Libraries angepasst, Limits eingefügt, Testsoftware für Messungen angelegt.

main/main.ino

@@ -1,7 +1,7 @@
 //#include <prg_342.h>
-#include <Libraries/PRG_342/prg_342.h>
-#include <Libraries/datalogger/Datalogger.h>
-#include <Libraries/pid/pid.h>
+#include <prg_342.h>
+#include <Datalogger.h>
+#include <pid.h>
 #include <string>
 #include <math.h>
 
@@ -58,6 +58,8 @@ int angle;
 int lastAnglePID;
 int lastAngle;
 int actTorque;
+int upperLimit = 0;
+int lowerLimit = -0;
 //int actTorqueArray[100];
 float filteredTorque = 0;  // gefilterter Wert
 float filteredSetpoint = 0;
@@ -194,7 +196,7 @@ void loop() {
   }*/
   myPID.setTunings(Kp, Ki, Kd);
 
-  if (lastAnglePID != angle && Pon && !manOut && ((abs(actTorque) >= 1000 || abs(RotSpeed) >= 400) || abs(actTorque) > setpoint)) {
+  if (lastAnglePID != angle && Pon && !manOut && !checkLimits(setpoint, abs(actTorque), upperLimit, lowerLimit) &&((abs(actTorque) >= 1000 || abs(RotSpeed) >= 400) || abs(actTorque) > setpoint)) {
     unsigned int output = myPID.compute(setpoint, actTorque);
     prg.setOutput(output);
     prg.ActOut = output;
@@ -212,6 +214,15 @@ void loop() {
   prg.isRunning == false;
 }
 
+bool checkLimits(float setpoint, int actVal, int upperLimit, int lowerLimit) {
+    int error = setpoint - actVal;
+    if (error <= upperLimit && error >= lowerLimit) {
+      return true;
+    } else {
+      return false;
+    }
+  }
+
 void interpolateWinkelArray() {
   int lastSetIndex = -1;