Wifi Webserver to control the Speed of a motor using PID
Dependencies: 4DGL-uLCD-SE PID QEI SDFileSystem mbed
main.cpp@2:f579e98b82de, 2015-11-25 (annotated)
- Committer:
- electromotivated
- Date:
- Wed Nov 25 20:49:22 2015 +0000
- Revision:
- 2:f579e98b82de
- Parent:
- 1:1490beafb4f7
- Child:
- 3:2151f4b584b5
Nothing;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
electromotivated | 0:7478eabf00eb | 1 | /* |
electromotivated | 0:7478eabf00eb | 2 | Uses the ESP8266 WiFi Chip to set up a WiFi Webserver used to control |
electromotivated | 0:7478eabf00eb | 3 | the speed of a motor using a PID controller. USE FIREFOX Web |
electromotivated | 0:7478eabf00eb | 4 | Browser |
electromotivated | 0:7478eabf00eb | 5 | |
electromotivated | 0:7478eabf00eb | 6 | NOTES: |
electromotivated | 0:7478eabf00eb | 7 | 1. Webpage Handling in this program is specific to a CUSTOM |
electromotivated | 0:7478eabf00eb | 8 | WEBPAGE. Program must be modified to handle specfically a new |
electromotivated | 0:7478eabf00eb | 9 | webpage. A copy of the webpage for this program can be found at |
electromotivated | 0:7478eabf00eb | 10 | the end of this program page. Simply copy and past text into a |
electromotivated | 0:7478eabf00eb | 11 | html file and save as the given name. |
electromotivated | 0:7478eabf00eb | 12 | |
electromotivated | 0:7478eabf00eb | 13 | 2. Developed and tested with FireFox 42.0 Web Browser. Does not seem to work |
electromotivated | 0:7478eabf00eb | 14 | well with Google Chrome or Internet Explorer for some reason... they seem |
electromotivated | 0:7478eabf00eb | 15 | to generate two post requests which messes with the user input values. |
electromotivated | 0:7478eabf00eb | 16 | |
electromotivated | 0:7478eabf00eb | 17 | 3. There are a bunch of printf statements in the code that can be |
electromotivated | 0:7478eabf00eb | 18 | uncommented for debugging in a serial terminal progrom. |
electromotivated | 0:7478eabf00eb | 19 | |
electromotivated | 0:7478eabf00eb | 20 | |
electromotivated | 0:7478eabf00eb | 21 | TODO: ESP8366 has a max packet send size. Make sure we implement |
electromotivated | 0:7478eabf00eb | 22 | a method to send webpages that exceed this value. The max size is |
electromotivated | 0:7478eabf00eb | 23 | listed in the official ESP8266 AT Commands Documentation, I think |
electromotivated | 0:7478eabf00eb | 24 | it is 2048 bytes/chars |
electromotivated | 0:7478eabf00eb | 25 | |
electromotivated | 0:7478eabf00eb | 26 | TODO: CREATE CONFIG FUNCTION TO SET SSID, PASSWORD, BAUDRATE ETC. |
electromotivated | 0:7478eabf00eb | 27 | Perhaps have a serial terminal method to take user input, and |
electromotivated | 0:7478eabf00eb | 28 | put the function call into a #ifdef WiFiConfig statement, so |
electromotivated | 0:7478eabf00eb | 29 | that the user can enable it to config Wifi module then turn |
electromotivated | 0:7478eabf00eb | 30 | it off once Wifi module is configed so that this program can |
electromotivated | 0:7478eabf00eb | 31 | run in a "stand alone" mode. |
electromotivated | 0:7478eabf00eb | 32 | |
electromotivated | 0:7478eabf00eb | 33 | TODO: Move debugging printf statements inside of #ifdef DEBUG |
electromotivated | 0:7478eabf00eb | 34 | statements, so that serial terminal print statements can be |
electromotivated | 0:7478eabf00eb | 35 | turned on and off easily for debugging. |
electromotivated | 1:1490beafb4f7 | 36 | |
electromotivated | 1:1490beafb4f7 | 37 | TODO: Implement stop button in webpage |
electromotivated | 0:7478eabf00eb | 38 | */ |
electromotivated | 0:7478eabf00eb | 39 | |
electromotivated | 0:7478eabf00eb | 40 | |
electromotivated | 0:7478eabf00eb | 41 | #include "mbed.h" |
electromotivated | 0:7478eabf00eb | 42 | #include "SDFileSystem.h" |
electromotivated | 0:7478eabf00eb | 43 | #include "PID.h" |
electromotivated | 0:7478eabf00eb | 44 | #include "QEI.h" |
electromotivated | 0:7478eabf00eb | 45 | #include <algorithm> |
electromotivated | 0:7478eabf00eb | 46 | |
electromotivated | 0:7478eabf00eb | 47 | /**********WEB SERVER SPECIFIC DECLARTATIONS**********************************/ |
electromotivated | 0:7478eabf00eb | 48 | /*****************************************************************************/ |
electromotivated | 0:7478eabf00eb | 49 | SDFileSystem sd(p5,p6,p7,p8,"sd"); // MOSI, MISO, SCLK, CS, |
electromotivated | 0:7478eabf00eb | 50 | // Virtual File System Name |
electromotivated | 0:7478eabf00eb | 51 | Serial esp(p13, p14); // tx, rx |
electromotivated | 0:7478eabf00eb | 52 | DigitalOut espRstPin(p26); // ESP Reset |
electromotivated | 0:7478eabf00eb | 53 | DigitalOut led(LED4); |
electromotivated | 0:7478eabf00eb | 54 | |
electromotivated | 0:7478eabf00eb | 55 | Timer t1; |
electromotivated | 0:7478eabf00eb | 56 | Timer t2; |
electromotivated | 0:7478eabf00eb | 57 | |
electromotivated | 0:7478eabf00eb | 58 | void init(char* buffer, int size); |
electromotivated | 0:7478eabf00eb | 59 | void getreply(int timeout_ms, char* buffer, int size, int numBytes); |
electromotivated | 0:7478eabf00eb | 60 | void startserver(char* buffer, int size); |
electromotivated | 0:7478eabf00eb | 61 | void update_webpage(char* webpage, float setpoint, float kp, float ki, float kd); |
electromotivated | 0:7478eabf00eb | 62 | void parse_input(char* webpage_user_data, float* setpoint, float* kp, float* ki, float* kd); |
electromotivated | 0:7478eabf00eb | 63 | int port =80; // set server port |
electromotivated | 0:7478eabf00eb | 64 | int serverTimeout_secs =5; // set server timeout in seconds in case |
electromotivated | 0:7478eabf00eb | 65 | // link breaks. |
electromotivated | 0:7478eabf00eb | 66 | /*****************************************************************************/ |
electromotivated | 0:7478eabf00eb | 67 | /*****************************************************************************/ |
electromotivated | 0:7478eabf00eb | 68 | |
electromotivated | 0:7478eabf00eb | 69 | /*********PID CONTROLLER SPECIFIC DECLARATIONS********************************/ |
electromotivated | 0:7478eabf00eb | 70 | /*****************************************************************************/ |
electromotivated | 2:f579e98b82de | 71 | float setpoint, feedback, output; |
electromotivated | 0:7478eabf00eb | 72 | const float output_lower_limit = -1.0; |
electromotivated | 0:7478eabf00eb | 73 | const float output_upper_limit = 1.0; |
electromotivated | 0:7478eabf00eb | 74 | const float FEEDBACK_SCALE = 1.0/3000.0; // Scale feedback to 1rev/3000cnts |
electromotivated | 0:7478eabf00eb | 75 | // this is encoder specific. |
electromotivated | 1:1490beafb4f7 | 76 | // Init Webpage to these values |
electromotivated | 0:7478eabf00eb | 77 | const float setpoint_init = 0.0; |
electromotivated | 0:7478eabf00eb | 78 | const float kp_init = 0.01; |
electromotivated | 1:1490beafb4f7 | 79 | const float ki_init = 0.015; |
electromotivated | 1:1490beafb4f7 | 80 | const float kd_init = 0.0001; |
electromotivated | 0:7478eabf00eb | 81 | const float Ts_init = 0.04; // 25Hz Sample Freq (40ms Sample Time) |
electromotivated | 0:7478eabf00eb | 82 | |
electromotivated | 0:7478eabf00eb | 83 | PID pid(&setpoint, &feedback, &output, output_lower_limit, output_upper_limit, |
electromotivated | 0:7478eabf00eb | 84 | kp_init, ki_init, kd_init, Ts_init); |
electromotivated | 0:7478eabf00eb | 85 | QEI encoder(p15, p16); |
electromotivated | 0:7478eabf00eb | 86 | PwmOut mtr_pwm(p25); |
electromotivated | 0:7478eabf00eb | 87 | DigitalOut mtr_dir(p24); |
electromotivated | 0:7478eabf00eb | 88 | void pid_callback(); // Updates encoder feedback and motor output |
electromotivated | 0:7478eabf00eb | 89 | Ticker motor; |
electromotivated | 0:7478eabf00eb | 90 | /*****************************************************************************/ |
electromotivated | 0:7478eabf00eb | 91 | /*****************************************************************************/ |
electromotivated | 0:7478eabf00eb | 92 | |
electromotivated | 0:7478eabf00eb | 93 | // Common Application Declarations |
electromotivated | 0:7478eabf00eb | 94 | Serial pc(USBTX, USBRX); |
electromotivated | 0:7478eabf00eb | 95 | float clip(float value, float lower, float upper); |
electromotivated | 0:7478eabf00eb | 96 | |
electromotivated | 0:7478eabf00eb | 97 | int main() |
electromotivated | 0:7478eabf00eb | 98 | { |
electromotivated | 0:7478eabf00eb | 99 | printf("Starting\n"); |
electromotivated | 0:7478eabf00eb | 100 | |
electromotivated | 0:7478eabf00eb | 101 | /****************** Load Webpage from SD Card***************************************/ |
electromotivated | 0:7478eabf00eb | 102 | /***********************************************************************************/ |
electromotivated | 1:1490beafb4f7 | 103 | char file[] = "/sd/pid_spd.html"; |
electromotivated | 0:7478eabf00eb | 104 | |
electromotivated | 0:7478eabf00eb | 105 | // Get file size so we can dynamically allocate buffer size |
electromotivated | 0:7478eabf00eb | 106 | int num_chars = 0; |
electromotivated | 0:7478eabf00eb | 107 | FILE *fp = fopen(file, "r"); |
electromotivated | 0:7478eabf00eb | 108 | while(!feof(fp)){ |
electromotivated | 0:7478eabf00eb | 109 | fgetc(fp); |
electromotivated | 0:7478eabf00eb | 110 | num_chars++; |
electromotivated | 0:7478eabf00eb | 111 | } |
electromotivated | 0:7478eabf00eb | 112 | rewind(fp); // Go to beginning of file |
electromotivated | 0:7478eabf00eb | 113 | |
electromotivated | 0:7478eabf00eb | 114 | // printf("Webpage Data Size: %d byte\r\n", num_chars); |
electromotivated | 0:7478eabf00eb | 115 | |
electromotivated | 0:7478eabf00eb | 116 | const int WEBPAGE_SIZE = num_chars; |
electromotivated | 0:7478eabf00eb | 117 | char webpage[WEBPAGE_SIZE]; |
electromotivated | 0:7478eabf00eb | 118 | webpage[0] = NULL; // Init our array so that element zero contains a null |
electromotivated | 0:7478eabf00eb | 119 | // This is important, ensures strings are placed into |
electromotivated | 0:7478eabf00eb | 120 | // buffer starting at element 0... not some random |
electromotivated | 0:7478eabf00eb | 121 | // elment |
electromotivated | 0:7478eabf00eb | 122 | // Read in and buffer file to memory |
electromotivated | 0:7478eabf00eb | 123 | if(fp == NULL){ |
electromotivated | 0:7478eabf00eb | 124 | printf("Error: No Such File or something :("); |
electromotivated | 0:7478eabf00eb | 125 | return 1; |
electromotivated | 0:7478eabf00eb | 126 | } |
electromotivated | 0:7478eabf00eb | 127 | else{ |
electromotivated | 0:7478eabf00eb | 128 | while(!feof(fp)){ |
electromotivated | 0:7478eabf00eb | 129 | fgets(webpage + strlen(webpage), WEBPAGE_SIZE, fp); // Get a string from stream, add to buffer |
electromotivated | 0:7478eabf00eb | 130 | } |
electromotivated | 0:7478eabf00eb | 131 | } |
electromotivated | 0:7478eabf00eb | 132 | fclose(fp); |
electromotivated | 0:7478eabf00eb | 133 | printf("Webpage Buffer Size: %d bytes\r\n", sizeof(webpage)); |
electromotivated | 0:7478eabf00eb | 134 | update_webpage(webpage, setpoint, kp_init, ki_init, kd_init); |
electromotivated | 0:7478eabf00eb | 135 | /***********************************************************************************/ |
electromotivated | 0:7478eabf00eb | 136 | /***********************************************************************************/ |
electromotivated | 0:7478eabf00eb | 137 | |
electromotivated | 0:7478eabf00eb | 138 | /***************BRING UP SERVER*****************************************************/ |
electromotivated | 0:7478eabf00eb | 139 | /***********************************************************************************/ |
electromotivated | 0:7478eabf00eb | 140 | char buff[5000]; // Working buffer |
electromotivated | 0:7478eabf00eb | 141 | init(buff, sizeof(buff)); // Init ESP8266 |
electromotivated | 0:7478eabf00eb | 142 | |
electromotivated | 0:7478eabf00eb | 143 | esp.baud(115200); // ESP8266 baudrate. Maximum on KLxx' is 115200, 230400 works on K20 and K22F |
electromotivated | 0:7478eabf00eb | 144 | |
electromotivated | 0:7478eabf00eb | 145 | startserver(buff, sizeof(buff)); // Configure the ESP8266 and Setup as Server |
electromotivated | 0:7478eabf00eb | 146 | |
electromotivated | 0:7478eabf00eb | 147 | printf(buff); // If start successful buff contains IP address... |
electromotivated | 0:7478eabf00eb | 148 | // if not if contains an error. |
electromotivated | 0:7478eabf00eb | 149 | led =1; |
electromotivated | 0:7478eabf00eb | 150 | /***********************************************************************************/ |
electromotivated | 0:7478eabf00eb | 151 | /***********************************************************************************/ |
electromotivated | 0:7478eabf00eb | 152 | |
electromotivated | 0:7478eabf00eb | 153 | /************Initialize the PID*****************************************************/ |
electromotivated | 0:7478eabf00eb | 154 | /***********************************************************************************/ |
electromotivated | 0:7478eabf00eb | 155 | // Working paramater variables |
electromotivated | 0:7478eabf00eb | 156 | setpoint = setpoint_init; |
electromotivated | 0:7478eabf00eb | 157 | encoder.reset(); |
electromotivated | 0:7478eabf00eb | 158 | feedback = encoder.read(); |
electromotivated | 0:7478eabf00eb | 159 | float kp = kp_init; |
electromotivated | 0:7478eabf00eb | 160 | float ki = ki_init; |
electromotivated | 0:7478eabf00eb | 161 | float kd = kd_init; |
electromotivated | 0:7478eabf00eb | 162 | pid.set_parameters(kp, ki, kd, Ts_init); |
electromotivated | 0:7478eabf00eb | 163 | |
electromotivated | 0:7478eabf00eb | 164 | // Init the motor |
electromotivated | 0:7478eabf00eb | 165 | mtr_dir = 0; // Can be 0 or 1, sets the direction |
electromotivated | 0:7478eabf00eb | 166 | mtr_pwm = 0.0; |
electromotivated | 0:7478eabf00eb | 167 | |
electromotivated | 0:7478eabf00eb | 168 | // Clear encoder count |
electromotivated | 0:7478eabf00eb | 169 | encoder.reset(); |
electromotivated | 0:7478eabf00eb | 170 | |
electromotivated | 0:7478eabf00eb | 171 | // Update sensors and feedback twice as fast as PID sample time |
electromotivated | 0:7478eabf00eb | 172 | // this makes pid react in real-time avoiding errors due to |
electromotivated | 0:7478eabf00eb | 173 | // missing counts etc. |
electromotivated | 0:7478eabf00eb | 174 | motor.attach(&pid_callback, Ts_init/2.0); |
electromotivated | 0:7478eabf00eb | 175 | |
electromotivated | 0:7478eabf00eb | 176 | // Start PID sampling |
electromotivated | 0:7478eabf00eb | 177 | pid.start(); |
electromotivated | 0:7478eabf00eb | 178 | |
electromotivated | 0:7478eabf00eb | 179 | /***********************************************************************************/ |
electromotivated | 0:7478eabf00eb | 180 | /***********************************************************************************/ |
electromotivated | 0:7478eabf00eb | 181 | |
electromotivated | 0:7478eabf00eb | 182 | while(1){ |
electromotivated | 0:7478eabf00eb | 183 | /**************SERVICE WEBPAGE******************************************************/ |
electromotivated | 0:7478eabf00eb | 184 | /***********************************************************************************/ |
electromotivated | 0:7478eabf00eb | 185 | if(esp.readable()){ |
electromotivated | 0:7478eabf00eb | 186 | getreply(500, buff, sizeof(buff), sizeof(buff) -1); // Get full buff, leave last element for null char |
electromotivated | 0:7478eabf00eb | 187 | // printf("\r\n*************WORKING BUFFER******************************\r\n"); |
electromotivated | 0:7478eabf00eb | 188 | // printf(buff); printf("\n"); |
electromotivated | 0:7478eabf00eb | 189 | // printf("\r\n**************END WORKING BUFFER**************************\r\n"); |
electromotivated | 0:7478eabf00eb | 190 | |
electromotivated | 0:7478eabf00eb | 191 | // If Recieved Data get ID, Length, and Data |
electromotivated | 0:7478eabf00eb | 192 | char* rqstPnt = strstr(buff, "+IPD"); |
electromotivated | 0:7478eabf00eb | 193 | if(rqstPnt != NULL){ |
electromotivated | 0:7478eabf00eb | 194 | int id, len; |
electromotivated | 0:7478eabf00eb | 195 | char type[10]; memset(type, '\0', sizeof(type)); // Create and null out data buff |
electromotivated | 0:7478eabf00eb | 196 | sscanf(rqstPnt, "+IPD,%d,%d:%s ", &id, &len, type); |
electromotivated | 0:7478eabf00eb | 197 | // printf("ID: %i\nLen: %i\nType: %s\n", id, len, type); |
electromotivated | 0:7478eabf00eb | 198 | |
electromotivated | 0:7478eabf00eb | 199 | // If GET or POST request "type" parse and update user input then send webpage |
electromotivated | 0:7478eabf00eb | 200 | if(strstr(type, "GET") != NULL || strstr(type, "POST") != NULL){ |
electromotivated | 0:7478eabf00eb | 201 | // printf("I got web request\n"); |
electromotivated | 0:7478eabf00eb | 202 | |
electromotivated | 0:7478eabf00eb | 203 | /* Read Webpage <Form> data sent using "method=POST"... |
electromotivated | 0:7478eabf00eb | 204 | Note: Input elements in the <Form> need a set name attribute to |
electromotivated | 0:7478eabf00eb | 205 | appear in the returned HTML body. Thus to "POST" data ensure: |
electromotivated | 0:7478eabf00eb | 206 | <Form method="POST"> <input type="xxx" name="xxx" value="xxx"> |
electromotivated | 0:7478eabf00eb | 207 | <input type="xxx" value="xxx"> </Form> |
electromotivated | 0:7478eabf00eb | 208 | Only the input with name="xxx" will appear in body of HTML |
electromotivated | 0:7478eabf00eb | 209 | */ |
electromotivated | 0:7478eabf00eb | 210 | // printf("\r\n*************USER INPUT**********************************\r\n"); |
electromotivated | 0:7478eabf00eb | 211 | parse_input(buff, &setpoint, &kp, &ki, &kd); |
electromotivated | 0:7478eabf00eb | 212 | setpoint = clip(setpoint, -999.99, 999.99); |
electromotivated | 0:7478eabf00eb | 213 | kp = clip(kp, 0.00, 999.99); |
electromotivated | 0:7478eabf00eb | 214 | ki = clip(ki, 0.00, 999.99); |
electromotivated | 0:7478eabf00eb | 215 | kd = clip(kd, 0.00, 999.99); |
electromotivated | 0:7478eabf00eb | 216 | // printf("User Entered: \nSetpoint: %7.2f\nKp: %6.2f\nKi: %6.2f\nKd: %6.2f\n", setpoint, kp, ki, kd); |
electromotivated | 0:7478eabf00eb | 217 | pid.set_parameters(kp, ki, kd, Ts_init); // Updata PID params |
electromotivated | 0:7478eabf00eb | 218 | // printf("Updated to Kp: %1.2f Ki: %1.2f Kd: %1.2f Ts: %1.2f\r\n", |
electromotivated | 0:7478eabf00eb | 219 | // pid.getKp(), pid.getKi(), pid.getKd(), pid.getTs()); |
electromotivated | 0:7478eabf00eb | 220 | // printf("Setpoint: %1.2f\r\n", setpoint); |
electromotivated | 0:7478eabf00eb | 221 | // printf("Output: %1.2f\r\n", output); |
electromotivated | 0:7478eabf00eb | 222 | // printf("\r\n*************END USER INPUT******************************\r\n"); |
electromotivated | 0:7478eabf00eb | 223 | |
electromotivated | 0:7478eabf00eb | 224 | // Update Webpage to reflect new values POSTED by client |
electromotivated | 0:7478eabf00eb | 225 | static bool isFirstRequest = true; |
electromotivated | 0:7478eabf00eb | 226 | if(!isFirstRequest) update_webpage(webpage, setpoint, kp, ki, kd); |
electromotivated | 0:7478eabf00eb | 227 | else isFirstRequest = false; // First Request just send page with initial values |
electromotivated | 0:7478eabf00eb | 228 | // printf(webpage); // DEBUGGING ONLY!!! REMOVE FOR RELEASE!!! |
electromotivated | 0:7478eabf00eb | 229 | |
electromotivated | 0:7478eabf00eb | 230 | // Command TCP/IP Data Tx |
electromotivated | 0:7478eabf00eb | 231 | esp.printf("AT+CIPSEND=%d,%d\r\n", id, strlen(webpage)); |
electromotivated | 0:7478eabf00eb | 232 | getreply(200, buff, sizeof(buff), 15); /*TODO: Wait for "OK\r\n>"*/ |
electromotivated | 0:7478eabf00eb | 233 | // printf(buff); printf("\n"); |
electromotivated | 0:7478eabf00eb | 234 | |
electromotivated | 0:7478eabf00eb | 235 | // Send webpage |
electromotivated | 0:7478eabf00eb | 236 | // while(!esp.writeable()); // Wait until esp ready to send data |
electromotivated | 0:7478eabf00eb | 237 | int idx = 0; |
electromotivated | 0:7478eabf00eb | 238 | while(webpage[idx] != '\0'){ |
electromotivated | 0:7478eabf00eb | 239 | esp.putc(webpage[idx]); |
electromotivated | 0:7478eabf00eb | 240 | idx++; |
electromotivated | 0:7478eabf00eb | 241 | } |
electromotivated | 0:7478eabf00eb | 242 | |
electromotivated | 0:7478eabf00eb | 243 | // Check status - Success: close channel and update PID controller, Error: reconnect |
electromotivated | 0:7478eabf00eb | 244 | bool weberror = true; |
electromotivated | 0:7478eabf00eb | 245 | t2.reset(); t2.start(); |
electromotivated | 0:7478eabf00eb | 246 | while(weberror ==1 && t2.read_ms() < 5000){ |
electromotivated | 0:7478eabf00eb | 247 | getreply(500, buff, sizeof(buff), 24); |
electromotivated | 0:7478eabf00eb | 248 | if(strstr(buff, "SEND OK") != NULL) weberror = false; |
electromotivated | 0:7478eabf00eb | 249 | } |
electromotivated | 0:7478eabf00eb | 250 | if(weberror){ |
electromotivated | 0:7478eabf00eb | 251 | esp.printf("AT+CIPMUX=1\r\n"); |
electromotivated | 0:7478eabf00eb | 252 | getreply(500, buff, sizeof(buff), 10); |
electromotivated | 0:7478eabf00eb | 253 | // printf(buff); printf("\n"); |
electromotivated | 0:7478eabf00eb | 254 | |
electromotivated | 0:7478eabf00eb | 255 | esp.printf("AT+CIPSERVER=1,%d\r\n", port); |
electromotivated | 0:7478eabf00eb | 256 | getreply(500, buff, sizeof(buff), 10); |
electromotivated | 0:7478eabf00eb | 257 | // printf(buff); printf("\n"); |
electromotivated | 0:7478eabf00eb | 258 | } |
electromotivated | 0:7478eabf00eb | 259 | else{ |
electromotivated | 0:7478eabf00eb | 260 | esp.printf("AT+CIPCLOSE=%d\r\n", id); // Notice id is an int formatted to string |
electromotivated | 0:7478eabf00eb | 261 | getreply(500, buff, sizeof(buff), 24); |
electromotivated | 0:7478eabf00eb | 262 | // printf(buff); printf("\n"); |
electromotivated | 0:7478eabf00eb | 263 | } |
electromotivated | 0:7478eabf00eb | 264 | } |
electromotivated | 0:7478eabf00eb | 265 | } |
electromotivated | 0:7478eabf00eb | 266 | } |
electromotivated | 0:7478eabf00eb | 267 | /*********************************************************************/ |
electromotivated | 0:7478eabf00eb | 268 | /*********************************************************************/ |
electromotivated | 0:7478eabf00eb | 269 | |
electromotivated | 0:7478eabf00eb | 270 | |
electromotivated | 0:7478eabf00eb | 271 | } |
electromotivated | 0:7478eabf00eb | 272 | } |
electromotivated | 0:7478eabf00eb | 273 | |
electromotivated | 0:7478eabf00eb | 274 | // Initialize ESP8266 |
electromotivated | 0:7478eabf00eb | 275 | void init(char* buffer, int size){ |
electromotivated | 0:7478eabf00eb | 276 | // Hardware Reset ESP |
electromotivated | 0:7478eabf00eb | 277 | espRstPin=0; |
electromotivated | 0:7478eabf00eb | 278 | wait(0.5); |
electromotivated | 0:7478eabf00eb | 279 | espRstPin=1; |
electromotivated | 0:7478eabf00eb | 280 | // Get start up junk from ESP8266 |
electromotivated | 0:7478eabf00eb | 281 | getreply(6000, buffer, size, 500); |
electromotivated | 0:7478eabf00eb | 282 | } |
electromotivated | 0:7478eabf00eb | 283 | |
electromotivated | 0:7478eabf00eb | 284 | // Get Command and ESP status replies |
electromotivated | 0:7478eabf00eb | 285 | void getreply(int timeout_ms, char* buffer, int size, int numBytes) |
electromotivated | 0:7478eabf00eb | 286 | { |
electromotivated | 0:7478eabf00eb | 287 | memset(buffer, '\0', size); // Null out buffer |
electromotivated | 0:7478eabf00eb | 288 | t1.reset(); |
electromotivated | 0:7478eabf00eb | 289 | t1.start(); |
electromotivated | 0:7478eabf00eb | 290 | int idx = 0; |
electromotivated | 0:7478eabf00eb | 291 | while(t1.read_ms()< timeout_ms && idx < numBytes) { |
electromotivated | 0:7478eabf00eb | 292 | if(esp.readable()) { |
electromotivated | 0:7478eabf00eb | 293 | buffer[idx] = esp.getc(); |
electromotivated | 0:7478eabf00eb | 294 | idx++; |
electromotivated | 0:7478eabf00eb | 295 | } |
electromotivated | 0:7478eabf00eb | 296 | } |
electromotivated | 0:7478eabf00eb | 297 | t1.stop(); |
electromotivated | 0:7478eabf00eb | 298 | } |
electromotivated | 0:7478eabf00eb | 299 | |
electromotivated | 0:7478eabf00eb | 300 | // Starts and restarts webserver if errors detected. |
electromotivated | 0:7478eabf00eb | 301 | void startserver(char* buffer, int size) |
electromotivated | 0:7478eabf00eb | 302 | { |
electromotivated | 0:7478eabf00eb | 303 | esp.printf("AT+RST\r\n"); // BWW: Reset the ESP8266 |
electromotivated | 0:7478eabf00eb | 304 | getreply(8000, buffer, size, 1000); |
electromotivated | 0:7478eabf00eb | 305 | |
electromotivated | 0:7478eabf00eb | 306 | if (strstr(buffer, "OK") != NULL) { |
electromotivated | 0:7478eabf00eb | 307 | // BWW: Set ESP8266 for multiple connections |
electromotivated | 0:7478eabf00eb | 308 | esp.printf("AT+CIPMUX=1\r\n"); |
electromotivated | 0:7478eabf00eb | 309 | getreply(500, buffer, size, 20); |
electromotivated | 0:7478eabf00eb | 310 | |
electromotivated | 0:7478eabf00eb | 311 | // BWW: Set ESP8266 as Server on given port |
electromotivated | 0:7478eabf00eb | 312 | esp.printf("AT+CIPSERVER=1,%d\r\n", port); |
electromotivated | 0:7478eabf00eb | 313 | getreply(500, buffer, size, 20); // BWW: Wait for reply |
electromotivated | 0:7478eabf00eb | 314 | |
electromotivated | 0:7478eabf00eb | 315 | // wait(1); |
electromotivated | 0:7478eabf00eb | 316 | |
electromotivated | 0:7478eabf00eb | 317 | // BWW: Set ESP8266 Server Timeout |
electromotivated | 0:7478eabf00eb | 318 | esp.printf("AT+CIPSTO=%d\r\n", serverTimeout_secs); |
electromotivated | 0:7478eabf00eb | 319 | getreply(500, buffer, size, 50); // BWW: Wait for reply |
electromotivated | 0:7478eabf00eb | 320 | |
electromotivated | 0:7478eabf00eb | 321 | // wait(5); |
electromotivated | 0:7478eabf00eb | 322 | |
electromotivated | 0:7478eabf00eb | 323 | // BWW: Request IP Address from router for ESP8266 |
electromotivated | 0:7478eabf00eb | 324 | int weberror = 0; |
electromotivated | 0:7478eabf00eb | 325 | while(weberror==0) { |
electromotivated | 0:7478eabf00eb | 326 | esp.printf("AT+CIFSR\r\n"); |
electromotivated | 0:7478eabf00eb | 327 | getreply(2500, buffer, size, 200); |
electromotivated | 0:7478eabf00eb | 328 | if(strstr(buffer, "0.0.0.0") == NULL) { |
electromotivated | 0:7478eabf00eb | 329 | weberror=1; // wait for valid IP |
electromotivated | 0:7478eabf00eb | 330 | } |
electromotivated | 0:7478eabf00eb | 331 | } |
electromotivated | 0:7478eabf00eb | 332 | } |
electromotivated | 0:7478eabf00eb | 333 | // else ESP8266 did not reply "OK" something is messed up |
electromotivated | 0:7478eabf00eb | 334 | else { |
electromotivated | 0:7478eabf00eb | 335 | strcpy(buffer, "ESP8266 Error\n"); |
electromotivated | 0:7478eabf00eb | 336 | } |
electromotivated | 0:7478eabf00eb | 337 | } |
electromotivated | 0:7478eabf00eb | 338 | |
electromotivated | 0:7478eabf00eb | 339 | /* |
electromotivated | 0:7478eabf00eb | 340 | update_webpage() updates output fields based on webpage user inputs "POSTED" |
electromotivated | 0:7478eabf00eb | 341 | Preconditions: webpage[] must have the following elements |
electromotivated | 0:7478eabf00eb | 342 | "kp_output" value="xxx.xx" |
electromotivated | 0:7478eabf00eb | 343 | "ki_output" value="xxx.xx" |
electromotivated | 0:7478eabf00eb | 344 | "kp_output" value="xxx.xx" |
electromotivated | 0:7478eabf00eb | 345 | @param webpage Pointer to webpage char[] |
electromotivated | 0:7478eabf00eb | 346 | @param kp New kp value posted by user |
electromotivated | 0:7478eabf00eb | 347 | @param ki New ki value posted by user |
electromotivated | 0:7478eabf00eb | 348 | @param kd New kd value posted by user |
electromotivated | 0:7478eabf00eb | 349 | |
electromotivated | 0:7478eabf00eb | 350 | NOTE: THIS IS WEBPAGE SPECIFIC!!!! CHANGE THE CODE IN HERE TO SUITE THE |
electromotivated | 0:7478eabf00eb | 351 | SPECIFIC APPLICATION WEBPAGE!!! ALSO USED TO REFLECT THE CUSTOM |
electromotivated | 0:7478eabf00eb | 352 | IMPLEMENTATION OF THE parse_intput() function. MAKE SURE THESE TWO FUNCTIONS |
electromotivated | 0:7478eabf00eb | 353 | INTEGRATE PROPERLY!!! |
electromotivated | 0:7478eabf00eb | 354 | */ |
electromotivated | 0:7478eabf00eb | 355 | void update_webpage(char* webpage, float setpoint, float kp, float ki, float kd){ |
electromotivated | 0:7478eabf00eb | 356 | // Change output value to reflect new setpoint kp, ki, kd values |
electromotivated | 0:7478eabf00eb | 357 | char* begin; |
electromotivated | 0:7478eabf00eb | 358 | // char* end; |
electromotivated | 0:7478eabf00eb | 359 | char temp[8]; |
electromotivated | 0:7478eabf00eb | 360 | int idx; |
electromotivated | 0:7478eabf00eb | 361 | |
electromotivated | 0:7478eabf00eb | 362 | memset(temp, '\0', sizeof(temp)); |
electromotivated | 0:7478eabf00eb | 363 | idx = 0; |
electromotivated | 0:7478eabf00eb | 364 | begin = strstr(webpage, "name=\"kp_input\" value=\"") + |
electromotivated | 0:7478eabf00eb | 365 | sizeof("name=\"kp_input\" value="); // Points to start of kp_output field |
electromotivated | 0:7478eabf00eb | 366 | // end = begin + 5; // Points to end of kp_output value |
electromotivated | 0:7478eabf00eb | 367 | // Determine precision of float such temp string has no empty spaces; |
electromotivated | 0:7478eabf00eb | 368 | // i.e. each space must have a value or a decimal point, other wise webbrowser may not recognize value |
electromotivated | 0:7478eabf00eb | 369 | if(kp >= 100) sprintf(temp, "%6.2f", kp); // xxx.00 |
electromotivated | 0:7478eabf00eb | 370 | else if(10 <= kp && kp < 100) sprintf(temp, "%6.3f", kp); // xx.000 |
electromotivated | 0:7478eabf00eb | 371 | else sprintf(temp, "%6.4f", kp); // x.0000 |
electromotivated | 0:7478eabf00eb | 372 | while(temp[idx] != '\0'){ // Overwrite old digits with new digits |
electromotivated | 0:7478eabf00eb | 373 | begin[idx] = temp[idx]; |
electromotivated | 0:7478eabf00eb | 374 | idx++; |
electromotivated | 0:7478eabf00eb | 375 | } |
electromotivated | 0:7478eabf00eb | 376 | |
electromotivated | 0:7478eabf00eb | 377 | memset(temp, '\0', sizeof(temp)); |
electromotivated | 0:7478eabf00eb | 378 | idx = 0; |
electromotivated | 0:7478eabf00eb | 379 | begin = strstr(webpage, "name=\"ki_input\" value=\"") + |
electromotivated | 0:7478eabf00eb | 380 | sizeof("name=\"ki_input\" value="); // Points to start of ki_output field |
electromotivated | 0:7478eabf00eb | 381 | // end = begin + 5; // Points to end of ki_output value |
electromotivated | 0:7478eabf00eb | 382 | if(ki >= 100) sprintf(temp, "%6.2f", ki); // xxx.00 |
electromotivated | 0:7478eabf00eb | 383 | else if(10 <= ki && ki < 100) sprintf(temp, "%6.3f", ki); // xx.000 |
electromotivated | 0:7478eabf00eb | 384 | else sprintf(temp, "%6.4f", ki); // x.0000 |
electromotivated | 0:7478eabf00eb | 385 | while(temp[idx] != '\0'){ // Overwrite old digits with new digits |
electromotivated | 0:7478eabf00eb | 386 | begin[idx] = temp[idx]; |
electromotivated | 0:7478eabf00eb | 387 | idx++; |
electromotivated | 0:7478eabf00eb | 388 | } |
electromotivated | 0:7478eabf00eb | 389 | |
electromotivated | 0:7478eabf00eb | 390 | memset(temp, '\0', sizeof(temp)); |
electromotivated | 0:7478eabf00eb | 391 | idx = 0; |
electromotivated | 0:7478eabf00eb | 392 | begin = strstr(webpage, "name=\"kd_input\" value=\"")+ |
electromotivated | 0:7478eabf00eb | 393 | sizeof("name=\"kd_input\" value="); // Points to start of kd_output field |
electromotivated | 0:7478eabf00eb | 394 | // end = begin + 5; // Points to end of kd_output value |
electromotivated | 0:7478eabf00eb | 395 | if(kd >= 100) sprintf(temp, "%6.2f", kd); // xxx.00 |
electromotivated | 0:7478eabf00eb | 396 | else if(10 <= kd && kd < 100) sprintf(temp, "%6.3f", kd); // xx.000 |
electromotivated | 0:7478eabf00eb | 397 | else sprintf(temp, "%6.4f", kd); // x.0000 |
electromotivated | 0:7478eabf00eb | 398 | while(temp[idx] != '\0'){ // Overwrite old digits with new digits |
electromotivated | 0:7478eabf00eb | 399 | begin[idx] = temp[idx]; |
electromotivated | 0:7478eabf00eb | 400 | idx++; |
electromotivated | 0:7478eabf00eb | 401 | } |
electromotivated | 0:7478eabf00eb | 402 | |
electromotivated | 0:7478eabf00eb | 403 | // Determine precision of float such temp string has no empty spaces; |
electromotivated | 0:7478eabf00eb | 404 | // i.e. each space must have a value or a decimal point or neg sign, |
electromotivated | 0:7478eabf00eb | 405 | // other wise webbrowser may not recognize value |
electromotivated | 0:7478eabf00eb | 406 | memset(temp, '\0', sizeof(temp)); |
electromotivated | 0:7478eabf00eb | 407 | idx = 0; |
electromotivated | 0:7478eabf00eb | 408 | begin = strstr(webpage, "name=\"setpoint_input\" value=\"")+ |
electromotivated | 0:7478eabf00eb | 409 | sizeof("name=\"setpoint_input\" value="); // Points to start of kp_output field |
electromotivated | 0:7478eabf00eb | 410 | // end = begin + 6; // Points to end of kp_output value. +6 to accomadate negative sign |
electromotivated | 0:7478eabf00eb | 411 | if(setpoint >= 0.00){ |
electromotivated | 0:7478eabf00eb | 412 | if(setpoint >= 100) sprintf(temp, "%6.3f", setpoint); // xxx.000 |
electromotivated | 0:7478eabf00eb | 413 | else if(10 <= setpoint && setpoint < 100) sprintf(temp, "%7.4f", setpoint); // xx.0000 |
electromotivated | 0:7478eabf00eb | 414 | else sprintf(temp, "%6.5f", setpoint); // x.00000 |
electromotivated | 0:7478eabf00eb | 415 | } |
electromotivated | 0:7478eabf00eb | 416 | else{ |
electromotivated | 0:7478eabf00eb | 417 | if(setpoint <= -100) sprintf(temp, "%6.2f", setpoint); // -xxx.00 |
electromotivated | 0:7478eabf00eb | 418 | else if(-100 < setpoint && setpoint <= -10) sprintf(temp, "%6.3f", setpoint); // -xx.000 |
electromotivated | 0:7478eabf00eb | 419 | else sprintf(temp, "%6.4f", setpoint); // -x.0000 |
electromotivated | 0:7478eabf00eb | 420 | } |
electromotivated | 0:7478eabf00eb | 421 | while(temp[idx] != '\0'){ // Overwrite old digits with new digits |
electromotivated | 0:7478eabf00eb | 422 | begin[idx] = temp[idx]; |
electromotivated | 0:7478eabf00eb | 423 | idx++; |
electromotivated | 0:7478eabf00eb | 424 | } |
electromotivated | 0:7478eabf00eb | 425 | } |
electromotivated | 0:7478eabf00eb | 426 | |
electromotivated | 0:7478eabf00eb | 427 | /* |
electromotivated | 0:7478eabf00eb | 428 | parse_input() take a char*, in particular a pointer to Webpage User |
electromotivated | 0:7478eabf00eb | 429 | Input Data, for example: |
electromotivated | 0:7478eabf00eb | 430 | char str[] = "+IPD,0,44:kp_input=0.12&ki_input=14.25&kd_input=125.42"; |
electromotivated | 0:7478eabf00eb | 431 | |
electromotivated | 0:7478eabf00eb | 432 | and parses out the Setpoint Kp, Ki, Kd values that the user entered |
electromotivated | 0:7478eabf00eb | 433 | and posted in the webpage. Values are converted to floats and |
electromotivated | 0:7478eabf00eb | 434 | assigned to the given argurments. |
electromotivated | 0:7478eabf00eb | 435 | |
electromotivated | 0:7478eabf00eb | 436 | NOTE: THIS IS WEBPAGE SPECIFIC!!!! CHANGE THE CODE IN HERE TO SUITE THE |
electromotivated | 0:7478eabf00eb | 437 | SPECIFIC APPLICATION WEBPAGE!!! THESE EXTRACTED VALUES WILL BE USED IN |
electromotivated | 0:7478eabf00eb | 438 | THE update_webpage() function. MAKE SURE THESE TWO FUNCTIONS INTEGRATE |
electromotivated | 0:7478eabf00eb | 439 | PROPERLY!!! |
electromotivated | 0:7478eabf00eb | 440 | */ |
electromotivated | 0:7478eabf00eb | 441 | void parse_input(char* webpage_user_data,float *setpoint, float* kp, float* ki, float* kd){ |
electromotivated | 0:7478eabf00eb | 442 | char keys[] = {'&', '\0'}; |
electromotivated | 0:7478eabf00eb | 443 | |
electromotivated | 0:7478eabf00eb | 444 | // Parse out user input values |
electromotivated | 0:7478eabf00eb | 445 | char input_buff[50]; |
electromotivated | 0:7478eabf00eb | 446 | char* begin; |
electromotivated | 0:7478eabf00eb | 447 | char* end; |
electromotivated | 0:7478eabf00eb | 448 | // printf("**************Parsing**************\n"); |
electromotivated | 0:7478eabf00eb | 449 | memset(input_buff, '\0', sizeof(input_buff)); // Null out input buff |
electromotivated | 0:7478eabf00eb | 450 | begin = strstr(webpage_user_data, "setpoint_input=") + |
electromotivated | 0:7478eabf00eb | 451 | sizeof("setpoint_input"); // Points to start of setpoint_input value |
electromotivated | 0:7478eabf00eb | 452 | end = begin + strcspn(begin, keys); // Points to end of setpoint_input value |
electromotivated | 0:7478eabf00eb | 453 | for(long i = 0; i < end - begin; i++){ // Parse out the value one char at a time |
electromotivated | 0:7478eabf00eb | 454 | input_buff[i] = begin[i]; |
electromotivated | 0:7478eabf00eb | 455 | } |
electromotivated | 0:7478eabf00eb | 456 | // printf("Setpoint Parsed Data: %s\n", input_buff); |
electromotivated | 0:7478eabf00eb | 457 | *setpoint = atof(input_buff); |
electromotivated | 0:7478eabf00eb | 458 | |
electromotivated | 0:7478eabf00eb | 459 | memset(input_buff, '\0', sizeof(input_buff)); // Null out input buff |
electromotivated | 0:7478eabf00eb | 460 | begin = strstr(webpage_user_data, "kp_input=") + |
electromotivated | 0:7478eabf00eb | 461 | sizeof("kp_input"); // Points to start of kp_input value |
electromotivated | 0:7478eabf00eb | 462 | end = begin + strcspn(begin, keys); // Points to end of kp_input value |
electromotivated | 0:7478eabf00eb | 463 | for(long i = 0; i < end - begin; i++){ // Parse out the value one char at a time |
electromotivated | 0:7478eabf00eb | 464 | input_buff[i] = begin[i]; |
electromotivated | 0:7478eabf00eb | 465 | } |
electromotivated | 0:7478eabf00eb | 466 | // printf("Kp Parsed Data: %s\n", input_buff); |
electromotivated | 0:7478eabf00eb | 467 | *kp = atof(input_buff); |
electromotivated | 0:7478eabf00eb | 468 | |
electromotivated | 0:7478eabf00eb | 469 | memset(input_buff, '\0', sizeof(input_buff)); // Null out input buff |
electromotivated | 0:7478eabf00eb | 470 | begin = strstr(webpage_user_data, "ki_input=") + |
electromotivated | 0:7478eabf00eb | 471 | sizeof("ki_input"); // Points to start of ki_input value |
electromotivated | 0:7478eabf00eb | 472 | end = begin + strcspn(begin, keys); // Points to end of ki_input value |
electromotivated | 0:7478eabf00eb | 473 | for(long i = 0; i < end - begin; i++){ // Parse out the value one char at a time |
electromotivated | 0:7478eabf00eb | 474 | input_buff[i] = begin[i]; |
electromotivated | 0:7478eabf00eb | 475 | } |
electromotivated | 0:7478eabf00eb | 476 | // printf("Ki Parsed Data: %s\n", input_buff); |
electromotivated | 0:7478eabf00eb | 477 | *ki = atof(input_buff); |
electromotivated | 0:7478eabf00eb | 478 | |
electromotivated | 0:7478eabf00eb | 479 | memset(input_buff, '\0', sizeof(input_buff)); // Null out input buff |
electromotivated | 0:7478eabf00eb | 480 | begin = strstr(webpage_user_data, "kd_input=") + |
electromotivated | 0:7478eabf00eb | 481 | sizeof("kd_input"); // Points to start of kd_input value |
electromotivated | 0:7478eabf00eb | 482 | end = begin + strcspn(begin, keys); // Points to end of kd_input value |
electromotivated | 0:7478eabf00eb | 483 | for(long i = 0; i < end - begin; i++){ // Parse out the value one char at a time |
electromotivated | 0:7478eabf00eb | 484 | input_buff[i] = begin[i]; |
electromotivated | 0:7478eabf00eb | 485 | } |
electromotivated | 0:7478eabf00eb | 486 | // printf("Kd Parsed Data: %s\n", input_buff); |
electromotivated | 0:7478eabf00eb | 487 | *kd = atof(input_buff); |
electromotivated | 0:7478eabf00eb | 488 | // printf("**********End Parsing***************\n"); |
electromotivated | 0:7478eabf00eb | 489 | } |
electromotivated | 0:7478eabf00eb | 490 | |
electromotivated | 0:7478eabf00eb | 491 | void pid_callback(){ |
electromotivated | 0:7478eabf00eb | 492 | // Update motor |
electromotivated | 0:7478eabf00eb | 493 | if(setpoint >= 0.0) mtr_dir = 1; // Set motor direction based on setpoint |
electromotivated | 0:7478eabf00eb | 494 | else mtr_dir = 0; |
electromotivated | 0:7478eabf00eb | 495 | if(-0.001 < setpoint && setpoint < 0.001){ |
electromotivated | 0:7478eabf00eb | 496 | /* Setpoint = 0 is a special case, we allow output to control speed AND |
electromotivated | 0:7478eabf00eb | 497 | direction to fight intertia and/or downhill roll. */ |
electromotivated | 0:7478eabf00eb | 498 | if(output >= 0.0) mtr_dir = 1; |
electromotivated | 0:7478eabf00eb | 499 | else mtr_dir = 0; |
electromotivated | 0:7478eabf00eb | 500 | mtr_pwm = abs(output); |
electromotivated | 0:7478eabf00eb | 501 | } |
electromotivated | 0:7478eabf00eb | 502 | else{ |
electromotivated | 0:7478eabf00eb | 503 | if(mtr_dir == 1){ // If CW then apply positive outputs |
electromotivated | 0:7478eabf00eb | 504 | if(output >= 0.0) mtr_pwm = output; |
electromotivated | 0:7478eabf00eb | 505 | else mtr_pwm = 0.0; |
electromotivated | 0:7478eabf00eb | 506 | } |
electromotivated | 0:7478eabf00eb | 507 | else{ // If CCW then apply negative outputs |
electromotivated | 0:7478eabf00eb | 508 | if(output <= 0.0) mtr_pwm = abs(output); |
electromotivated | 0:7478eabf00eb | 509 | else mtr_pwm = 0.0; |
electromotivated | 0:7478eabf00eb | 510 | } |
electromotivated | 0:7478eabf00eb | 511 | } |
electromotivated | 1:1490beafb4f7 | 512 | float k = Ts_init/2.0; // Discrete time, (Ts/2 because this callback is called |
electromotivated | 0:7478eabf00eb | 513 | // at interval of Ts/2... or twice as fast as pid controller) |
electromotivated | 0:7478eabf00eb | 514 | |
electromotivated | 0:7478eabf00eb | 515 | /* TODO: Implement a "rolling"/"moving" average */ |
electromotivated | 0:7478eabf00eb | 516 | static int last_count = 0; |
electromotivated | 0:7478eabf00eb | 517 | int count = encoder.read(); |
electromotivated | 0:7478eabf00eb | 518 | float raw_speed = ((count - last_count)*FEEDBACK_SCALE) / k; |
electromotivated | 0:7478eabf00eb | 519 | float rpm_speed = raw_speed * 60.0; // Convert speed to RPM |
electromotivated | 0:7478eabf00eb | 520 | |
electromotivated | 0:7478eabf00eb | 521 | last_count = count; // Save last count |
electromotivated | 0:7478eabf00eb | 522 | feedback = rpm_speed; |
electromotivated | 0:7478eabf00eb | 523 | } |
electromotivated | 0:7478eabf00eb | 524 | |
electromotivated | 0:7478eabf00eb | 525 | /* |
electromotivated | 0:7478eabf00eb | 526 | Clips value to lower/ uppper |
electromotivated | 0:7478eabf00eb | 527 | @param value The value to clip |
electromotivated | 0:7478eabf00eb | 528 | @param lower The mininum allowable value |
electromotivated | 0:7478eabf00eb | 529 | @param upper The maximum allowable value |
electromotivated | 0:7478eabf00eb | 530 | @return The resulting clipped value |
electromotivated | 0:7478eabf00eb | 531 | */ |
electromotivated | 0:7478eabf00eb | 532 | float clip(float value, float lower, float upper){ |
electromotivated | 0:7478eabf00eb | 533 | return std::max(lower, std::min(value, upper)); |
electromotivated | 0:7478eabf00eb | 534 | } |
electromotivated | 0:7478eabf00eb | 535 | |
electromotivated | 0:7478eabf00eb | 536 | /**************************WEB PAGE TEXT**************************************/ |
electromotivated | 0:7478eabf00eb | 537 | /***************************************************************************** |
electromotivated | 0:7478eabf00eb | 538 | Copy and past text below into a html file and save as the given file name to |
electromotivated | 0:7478eabf00eb | 539 | your SD card. |
electromotivated | 0:7478eabf00eb | 540 | |
electromotivated | 1:1490beafb4f7 | 541 | file name: pid_spd.html |
electromotivated | 0:7478eabf00eb | 542 | |
electromotivated | 0:7478eabf00eb | 543 | html text: |
electromotivated | 0:7478eabf00eb | 544 | |
electromotivated | 1:1490beafb4f7 | 545 | <!DOCTYPE html> |
electromotivated | 1:1490beafb4f7 | 546 | <html> |
electromotivated | 1:1490beafb4f7 | 547 | <head> |
electromotivated | 1:1490beafb4f7 | 548 | <title>PID Motor Speed Control</title> |
electromotivated | 1:1490beafb4f7 | 549 | </head> |
electromotivated | 1:1490beafb4f7 | 550 | <body> |
electromotivated | 1:1490beafb4f7 | 551 | <h1>PID Motor Speed Control</h1> |
electromotivated | 1:1490beafb4f7 | 552 | <h2>Motor Status</h2> |
electromotivated | 1:1490beafb4f7 | 553 | <p> |
electromotivated | 1:1490beafb4f7 | 554 | <form title="Motor Status"> |
electromotivated | 1:1490beafb4f7 | 555 | <input type="text" value="Some user information" size="25" readonly /><br> |
electromotivated | 1:1490beafb4f7 | 556 | Current Setpoint: |
electromotivated | 1:1490beafb4f7 | 557 | <input type="number" name="current_setpoint" value="0000.00" readonly /><br> |
electromotivated | 1:1490beafb4f7 | 558 | Current Position: |
electromotivated | 1:1490beafb4f7 | 559 | <input type="number" name="current_position" value="0000.00" readonly /><br> |
electromotivated | 1:1490beafb4f7 | 560 | </form> |
electromotivated | 1:1490beafb4f7 | 561 | </p> |
electromotivated | 1:1490beafb4f7 | 562 | <h2>PID Status</h2> |
electromotivated | 1:1490beafb4f7 | 563 | <form title="User Input" method="post"> |
electromotivated | 1:1490beafb4f7 | 564 | PID Controls: <br> |
electromotivated | 1:1490beafb4f7 | 565 | Setpoint (RPM): |
electromotivated | 1:1490beafb4f7 | 566 | <input type="number" name="setpoint_input" value="0000.00" step="0.01" size="6" /><br> |
electromotivated | 1:1490beafb4f7 | 567 | Proportional Gain: |
electromotivated | 1:1490beafb4f7 | 568 | <input type="number" name="kp_input" value="000.01" step="0.0001" size="6" /><br> |
electromotivated | 1:1490beafb4f7 | 569 | Integral Gain: |
electromotivated | 1:1490beafb4f7 | 570 | <input type="number" name="ki_input" value="000.01" step="0.0001" size="6" /><br> |
electromotivated | 1:1490beafb4f7 | 571 | Derivative Gain: |
electromotivated | 1:1490beafb4f7 | 572 | <input type="number" name="kd_input" value="000.00" step="0.0001" size="6" /><br> |
electromotivated | 1:1490beafb4f7 | 573 | <br> |
electromotivated | 1:1490beafb4f7 | 574 | <input type="submit" value="Submit" /> |
electromotivated | 1:1490beafb4f7 | 575 | <input type="submit" name="update" value="Update"> |
electromotivated | 1:1490beafb4f7 | 576 | <input type="submit" name="estop" value="STOP"> |
electromotivated | 1:1490beafb4f7 | 577 | </form> |
electromotivated | 1:1490beafb4f7 | 578 | </body> |
electromotivated | 1:1490beafb4f7 | 579 | </html> |
electromotivated | 1:1490beafb4f7 | 580 | |
electromotivated | 0:7478eabf00eb | 581 | |
electromotivated | 0:7478eabf00eb | 582 | *****************************************************************************/ |
electromotivated | 0:7478eabf00eb | 583 | /*****************************************************************************/ |