIVEMODE_FW) { if(oldDriveMode != DRIVEMODE_FW) { Serial.println("DRIVEMODE_FW"); softStop(); digitalWrite(IN1, LOW); digitalWrite(IN2, HIGH); digitalWrite(IN3, LOW); digitalWrite(IN4, HIGH); softStart(); oldDriveMode = driveMode; } } if (driveMode==DRIVEMODE_BW){ if(oldDriveMode != DRIVEMODE_BW) { Serial.println("DRIVEMODE_BW"); softStop(); digitalWrite(IN1, HIGH); digitalWrite(IN2, LOW); digitalWrite(IN3, HIGH); digitalWrite(IN4, LOW); softStart(); oldDriveMode = driveMode; } } if (driveMode==DRIVEMODE_CW){ if(oldDriveMode != DRIVEMODE_CW) { Serial.println("DRIVEMODE_CW"); softStop(); digitalWrite(IN1, HIGH); digitalWrite(IN2, LOW); digitalWrite(IN3, LOW); digitalWrite(IN4, HIGH); softStart(); oldDriveMode = driveMode; } } if (driveMode==DRIVEMODE_CCW){ if(oldDriveMode != DRIVEMODE_CCW) { Serial.println("DRIVEMODE_CCW"); softStop(); digitalWrite(IN1, LOW); digitalWrite(IN2, HIGH); digitalWrite(IN3, HIGH); digitalWrite(IN4, LOW); softStart(); oldDriveMode = driveMode; } } if (driveMode==DRIVEMODE_STOP){ if(oldDriveMode != DRIVEMODE_STOP) { Serial.println("DRIVEMODE_STOP"); softStop(); oldDriveMode = driveMode; } digitalWrite(IN1, LOW); digitalWrite(IN2, LOW); digitalWrite(IN3, LOW); digitalWrite(IN4, LOW); } // Encoder lesen encoderTimeA = ( pulseIn(EncoderA, HIGH, 2000) + pulseIn(EncoderA, LOW, 2000) ); encoderTimeB = ( pulseIn(EncoderB, HIGH, 2000) + pulseIn(EncoderB, LOW, 2000) ); if (encoderTimeA==0) encoderTimeA = 99999; if (encoderTimeB==0) encoderTimeB = 99999; InputA = encoderTimeA; InputB = encoderTimeB; SetpointA = sollWertA; SetpointB = sollWertB; PIDA.SetTunings(KA.p, KA.i, KA.d); PIDB.SetTunings(KB.p, KB.i, KB.d); PIDA.Compute(); PIDB.Compute(); driveSpeedA = 255-OutputA; driveSpeedB = 255-OutputB; analogWrite(ENA, driveSpeedA); analogWrite(ENB, driveSpeedB); analogWrite(CUT, driveSpeedCut); double range = 2.00/1023.00; int q; if (optimierungPerPotiA==true) { q = analogRead(KpInput); KA.p = range *q; // Serial.print(q);Serial.print(" "); q = analogRead(KiInput); KA.i = range *q; // Serial.print(q);Serial.print(" "); q = analogRead(KdInput); KA.d = range *q; // Serial.print(q);Serial.print(" "); Serial.println(); } if (optimierungPerPotiB==true) { q = analogRead(KpInput); KB.p = range *q; // Serial.print(q);Serial.print(" "); q = analogRead(KiInput); KB.i = range *q; // Serial.print(q);Serial.print(" "); q = analogRead(KdInput); KB.d = range *q; // Serial.print(q);Serial.print(" "); Serial.println(); } } // end of loop ////////////////////////////////////////////////////// void readConsole() { ////////////////////////////////////////////////////// String cmd; if (Serial.available() > 0) { delay (25); // Warten bis alle Zeichen im Puffer cmd=""; while (Serial.available() > 0) { char c=Serial.read(); if (>=32) cmd=cmd+c; // Nur Zeichen mit ASCII-Code >=32 } cmd = cmd + " "; String cmd1 = split(cmd,' ',0); String cmd2 = split(cmd,' ',1); String cmd3 = split(cmd,' ',2); sprintf(buf, ">>> %s %s %s", cmd1.c_str(), cmd2.c_str(),cmd3.c_str() ); Serial.println(buf); if (cmd1=="dm") driveMode = cmd2.toInt(); if (cmd1=="speed") driveSpeedA = cmd2.toInt(); if (cmd1=="soll") sollWertA = sollWertB = cmd2.toInt(); if (cmd1=="cut") driveSpeedCut = cmd2.toInt(); if (cmd1=="oppa") {optimierungPerPotiA=true; optimierungPerPotiB=false;} if (cmd1=="oppb") {optimierungPerPotiB=true; optimierungPerPotiA=false;} if (cmd1=="opp") {optimierungPerPotiA=optimierungPerPotiB=false;} if (cmd1=="kp") KA.p = KB.p = cmd2.toFloat(); if (cmd1=="ki") KA.i = KB.i = cmd2.toFloat(); if (cmd1=="kd") KA.d = KB.i = cmd2.toFloat(); if (cmd1=="kap") KA.p = cmd2.toFloat(); if (cmd1=="kai") KA.i = cmd2.toFloat(); if (cmd1=="kad") KA.d = cmd2.toFloat(); if (cmd1=="kbp") KB.p = cmd2.toFloat(); if (cmd1=="kbi") KB.i = cmd2.toFloat(); if (cmd1=="kbd") KB.d = cmd2.toFloat(); if (cmd1=="debug") debug = !debug; if (cmd1=="reset") softReset(); if (cmd1.startsWith("k")) { EEPROM.put(eeAddress, KA); EEPROM.put(eeAddress+sizeof(KA), KB); Serial.print("EEPROM save succesfully"); } } } ////////////////////////////////////////////////////// void softReset() { ////////////////////////////////////////////////////// digitalWrite(IN1, LOW); digitalWrite(IN2, LOW); digitalWrite(IN3, LOW); digitalWrite(IN4, LOW); // asm volatile ("jmp 0"); // So gehts nicht wdt_enable(WDTO_15MS); while(1) { } } ////////////////////////////////////////////////////// void softStop() { ////////////////////////////////////////////////////// /* // Soft-Stop if (driveSpeedA > 0) { for (int i=driveSpeedA; i>=0; --i) // Motor will decelerate from maximum speed to 0 { driveSpeedA = i; analogWrite(ENA, driveSpeedA); analogWrite(ENB, driveSpeedA); delay(20); } } */ } ////////////////////////////////////////////////////// void space(int count, char chr) { ////////////////////////////////////////////////////// for ( int i=0; i<count; i++) buf[i]=chr; } ////////////////////////////////////////////////////// void softStart() { ////////////////////////////////////////////////////// /* // Soft-Start for (int i=driveSpeedA; i >= 255; i++) { driveSpeedA = i; analogWrite(ENA, driveSpeedA); analogWrite(ENB, driveSpeedA); delay(20); } */ } ////////////////////////////////////////////////////// String split(String s, char parser, int index) { ////////////////////////////////////////////////////// String rs=""; int parserIndex = index; int parserCnt=0; int rFromIndex=0, rToIndex=-1; while (index >= parserCnt) { rFromIndex = rToIndex+1; rToIndex = s.indexOf(parser,rFromIndex); if (index == parserCnt) { if (rToIndex == 0 || rToIndex == -1) { return ""; } return s.substring(rFromIndex,rToIndex); } else { parserCnt++; } } return rs; } ////////////////////////////////////////////////////// ////////////////////////////////////////////////////// ////////////////////////////////////////////////////// |