Revision 0:79200cd7801e, committed 2020-12-14
- Comitter:
- nikitakl
- Date:
- Mon Dec 14 14:28:02 2020 +0000
- Commit message:
- PID based on Janne's code
Changed in this revision
diff -r 000000000000 -r 79200cd7801e jannes_pid.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/jannes_pid.cpp Mon Dec 14 14:28:02 2020 +0000
@@ -0,0 +1,90 @@
+#include "mbed.h"
+#include "PID.h"
+#define threshold 0.003 // 1/330
+
+AnalogIn temperature(p20);
+//static BufferedSerial pc(USBTX, USBRX);
+
+Ticker temperatureTicker;
+
+int readTemperatureFlag=0;
+
+// ??? https://www.keil.com/pack/doc/CMSIS/DSP/html/group__PID.html
+// ??? https://os.mbed.com/questions/1904/mbed-DSP-Library-PID-Controller/
+// https://os.mbed.com/cookbook/PID
+// http://brettbeauregard.com/blog/2011/04/improving-the-beginners-pid-introduction/
+// PID library https://os.mbed.com/users/aberk/code/PID/docs/tip/classPID.html
+// https://en.wikipedia.org/wiki/PID_controller
+
+//static BufferedSerial pc(USBTX, USBRX);
+
+Ticker PIDticker;
+
+//PID controller(DEFAULT_Kp , DEFAULT_Ki , DEFAULT_Kd , 5);
+#define INTERVAL 0.1 // seconds
+#define INTERVAL_SAME 100ms
+
+// Tip: Check error
+#define Kp 1.0
+#define Ki 0.0
+#define Kd 0.0
+
+PID controller(Kp, Ki, Kd, INTERVAL);
+
+float co=0; // controller output
+float movingAverage=0;
+void computePID()
+{
+ //Update the process variable.
+ controller.setProcessValue(movingAverage); // Setpoint
+ //Set the new output.
+ co = controller.compute();
+}
+
+int main()
+{
+ float oldTemperature = temperature.read();
+ float newTemperature= oldTemperature;
+ temperatureTicker.attach(&tickerFlagOn, 2); // the address of the function to be attached (tickerFlagOn) and the interval (0.2 seconds)
+ float movingAverageArray[10];
+ int movingAverageIndex=0;
+ for (int i=0; i < 10; i++)
+ movingAverageArray[i]=newTemperature; // fill in the array
+ movingAverage=newTemperature;
+
+
+ PIDticker.attach(&computePID, INTERVAL_SAME); // the address of the function to be attached (computePID) and the interval
+
+ //Analog input from 0.0 to 1.0
+ controller.setInputLimits(0.0, 1.0);
+ //Pwm output from 0.0 to 1.0
+ controller.setOutputLimits(0.0, 1.0);
+ //If there's a bias.
+ //controller.setBias(0.3);
+ // ??? controller.setMode(AUTO_MODE);
+ //We want the process variable to be
+ controller.setSetPoint(0.0757575757575758); // 25 degrees in 0-1 range is 0,0757575757575758
+
+ while (1)
+ {
+ printf("Driver(PWM)=%.2f\n\r", co);
+
+ if (readTemperatureFlag)
+ {
+ readTemperatureFlag=0;
+ newTemperature = temperature.read();
+ movingAverage-=movingAverageArray[movingAverageIndex]/10; // Remove the oldest value from the moving average
+ movingAverageArray[movingAverageIndex]=newTemperature; // Add new value to the array, overwrite the oldest value
+ movingAverage+=movingAverageArray[movingAverageIndex]/10; // Add the newest value to the moving average
+ if (movingAverageIndex < 9)
+ movingAverageIndex++; // Increase the array index
+ else
+ movingAverageIndex=0; // Rollover the array index
+ if ((newTemperature < (oldTemperature-threshold)) || (newTemperature > (oldTemperature+threshold)))
+ {
+ oldTemperature = newTemperature; // These are for the threshold
+ printf("AnalogIn=%f, Temperature= %.1f degrees, Average= %.1f degrees\n\r", oldTemperature, 3.3*oldTemperature*100, 3.3*movingAverage*100);
+ }
+ }
+ }
+}
diff -r 000000000000 -r 79200cd7801e mbed.bld
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld Mon Dec 14 14:28:02 2020 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/0954ebd79f59
\ No newline at end of file