Komplette Umstellung auf v2 clean
This commit is contained in:
692
main/main.ino
692
main/main.ino
@@ -1,293 +1,469 @@
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#include <prg_342.h>
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#include <Datalogger.h>
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#include <pid.h>
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#include <ArduinoJson.h>
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#include <string>
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#include <math.h>
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PRG_342 prg = PRG_342();
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#define DEBUG_PRINT_TIME 500
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#define SPEEDCHECK_TIME 200
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#define PID_DELAY 0
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#define LOG_TIMER_DELAY 100
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#define MEAS_DELAY 0
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#define K_FAKTOR 1.0995380532183
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#define OFFSET 0
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#define ALPHA 0.0008
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#define N_SAMPLES 100
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#define BLOCK_DETECTION_VALUE setpoint
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#define ROTATION_DETECTION_VALUE 100
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int angle = 0;
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int lastAngle = 0;
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int actTorque = 0;
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int setpoint = 0;
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double lastOutput;
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#define _getTorque abs(prg.getTorque(false, ALPHA))
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#define _getAngle prg.getAngle()
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struct Timer {
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unsigned long startMillis;
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unsigned long interval;
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bool active;
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};
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void waitStart(Timer &timer, unsigned long interval) {
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timer.startMillis = millis();
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timer.interval = interval;
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timer.active = true;
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}
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bool waitIsOver(Timer &timer) {
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if (timer.active && (millis() - timer.startMillis >= timer.interval)) {
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timer.active = false;
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return true;
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}
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return false;
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}
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Timer debug_timer;
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Timer pid_timer;
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Timer speedcheck_timer;
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Timer log_timer;
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Timer meas_timer;
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PRG_342 prg = PRG_342(K_FAKTOR);
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Datalogger datalogger = Datalogger();
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PID myPID(0.0, 0.0, 0.0);
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//Messung / Logging
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bool LOGGING = false;
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// Deklaration der Variablen für die Steuerung und Messung
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int angle;
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int lastAnglePID;
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int lastAngle;
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int actTorque;
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//int actTorqueArray[100];
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float filteredTorque = 0; // gefilterter Wert
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float filteredSetpoint = 0;
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float setpoint;
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int oldSetpoint;
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static int lastOutput;
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float manVolt;
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unsigned char CW;
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unsigned char Richtungswechsel;
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float RotSpeed;
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unsigned char BLOCK;
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unsigned char BLOCK_SOLVED;
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bool In_Src_Sw = false;
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float Kp = 0.0;
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float Ki = 0.0;
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float Ki = 0.1;
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float Kd = 0.0;
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int Pout;
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int Iout;
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int Dout;
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int error;
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/*float Kp = 1.0;
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float Ki = 0.333;
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float Kd = 1.0;*/
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bool OFFSET_ON = true;
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bool manOut = false;
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float WinkelArray[181];
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bool PID = false;
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unsigned char PID_DELAY = 1; //in ms
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unsigned int Imax = 217; //in mA
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bool PRINT_DEBUG = false;
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bool DEBUG_MODE = false;
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// Steuervariablen
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bool manOut = false; // Manuelle Ausgabe aktivieren/deaktivieren
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bool Pon = true; // PID-Regelung ein-/ausschalten
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bool DEBUG_MODE = false; // Debug-Modus ein-/ausschalten
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// Define variables for PID calculations
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float integral = 0;
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int derivative;
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int previousError = 0;
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unsigned long lastTime = 0;
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unsigned long currentTime;
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unsigned long timeChange;
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unsigned long timer1;
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unsigned long timer2;
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unsigned long PIDtimer;
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float RotSpeed;
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unsigned int MilliAmpPerSecond = 160;
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unsigned int maxChange;
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char serBuffer[4];
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// Initialisierung der verschiedenen Timer
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unsigned long logtime;
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void setup() {
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analogWriteResolution(12); // Set the resolution to 12 bits (0-4095)
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analogReadResolution(12);
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setAnalogResolution(12);
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Serial.begin(115200);
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prg.safeShutdown(5);
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waitStart(debug_timer, DEBUG_PRINT_TIME);
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waitStart(pid_timer, PID_DELAY);
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waitStart(speedcheck_timer, SPEEDCHECK_TIME);
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waitStart(log_timer, LOG_TIMER_DELAY);
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waitStart(meas_timer, MEAS_DELAY);
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timer1 = timer2 = PIDtimer = millis();
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angle = prg.getAngle();
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lastAngle = angle;
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myPID.setOutputLimits(0, 4095);
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myPID.setSampleTime(PID_DELAY);
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myPID.setTunings(Kp, Ki, Kd);
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//prg.safeShutdown(3);
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UPDATE_VALUES();
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/*for (int i = 0; i < N_SAMPLES; i++) {
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actTorqueArray[i] = actTorque;
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}*/
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filteredTorque = actTorque;
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lastAngle = lastAnglePID = angle;
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for (int i = 0; i < 181; i++) {
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WinkelArray[i] = -1;
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}
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Serial.begin(19200); // Beginne serielle Kommunikation
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}
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void loop() {
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/*if (waitIsOver(meas_timer)) {
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UPDATE_VALUES();
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for (int i = 0; i < N_SAMPLES - 1; i++) {
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actTorqueArray[i] = actTorqueArray[i + 1];
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}
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actTorqueArray[N_SAMPLES - 1] = actTorque;
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actTorque = 0;
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for (int j = 0; j < N_SAMPLES; j++) {
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actTorque += actTorqueArray[j];
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}
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actTorque = (float)actTorque / N_SAMPLES;
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waitStart(meas_timer, MEAS_DELAY);
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}*/
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UPDATE_VALUES();
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filteredTorque = exponentialFilter(actTorque, filteredTorque, ALPHA); // Verwenden Sie einen geeigneten Alpha-Wert
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COMMUNICATION_HANDLER();
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if (DEBUG_MODE) {
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if (waitIsOver(debug_timer)) {
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DEBUG_PRINTER();
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waitStart(debug_timer, DEBUG_PRINT_TIME);
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}
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}
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if (waitIsOver(speedcheck_timer)) {
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SPEEDCHECK();
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BLOCK = BLOCK_DETECTION(abs(actTorque), abs(RotSpeed));
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/*if (BLOCK == 0) {
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if (BLOCK_SOLVED == 1) {
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setpoint = oldSetpoint;
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BLOCK_SOLVED = 0;
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} else {
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oldSetpoint = setpoint;
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}
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} else if (BLOCK == 1) {
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if (BLOCK_SOLVED == 0) {
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setpoint = 0;
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BLOCK_SOLVED = 1;
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}
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}*/
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waitStart(speedcheck_timer, SPEEDCHECK_TIME);
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}
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if (Richtungswechsel) {
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myPID.reset();
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Richtungswechsel = 0;
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}
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if (!BLOCK) {
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// Aktualisieren des Setpoints basierend auf dem Winkel
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int index = (float)angle * 0.002; // 0.5 Grad pro Index
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if (index >= 0 && index < 181) {
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setpoint = WinkelArray[index];
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}
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if (In_Src_Sw) {
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setpoint = float(prg.getSetPoint(1)) * 5.0;
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}
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}
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/*if (abs(setpoint) - abs(actTorque) <= 1000) {
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myPID.setTunings(Kp, Ki, Kd);
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} else {
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myPID.setTunings(Kp, Ki, Kd);
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}*/
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myPID.setTunings(Kp, Ki, Kd);
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if (lastAnglePID != angle && Pon && !manOut && ((abs(actTorque) >= 1000 || abs(RotSpeed) >= 400) || abs(actTorque) > setpoint)) {
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unsigned int output = myPID.compute(setpoint, actTorque);
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prg.setOutput(output);
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prg.ActOut = output;
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} else if (abs(actTorque) < 1000) {
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myPID.reset();
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}
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lastAnglePID = angle;
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if (LOGGING) {
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if (waitIsOver(log_timer)) {
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sendDataToDatalogger();
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waitStart(log_timer, LOG_TIMER_DELAY);
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}
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}
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prg.isRunning == false;
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}
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void interpolateWinkelArray() {
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int lastSetIndex = -1;
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for (int i = 0; i < 180; i++) {
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int start = i;
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int k = i + 1;
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while (WinkelArray[k] == -1) {
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k++;
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}
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int end = k;
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float startTorque = WinkelArray[start];
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float endTorque = WinkelArray[end];
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for (int j = start + 1; j < end; j++) {
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float interpolatedTorque = startTorque + ((endTorque - startTorque) / (end - start)) * (j - start);
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WinkelArray[j] = interpolatedTorque;
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}
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}
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/*for (int i = 0; i < 181; i++) {
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if (WinkelArray[i] != 0 || i == 0) { // Sicherstellen, dass der Startwert berücksichtigt wird
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if (lastSetIndex != -1) {
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int start = lastSetIndex;
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int end = i;
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float startTorque = WinkelArray[start];
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float endTorque = WinkelArray[end];
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for (int j = start + 1; j < end; j++) {
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float interpolatedTorque = startTorque + ((endTorque - startTorque) / (end - start)) * (j - start);
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WinkelArray[j] = interpolatedTorque;
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}
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}
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lastSetIndex = i;
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}
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}*/
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}
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float exponentialFilter(float currentValue, float previousFilteredValue, float alpha) {
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return alpha * currentValue + (1.0 - alpha) * previousFilteredValue;
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}
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void sendDataToDatalogger() {
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datalogger.addData((float)((float)millis() - (float)logtime) / 1000.0, (float)angle / 1000.0, setpoint / 1000.0, actTorque / 1000.0, (float)prg.getOutVolt() / 1000.0, RotSpeed);
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}
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unsigned char BLOCK_DETECTION(unsigned int torque, float speed) {
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if (torque >= BLOCK_DETECTION_VALUE && speed < ROTATION_DETECTION_VALUE) {
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return 1;
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} else {
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return 0;
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}
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}
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void setAnalogResolution(unsigned char res) {
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analogWriteResolution(res);
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analogReadResolution(res);
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}
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void UPDATE_VALUES() {
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angle = _getAngle;
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actTorque = _getTorque;
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prg.updateActOut(actTorque);
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}
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void COMMUNICATION_HANDLER() {
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if (Serial.available() > 0) {
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delay(10);
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unsigned int SerIn = Serial.read();
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switch (SerIn) {
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case 'a':
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Serial.print((float)prg.getAngle() / 1000, 1);
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Serial.print(";");
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Serial.println((float)prg.getTorque(false, 10) / 1000, 1);
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break;
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case 'e':
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prg.safeShutdown(10);
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break;
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case 't':
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prg.tareTorque();
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prg.tareAngle();
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break;
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case 'o':
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OFFSET_ON = !OFFSET_ON;
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break;
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case 'p':
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delay(10);
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Serial.readBytes(serBuffer, 4);
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Kp = ((serBuffer[0] << 24) | (serBuffer[1] << 16) | (serBuffer[2] << 8) | serBuffer[3]) * 0.001;
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break;
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case 'i':
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delay(10);
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Serial.readBytes(serBuffer, 4);
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Ki = ((serBuffer[0] << 24) | (serBuffer[1] << 16) | (serBuffer[2] << 8) | serBuffer[3]) * 0.001;
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break;
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case 'd':
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delay(10);
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Serial.readBytes(serBuffer, 4);
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Kd = ((serBuffer[0] << 24) | (serBuffer[1] << 16) | (serBuffer[2] << 8) | serBuffer[3]) * 0.001;
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break;
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case 's':
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delay(10);
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Serial.readBytes(serBuffer, 4);
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setpoint = ((serBuffer[0] << 24) | (serBuffer[1] << 16) | (serBuffer[2] << 8) | serBuffer[3]) * 0.001;
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Serial.print("setpoint: ");
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Serial.println(setpoint);
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break;
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case 'm':
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manOut = !manOut;
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break;
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case 'v':
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if (manOut) {
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Serial.readBytes(serBuffer, 4);
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unsigned int volt = ((serBuffer[0] << 24) | (serBuffer[1] << 16) | (serBuffer[2] << 8) | serBuffer[3]) * 0.001;
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prg.setOutput(40.95 * volt, false);
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}
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break;
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case 'x':
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PID = !PID;
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error = 0;
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previousError = 0;
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integral = 0;
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break;
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case 'r':
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error = 0;
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previousError = 0;
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integral = 0;
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derivative = 0;
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Pout = 0;
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Iout = 0;
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Dout = 0;
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break;
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case 'f':
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prg.DynDecog(prg.ActOut);
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break;
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case 'k':
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delay(10);
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Serial.readBytes(serBuffer, 4);
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MilliAmpPerSecond = ((serBuffer[0] << 24) | (serBuffer[1] << 16) | (serBuffer[2] << 8) | serBuffer[3]);
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Serial.print("Max Milliampere per second: ");
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Serial.println(MilliAmpPerSecond);
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break;
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case 'b':
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DEBUG_MODE = !DEBUG_MODE;
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break;
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default:
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Serial.println(SerIn);
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break;
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}
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String command = receiveString();
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parseCommand(command);
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Serial.read();
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}
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}
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void PID_CONTROL() {
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// Get current time
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currentTime = millis();
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timeChange = currentTime - lastTime;
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lastTime = currentTime;
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// Read the current value from the sensor
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actTorque = abs(prg.getTorque(true, 10));
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angle = abs(prg.getAngle());
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// Calculate error
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error = setpoint - actTorque;
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// Proportional term
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Pout = Kp * error;
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// Integral term
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integral += error * (float)timeChange / 1000.0; // Convert timeChange to seconds
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// Limit the integral term to prevent windup
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integral = constrain(integral, -100000, 100000);
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Iout = Ki * integral;
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// Derivative term
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derivative = (error - previousError) / ((float)timeChange / 1000.0); // Convert timeChange to seconds
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Dout = Kd * derivative;
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// Calculate total output
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int output = Pout + Iout + Dout;
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// Constrain output
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output = constrain(output, 10, 4095);
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// Implement a smooth change to avoid sudden jumps
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static int lastOutput = 0;
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//int maxChange = 10; // Max change per loop iteration (adjust as needed)
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maxChange = (MilliAmpPerSecond * 4095 * PID_DELAY) / (Imax * 1000);
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if (abs(output - lastOutput) > maxChange) {
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if (output > lastOutput) {
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output = lastOutput + maxChange;
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} else {
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output = lastOutput - maxChange;
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}
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}
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// Write the PID output to the actuator
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prg.setOutput(output, false);
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lastOutput = output;
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// Update previous error
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previousError = error;
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}
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void SPEEDCHECK() {
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if (millis() - timer2 >= 200) {
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timer2 = millis();
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int deltaAngle = prg.getAngle() - lastAngle;
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RotSpeed = deltaAngle * 5.0; // Convert to speed per second
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lastAngle = prg.getAngle();
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}
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}
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int deltaAngle = angle - lastAngle;
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RotSpeed = deltaAngle * 5; // Umrechnen in Winkel pro Sekunde
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lastAngle = angle;
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void DEBUG_TIMER() {
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if (millis() - timer1 >= 500) {
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timer1 = millis();
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PRINT_DEBUG = true;
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} else {
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PRINT_DEBUG = false;
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if (RotSpeed > 0) {
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if (CW == 0) {
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Richtungswechsel = 1;
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}
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CW = 1;
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} else if (RotSpeed < 0) {
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if (CW == 1) {
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Richtungswechsel = 1;
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}
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CW = 0;
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}
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}
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void DEBUG_PRINTER() {
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if (PRINT_DEBUG) {
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Serial.println("####################");
|
||||
Serial.print("Winkel: ");
|
||||
Serial.println((float)prg.getAngle() / 1000, 3);
|
||||
Serial.print("Drehmoment: ");
|
||||
Serial.println((float)prg.getTorque() / 1000, 3);
|
||||
Serial.print("Geschwindigkeit: ");
|
||||
Serial.println(RotSpeed);
|
||||
Serial.print("Ausgangsspannung: ");
|
||||
Serial.println((float)prg.getOutVolt() / 1000, 3);
|
||||
Serial.print("Setpoint: ");
|
||||
Serial.println((float)setpoint / 1000, 3);
|
||||
Serial.print("Error: ");
|
||||
Serial.println((float)error / 1000, 3);
|
||||
Serial.print("Kp: ");
|
||||
Serial.println(Kp, 3);
|
||||
Serial.print("Ki: ");
|
||||
Serial.println(Ki, 3);
|
||||
Serial.print("Kd: ");
|
||||
Serial.println(Kd, 3);
|
||||
Serial.print("Pout: ");
|
||||
Serial.println(Pout);
|
||||
Serial.print("Iout: ");
|
||||
Serial.println(Iout);
|
||||
Serial.print("Dout: ");
|
||||
Serial.println(Dout);
|
||||
Serial.print("Integral: ");
|
||||
Serial.println(integral);
|
||||
Serial.print("PID: ");
|
||||
Serial.println(PID);
|
||||
Serial.print("Max mA / s (SET): ");
|
||||
Serial.println(MilliAmpPerSecond);
|
||||
Serial.print("Max mA / s (ACT): ");
|
||||
Serial.println((Imax * maxChange * 1000) / (4095 * PID_DELAY));
|
||||
Serial.print("maxChange: ");
|
||||
Serial.println(maxChange);
|
||||
Serial.print("isRunning: ");
|
||||
Serial.println(prg.isRunning);
|
||||
Serial.println("####################");
|
||||
}
|
||||
// Debug-Informationen ausgeben
|
||||
Serial.println("####################");
|
||||
Serial.print("Winkel: ");
|
||||
Serial.println((float)angle / 1000, 3);
|
||||
Serial.print("Drehmoment: ");
|
||||
Serial.println((float)actTorque / 1000, 3);
|
||||
Serial.print("Geschwindigkeit: ");
|
||||
Serial.println(RotSpeed);
|
||||
Serial.print("Drehrichtung: ");
|
||||
Serial.println(CW);
|
||||
Serial.print("Ausgangsspannung: ");
|
||||
Serial.println((float)prg.getOutVolt() / 1000, 3);
|
||||
Serial.print("Setpoint: ");
|
||||
Serial.println((float)setpoint / 1000, 3);
|
||||
Serial.print("Kp: ");
|
||||
Serial.println(Kp, 3);
|
||||
Serial.print("Ki: ");
|
||||
Serial.println(Ki, 3);
|
||||
Serial.print("Kd: ");
|
||||
Serial.println(Kd, 3);
|
||||
Serial.print("output: ");
|
||||
Serial.println((unsigned int)((float)prg.getOutVolt() * 0.1575));
|
||||
Serial.print("Pon: ");
|
||||
Serial.println(Pon);
|
||||
Serial.print("manOut: ");
|
||||
Serial.println(manOut);
|
||||
Serial.print("manVolt: ");
|
||||
Serial.println(manVolt);
|
||||
Serial.print("LOGGING: ");
|
||||
Serial.println(LOGGING);
|
||||
Serial.println("####################");
|
||||
}
|
||||
|
||||
void loop() {
|
||||
if (DEBUG_MODE) {
|
||||
DEBUG_TIMER();
|
||||
DEBUG_PRINTER();
|
||||
|
||||
String receiveString() {
|
||||
String received = "";
|
||||
unsigned long startTime = millis();
|
||||
byte inByte[1];
|
||||
while ((char)inByte[0] != '\n' || Serial.available() > 0) {
|
||||
//c = Serial.read();
|
||||
Serial.readBytes(inByte, 1);
|
||||
received += (char)inByte[0];
|
||||
}
|
||||
COMMUNICATION_HANDLER();
|
||||
SPEEDCHECK();
|
||||
//Serial.println(received);
|
||||
return received;
|
||||
}
|
||||
|
||||
if (millis() - PIDtimer >= PID_DELAY) { // Small delay for stability
|
||||
PIDtimer = millis();
|
||||
|
||||
if ((PID && !manOut && abs(prg.getTorque()) >= 2000 && abs(RotSpeed) >= 400) || (abs(prg.getTorque()) > setpoint)) {
|
||||
PID_CONTROL();
|
||||
void parseCommand(const String &command) {
|
||||
if (command[0] == 'p') {
|
||||
float tempKp;
|
||||
setParameter(command, 'Kp', tempKp);
|
||||
Kp = tempKp;
|
||||
myPID.setTunings(Kp, Ki, Kd); // Aktualisieren der Tunings
|
||||
datalogger.addConfig("Kp", String(Kp)); // Konvertierung zu String
|
||||
} else if (command[0] == 'i') {
|
||||
float tempKi;
|
||||
setParameter(command, 'Ki', tempKi);
|
||||
Ki = tempKi;
|
||||
myPID.setTunings(Kp, Ki, Kd); // Aktualisieren der Tunings
|
||||
datalogger.addConfig("Ki", String(Ki)); // Konvertierung zu String
|
||||
} else if (command[0] == 'd') {
|
||||
float tempKd;
|
||||
setParameter(command, 'Kd', tempKd);
|
||||
Kd = tempKd;
|
||||
myPID.setTunings(Kp, Ki, Kd); // Aktualisieren der Tunings
|
||||
datalogger.addConfig("Kd", String(Kd)); // Konvertierung zu String
|
||||
} else if (command[0] == 'a') {
|
||||
Serial.print(angle);
|
||||
Serial.print(";");
|
||||
Serial.print(actTorque);
|
||||
Serial.print(";");
|
||||
Serial.print(prg.getSetPoint(1));
|
||||
Serial.print(";");
|
||||
Serial.print(setpoint);
|
||||
Serial.print(";");
|
||||
Serial.println(prg.ActOut);
|
||||
} else if (command[0] == 'b') {
|
||||
DEBUG_MODE = !DEBUG_MODE;
|
||||
} else if (command[0] == 'e') {
|
||||
prg.safeShutdown(5);
|
||||
}
|
||||
if (command[0] == 'f') {
|
||||
prg.DynDecog(prg.ActOut);
|
||||
} else if (command[0] == 'l') {
|
||||
LOGGING = !LOGGING;
|
||||
if (LOGGING) {
|
||||
if (CW) {
|
||||
datalogger.addConfig("Drehrichtung", "CW");
|
||||
} else {
|
||||
datalogger.addConfig("Drehrichtung", "CCW");
|
||||
}
|
||||
logtime = millis();
|
||||
waitStart(log_timer, LOG_TIMER_DELAY);
|
||||
} else {
|
||||
datalogger.logToSerial();
|
||||
datalogger.clear();
|
||||
}
|
||||
} else if (command[0] == 'm') {
|
||||
manOut = !manOut;
|
||||
} else if (command[0] == 'r') {
|
||||
myPID.reset();
|
||||
} else if (command[0] == 's') {
|
||||
setParameter(command, 's', setpoint);
|
||||
for (int i = 0; i < 180; i++) {
|
||||
WinkelArray[i] = setpoint;
|
||||
}
|
||||
} else if (command[0] == 'S') {
|
||||
In_Src_Sw = !In_Src_Sw;
|
||||
} else if (command[0] == 't') {
|
||||
prg.tareTorque();
|
||||
} else if (command.startsWith("u") && command.endsWith("u\n")) {
|
||||
Serial.println(command); // Debug-Ausgabe
|
||||
for (int i = 0; i < 181; i++) {
|
||||
WinkelArray[i] = -1;
|
||||
}
|
||||
String data = command.substring(1, command.length() - 1);
|
||||
int lastIndex = 0;
|
||||
while (lastIndex != -1) {
|
||||
int index = data.indexOf(';', lastIndex);
|
||||
String pair = (index == -1) ? data.substring(lastIndex) : data.substring(lastIndex, index);
|
||||
int commaIndex = pair.indexOf(',');
|
||||
if (commaIndex != -1) {
|
||||
int angleIndex = pair.substring(0, commaIndex).toInt();
|
||||
float torqueValue = pair.substring(commaIndex + 1).toFloat();
|
||||
if (angleIndex >= 0 && angleIndex < 181) {
|
||||
WinkelArray[angleIndex] = torqueValue;
|
||||
Serial.print("Set WinkelArray[");
|
||||
Serial.print(angleIndex);
|
||||
Serial.print("] to ");
|
||||
Serial.println(torqueValue);
|
||||
}
|
||||
}
|
||||
lastIndex = (index == -1) ? -1 : index + 1;
|
||||
}
|
||||
interpolateWinkelArray();
|
||||
} else if (command[0] == 'v') {
|
||||
if (manOut) {
|
||||
setParameter(command, 'v', manVolt); // Hier wurde 'manVolt' als float deklariert
|
||||
manVolt = manVolt * 0.1575;
|
||||
prg.ActOut = manVolt;
|
||||
analogWrite(prg.TORQUE_OUT_PIN, manVolt);
|
||||
}
|
||||
} else if (command[0] == 'w') {
|
||||
prg.tareAngle();
|
||||
} else if (command[0] == 'x') {
|
||||
Pon = !Pon;
|
||||
myPID.reset();
|
||||
}
|
||||
|
||||
prg.updateActOut();
|
||||
prg.isRunning = false;
|
||||
}
|
||||
|
||||
|
||||
void setParameter(const String &command, char prefix, float ¶meter) {
|
||||
int commaIndex = command.indexOf('.');
|
||||
if (commaIndex > 1) {
|
||||
String paramString = command.substring(1, commaIndex) + "." + command.substring(commaIndex + 1);
|
||||
parameter = paramString.toFloat(); // Konvertierung innerhalb der Funktion
|
||||
/*Serial.print(prefix);
|
||||
Serial.print(" gesetzt auf: ");
|
||||
Serial.println(parameter, 6); // Sechs Dezimalstellen anzeigen*/
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user