วันที่25 ที่Fibo

-โค้ดเดิมที่ได้รับการปรับแต่งนิดหน่อย แต่ยังคงไม่สมบูรณ์ หรือ ยังไม่เสร็จ 

    -ติดปัญหาคือการคำนวนที่จะเอารอบ rpm มาลบกับค่าเดิมเพื่อจะให้ PWM เพิ่มขึ้น

int ledPin = 9;      // PWM connected to digital pin 9

int valum = 1;

float time1 = 0.0;

float time2 = 0.0;

float s=0.0;

float counter = 0.0;

float j = 0.0;

float k=0.0;

float rpm=0.0;

float rpm_set = 0.0;

unsigned long Cur_time=0;

unsigned long Prev_time=0;

int latter1 = 0;

void setup() {

  

  Serial.begin(9600);

  attachInterrupt(0,Millis,RISING);

  //LOW to trigger the interrupt whenever the pin is low,

  //CHANGE to trigger the interrupt whenever the pin changes value

  //RISING to trigger when the pin goes from low to high,

  //FALLING for when the pin goes from high to low.

  pinMode(ledPin,OUTPUT); //PWM

  digitalWrite(7,HIGH);

  digitalWrite(8,LOW);

  

}

void loop() 

{ 

  String latter ="";

  if(Serial.available()>0)

  {

    while(Serial.available()>0)

    {

  latter += char(Serial.read());

    }   

    

  Serial.println(latter);

  latter1=latter.toInt();

  }

  analogWrite(ledPin,latter1);

  delay(200); 

  Cur_time = millis();

  int s = Cur_time-Prev_time;

  if(s >= 100)

      {

  j = (counter*10.0)/360.0;

  k = j/(s*0.001);

  rpm = k*60.0;    //rpm

  Serial.print("rpm:"); Serial.print(rpm); Serial.println("\t");  

   rpm_set = analogWrite(latter1);

   err = rpm_set - rpm;

   

   counter=0;

   Prev_time = Cur_time;

   Serial.print("latter:"); Serial.print(latter); Serial.println("\t"); 

       }

}

void Millis()

{

  counter++;

}

-PID Library

      /********************************************************

* PID RelayOutput Example
* Same as basic example, except that this time, the output
* is going to a digital pin which (we presume) is controlling
* a relay. The pid is designed to output an analog value,
* but the relay can only be On/Off.
*
* To connect them together we use "time proportioning
* control" Tt's essentially a really slow version of PWM.
* First we decide on a window size (5000mS say.) We then
* set the pid to adjust its output between 0 and that window
* size. Lastly, we add some logic that translates the PID
* output into "Relay On Time" with the remainder of the
* window being "Relay Off Time"
********************************************************/
#include <PID_v1.h>
#define RelayPin 6
//Define Variables we'll be connecting to
double Setpoint, Input, Output;
//Specify the links and initial tuning parameters
PID myPID(&Input, &Output, &Setpoint,2,5,1, DIRECT);
int WindowSize = 5000;
unsigned long windowStartTime;
void setup()
{
windowStartTime = millis();
//initialize the variables we're linked to
Setpoint = 100;
//tell the PID to range between 0 and the full window size
myPID.SetOutputLimits(0, WindowSize);
//turn the PID on
myPID.SetMode(AUTOMATIC);
}
void loop()
{
Input = analogRead(0);
myPID.Compute();
/************************************************
* turn the output pin on/off based on pid output
************************************************/
unsigned long now = millis();
if(now - windowStartTime>WindowSize)
{ //time to shift the Relay Window
windowStartTime += WindowSize;
}
if(Output > now - windowStartTime) digitalWrite(RelayPin,HIGH);
else digitalWrite(RelayPin,LOW);
}

แหล่งที่มา http://playground.arduino.cc/Code/PIDLibraryRelayOutputExample

// (Really Simple) PID Class by Ivan Seidel

// GitHub.com/ivanseidel



// Use as you want. Leave credits


class PID{



public:


double error;



double sample;



double lastSample;



double kP, kI, kD;      


double P, I, D;


double pid;




double setPoint;



long lastProcess;


PID(double _kP, double _kI, double _kD){


kP = _kP;


kI = _kI;


kD = _kD;


}


void addNewSample(double _sample){


sample = _sample;


}


void setSetPoint(double _setPoint){


setPoint = _setPoint;


}

double process(){


// Implementação P ID



error = setPoint - sample;



float deltaTime = (millis() - lastProcess) / 1000.0;


lastProcess = millis();


//P



P = error * kP;


//I


I = I + (error * kI) * deltaTime;


//D



D = (lastSample - sample) * kD / deltaTime;


lastSample = sample;


// Soma tudo


pid = P + I + D;




return pid;



}



};





#define pSENSOR         A1



#define pCONTROLE       3


PID meuPid(1.0, 0, 0);


void setup() {


Serial.begin(9600);




pinMode(pSENSOR, INPUT);



pinMode(pCONTROLE, OUTPUT);



}




int controlePwm = 50;


void loop() {


// Lê temperatura



double temperature = map(analogRead(pSENSOR), 0, 1023, 0, 100);


// Manda pro objeto PID!


meuPid.addNewSample(temperature);


// Converte para controle



controlePwm = (meuPid.process() + 50);


// Saída do controle


analogWrite(pCONTROLE, controlePwm);


}












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