Synchronisierung.

main_v4/main_v4.ino

@@ -0,0 +1,57 @@
+#include <PID_v1.h>
+#include <prg_342.h>
+
+#define PIN_INPUT A0
+#define PIN_OUTPUT DAC0
+#define K_FAKTOR 1.0995380532183
+#define ALPHA 1
+
+PRG_342 prg = PRG_342(K_FAKTOR);
+
+//Define Variables we'll be connecting to
+double Setpoint, Input, Output;
+int angle;
+int lastAngle;
+unsigned long timer1;
+
+//Specify the links and initial tuning parameters
+double Kp = 0, Ki = 0.04, Kd = 0;
+PID myPID(&Input, &Output, &Setpoint, Kp, Ki, Kd, DIRECT);
+
+void setup() {prg.setOutput(4095*0.5, false);
+  delay(3000);
+  prg.setOutput(0, false);
+  delay(2000);
+  Serial.begin(115200);
+
+  angle = prg.getAngle();
+  Input = prg.getTorque(true, ALPHA);
+  prg.updateActOut(Input);
+  Setpoint = 15000;
+
+  //turn the PID on
+  myPID.SetOutputLimits(0, 4095);
+  myPID.SetMode(AUTOMATIC);
+}
+
+void loop() {
+  angle = prg.getAngle();
+  Input = abs(prg.getTorque(true, ALPHA));
+  prg.updateActOut(Input);
+
+  if (SPEEDCHECK() >= 400) {
+    myPID.Compute();
+  }
+
+  prg.setOutput(Output, false);
+}
+
+float SPEEDCHECK() {
+  // Überprüfen der Rotationsgeschwindigkeit
+  if (millis() - timer1 >= 200) {
+    timer1 = millis();
+    int deltaAngle = angle - lastAngle;
+    lastAngle = angle;
+    return abs(deltaAngle * 5);  // Umrechnen in Winkel pro Sekunde
+  }
+}