Synchronisierung.

tuning/tuning.ino

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+#include <pidautotuner.h>
+#include <prg_342.h>
+
+void setup() {
+
+  PRG_342 prg = PRG_342();
+  analogWriteResolution(12);
+  analogReadResolution(12);
+  prg.safeShutdown(5);  // Sicheres Herunterfahren des Ausgangs
+
+  Serial.begin(115200);
+
+  Serial.println("Starte in 5 Sekunden.");
+
+  delay(5000);
+
+  Serial.println("Start.");
+
+  PIDAutotuner tuner = PIDAutotuner();
+
+  // Set the target value to tune to
+  // This will depend on what you are tuning. This should be set to a value within
+  // the usual range of the setpoint. For low-inertia systems, values at the lower
+  // end of this range usually give better results. For anything else, start with a
+  // value at the middle of the range.
+  tuner.setTargetInputValue(5000);
+
+  // Set the loop interval in microseconds
+  // This must be the same as the interval the PID control loop will run at
+  tuner.setLoopInterval(1);
+
+  // Set the output range
+  // These are the minimum and maximum possible output values of whatever you are
+  // using to control the system (Arduino analogWrite, for example, is 0-255)
+  tuner.setOutputRange(0, 4095 * 0.5);
+
+  // Set the Ziegler-Nichols tuning mode
+  // Set it to either PIDAutotuner::ZNModeBasicPID, PIDAutotuner::ZNModeLessOvershoot,
+  // or PIDAutotuner::ZNModeNoOvershoot. Defaults to ZNModeNoOvershoot as it is the
+  // safest option.
+  tuner.setZNMode(PIDAutotuner::ZNModeBasicPID);
+
+  // This must be called immediately before the tuning loop
+  // Must be called with the current time in microseconds
+  tuner.startTuningLoop(micros());
+
+  // Run a loop until tuner.isFinished() returns true
+  long microseconds;
+  while (!tuner.isFinished()) {
+
+    // This loop must run at the same speed as the PID control loop being tuned
+    long prevMicroseconds = microseconds;
+    microseconds = micros();
+
+    // Get input value here (temperature, encoder position, velocity, etc)
+    double input = prg.getTorque(false, 10);
+
+    // Call tunePID() with the input value and current time in microseconds
+    double output = tuner.tunePID(input, microseconds);
+
+    // Set the output - tunePid() will return values within the range configured
+    // by setOutputRange(). Don't change the value or the tuning results will be
+    // incorrect.
+    prg.setOutput(output, false);
+
+    // This loop must run at the same speed as the PID control loop being tuned
+    while (micros() - microseconds < 1) delayMicroseconds(1);
+  }
+
+  // Turn the output off here.
+  prg.setOutput(0);
+
+  // Get PID gains - set your PID controller's gains to these
+  double kp = tuner.getKp();
+  double ki = tuner.getKi();
+  double kd = tuner.getKd();
+
+  Serial.println("#####");
+  Serial.print("Kp: ");
+  Serial.println(kp);
+  Serial.print("Ki: ");
+  Serial.println(ki);
+  Serial.print("Kd: ");
+  Serial.println(kd);
+  Serial.println("#####");
+  Serial.println("Abgeschlossen");
+}
+
+void loop() {
+}