Revision 1:5c42ec7f1aeb, committed 2016-02-22

Comitter:

sbh9428

Date:

Mon Feb 22 06:03:11 2016 +0000

Parent:

0:9bfc4aea91e2

Child:

2:4c51394fb35b

Commit message:

PID?;

Changed in this revision

--- a/commandt.cpp	Fri Feb 19 07:07:26 2016 +0000
+++ b/commandt.cpp	Mon Feb 22 06:03:11 2016 +0000
@@ -14,6 +14,7 @@
 
 command_t::command_t(BufferedSerial* _pc, control_t* _control)
 {
+	time=0;
 	count=0;
 	control=_control;
 	pc=_pc;	
@@ -40,23 +41,60 @@
 			{
 				case 'm':
 					control->set_mode(data[2]-'0');
+					printf("set mode %d\n", data[2]-'0');
 				break;
-				case 'p':
+				case 'r':
 					control->control_PWM(asci_to_bin(data+2));
-					printf("set WPM duty ratio %f\n", asci_to_bin(data+2));
+					control->set_PWM_value(asci_to_bin(data+2));
+					printf("set PWM duty ratio %f1.5\n", asci_to_bin(data+2));
 				break;
 				case 't':
-				
+					control->set_target_temp(asci_to_bin(data+2));
+					printf("set target temp %f\n", asci_to_bin(data+2));
+				break;	
+				case 'p':
+					control->set_P_value(asci_to_bin(data+2));
+					printf("set P value %f\n", asci_to_bin(data+2));
+				break;	
+				case 'i':
+					control->set_I_value(asci_to_bin(data+2));
+					printf("set I value %f\n", asci_to_bin(data+2));
+				break;	
+				case 'd':
+					control->set_D_value(asci_to_bin(data+2));
+					printf("set D value %f\n", asci_to_bin(data+2));
 				break;	
 			}
 		break;
 		case 'g':
+			switch(data[1])
+			{
+				case 'm':
+					printf("mode is %d\n", control->get_mode());
+				break;
+				case 'r':
+					printf("duty ratio is %f\n", control->get_PWM_value());
+				break;
+				case 't':
+					printf("target temp is %f\n", control->get_target_temp());
+				break;
+				case 'p':	
+					printf("P value is %f\n", control->get_P_value());
+				break;
+				case 'i':
+					printf("I value is %f\n", control->get_I_value());
+				break;
+				case 'd':
+					printf("D value is %f\n", control->get_P_value());
+				break;
+			}
 		
 		break;	
 		dafault:
 		pc->printf("command error");
 	}
 	pc->printf("\n");
+	count=0;
 }
 
 void command_t::get_data()
@@ -77,8 +115,9 @@
 
 void command_t::refreshPWM()
 {
-	printf("temperature is %f\n", control->get_temp());
-	
+	printf(",%2.2f\n", control->get_temp());
+	time=time+3;
+	control->refresh_PWM();
 }
 
 double command_t::asci_to_bin(int *start)

--- a/commandt.h	Fri Feb 19 07:07:26 2016 +0000
+++ b/commandt.h	Mon Feb 22 06:03:11 2016 +0000
@@ -24,7 +24,8 @@
 	virtual ~command_t();
 private:
 	int count;
-	int data[10];
+	int data[30];
+	int time;
 
 	BufferedSerial* pc;
 	control_t *control;

--- a/controlt.cpp	Fri Feb 19 07:07:26 2016 +0000
+++ b/controlt.cpp	Mon Feb 22 06:03:11 2016 +0000
@@ -14,6 +14,13 @@
 
 control_t::control_t(temp_sensor_t* _temp_sensor, peltier_t* _peltier)
 {
+	log_count=0;
+	
+	target_temp=15;
+	P_value=0;
+	I_value=0;
+	D_value=0;
+	
 	temp_sensor=_temp_sensor;	
 	peltier=_peltier;
 }
@@ -34,11 +41,118 @@
 
 void control_t::control_temp()
 {
+	PWM_value+=calc_P();
 	
+	PWM_value+=calc_I();
 	
+	PWM_value+=calc_D();
+	
+	if(PWM_value>1)
+	{
+		PWM_value=1;	
+	}
+	if(PWM_value<-1)
+	{
+		PWM_value=-1;	
+	}
+	peltier->set_PWM(PWM_value);
 }
 
 void control_t::set_mode(int _mode)
 {
 	mode=_mode;	
+}
+
+void control_t::set_PWM_value(float _PWM_value)
+{
+	PWM_value=_PWM_value;
+}
+
+void control_t::set_target_temp(float _target_temp)
+{
+	target_temp=_target_temp;	
+}
+
+void control_t::set_P_value(float _P_value)
+{
+	P_value=_P_value;	
+}
+
+void control_t::set_I_value(float _I_value)
+{
+	I_value=_I_value;	
+}
+
+void control_t::set_D_value(float _D_value)
+{
+	D_value=_D_value;	
+}
+
+void control_t::refresh_PWM()
+{
+	write_log();
+	if(mode==0)
+	{
+		PWM_value=0;
+		control_PWM(0);
+	}
+	else if(mode==1)
+	{
+	}
+	else if(mode==2)
+	{
+		control_temp();
+	}
+}
+
+int control_t::get_mode()
+{
+	return mode;
+}
+float control_t::get_target_temp()
+{
+	return target_temp;	
+}
+float control_t::get_P_value()
+{
+	return P_value;	
+}
+float control_t::get_I_value()
+{
+	return I_value;	
+}
+float control_t::get_D_value()
+{
+	return D_value;	
+}
+float control_t::get_PWM_value()
+{
+	return PWM_value;	
+}
+
+float control_t::calc_P()
+{
+	return (target_temp-temp_sensor->get_temp())*P_value;
+}
+
+float control_t::calc_I()
+{
+	float data=0;
+	for(int i=0;i<10;i++)
+	{
+		data+=temp_log[i];	
+	}
+	return data*I_value;
+}
+
+float control_t::calc_D()
+{
+	return -(temp_log[log_count]-temp_log[(log_count-1)%10])*D_value;
+}
+
+void control_t::write_log()
+{
+	log_count++;
+	log_count=log_count%10;
+	temp_log[log_count]=temp_sensor->get_temp();
 }
\ No newline at end of file

--- a/controlt.h	Fri Feb 19 07:07:26 2016 +0000
+++ b/controlt.h	Mon Feb 22 06:03:11 2016 +0000
@@ -14,14 +14,53 @@
 class control_t {
 public:
 	float get_temp();
-	void control_PWM(float PWM);
+	void control_PWM(float _PWM);
 	void control_temp();
+	
 	void set_mode(int _mode);
-
+	void set_target_temp(float _target_temp);
+	void set_PWM_value(float _PWM_value);
+	void set_P_value(float _P_value);
+	void set_I_value(float _I_value);
+	void set_D_value(float _D_value);
+	
+	void refresh_PWM();
+	
+	int get_mode();
+	float get_target_temp();
+	float get_P_value();
+	float get_I_value();
+	float get_D_value();
+	float get_PWM_value();
+	
+	float calc_P();
+	float calc_I();
+	float calc_D();
+	
+	void write_log();
+	
 	control_t();
 	control_t(temp_sensor_t* _temp_sensor, peltier_t* _peltier);
 	virtual ~control_t();
 private:
+	float P_value;
+	float I_value;
+	float D_value;
+	
+	float PWM_value;
+	
+	float target_temp;
+	
+	float dif;
+	
+	float temp_log[10];
+	int log_count;
+	
+	float table[201];
+	int table_count;
+	int table_min;
+	int table_max;
+
 	temp_sensor_t* temp_sensor;
 	peltier_t* peltier;
 	

--- a/main.cpp	Fri Feb 19 07:07:26 2016 +0000
+++ b/main.cpp	Mon Feb 22 06:03:11 2016 +0000
@@ -11,15 +11,17 @@
 
 Ticker controltick;
 
-FastAnalogIn temp_sensor_pin(p20);
+AnalogIn temp_sensor_pin(p19);
 
 temp_sensor_t temp_sensor(&temp_sensor_pin);
 
 
 
-FastPWM PWM_pin(p21);
+FastPWM PWM_pin(p23);
 DigitalOut PWM_dir(p22);
 
+
+
 peltier_t peltier(&PWM_pin, &PWM_dir);
 
 
@@ -40,11 +42,12 @@
 void peltier_control();
 
 int main() {
+    
     pc.printf("temperature start \n");
     
-    controltick.attach(&peltier_control, 1);
+    controltick.attach(&peltier_control, 10);
     
-    
+    wait(10);
     
     while(1) 
     {
@@ -58,5 +61,5 @@
 
 void peltier_control()
 {
-       command.refreshPWM();
+      command.refreshPWM();
 }
\ No newline at end of file

--- a/tempsensort.cpp	Fri Feb 19 07:07:26 2016 +0000
+++ b/tempsensort.cpp	Mon Feb 22 06:03:11 2016 +0000
@@ -12,10 +12,9 @@
 
 }
 
-temp_sensor_t::temp_sensor_t(FastAnalogIn* _temperature_sensor)
+temp_sensor_t::temp_sensor_t(AnalogIn* _temperature_sensor)
 {
 	temperature_sensor=_temperature_sensor;
-	temperature_sensor->enable(1);
 }
 
 
@@ -25,5 +24,5 @@
 
 float temp_sensor_t::get_temp()
 {
-	return temperature_sensor->read()*165-40;
+	return (double)temperature_sensor->read_u16()/1024/64*165-40;
 }

--- a/tempsensort.h	Fri Feb 19 07:07:26 2016 +0000
+++ b/tempsensort.h	Mon Feb 22 06:03:11 2016 +0000
@@ -15,10 +15,10 @@
 	float get_temp();
 
 	temp_sensor_t();
-	temp_sensor_t(FastAnalogIn* _temperature_sensor);
+	temp_sensor_t(AnalogIn* _temperature_sensor);
 	virtual ~temp_sensor_t();
 private:
-	FastAnalogIn* temperature_sensor;
+	AnalogIn* temperature_sensor;
 };
 
 #endif /* TEMPSENSOTT_H_ */