Breaking News: Grepper is joining You.com. Read the official announcement!

arduino PID control usnig L298N

Poised Panda answered on April 29, 2023 Popularity 3/10 Helpfulness 1/10

answer arduino PID control usnig L298N

related arduino PID control usnig L298N

arduino PID control usnig L298N

Comment

String mySt = "";
char myChar;
boolean stringComplete = false;  // whether the string is complete
boolean motor_start = false;
const byte pin_a = 2;   //for encoder pulse A
const byte pin_b = 3;   //for encoder pulse B
const byte pin_fwd = 4; //for H-bridge: run motor forward
const byte pin_bwd = 5; //for H-bridge: run motor backward
const byte pin_pwm = 6; //for H-bridge: motor speed
int encoder = 0;
int m_direction = 0;
int sv_speed = 100;     //this value is 0~255
double pv_speed = 0;
double set_speed = 0;
double e_speed = 0; //error of speed = set_speed - pv_speed
double e_speed_pre = 0;  //last error of speed
double e_speed_sum = 0;  //sum error of speed
double pwm_pulse = 0;     //this value is 0~255
double kp = 0;
double ki = 0;
double kd = 0;
int timer1_counter; //for timer
int i=0;


void setup() {
  pinMode(pin_a,INPUT_PULLUP);
  pinMode(pin_b,INPUT_PULLUP);
  pinMode(pin_fwd,OUTPUT);
  pinMode(pin_bwd,OUTPUT);
  pinMode(pin_pwm,OUTPUT);
  attachInterrupt(digitalPinToInterrupt(pin_a), detect_a, RISING);
  // start serial port at 9600 bps:
  Serial.begin(9600);
  //--------------------------timer setup
  noInterrupts();           // disable all interrupts
  TCCR1A = 0;
  TCCR1B = 0;
  timer1_counter = 59286;   // preload timer 65536-16MHz/256/2Hz (34286 for 0.5sec) (59286 for 0.1sec)

  
  TCNT1 = timer1_counter;   // preload timer
  TCCR1B |= (1 << CS12);    // 256 prescaler 
  TIMSK1 |= (1 << TOIE1);   // enable timer overflow interrupt
  interrupts();             // enable all interrupts
  //--------------------------timer setup
  
  while (!Serial) {
    ; // wait for serial port to connect. Needed for native USB port only
  }

  analogWrite(pin_pwm,0);   //stop motor
  digitalWrite(pin_fwd,0);  //stop motor
  digitalWrite(pin_bwd,0);  //stop motor
}

void loop() {
  if (stringComplete) {
    // clear the string when COM receiving is completed
    mySt = "";  //note: in code below, mySt will not become blank, mySt is blank until '\n' is received
    stringComplete = false;
  }

  //receive command from Visual Studio
  if (mySt.substring(0,8) == "vs_start"){
    digitalWrite(pin_fwd,1);      //run motor run forward
    digitalWrite(pin_bwd,0);
    motor_start = true;
  }
  if (mySt.substring(0,7) == "vs_stop"){
    digitalWrite(pin_fwd,0);
    digitalWrite(pin_bwd,0);      //stop motor
    motor_start = false;
  }
  if (mySt.substring(0,12) == "vs_set_speed"){
    set_speed = mySt.substring(12,mySt.length()).toFloat();  //get string after set_speed
  }
  if (mySt.substring(0,5) == "vs_kp"){
    kp = mySt.substring(5,mySt.length()).toFloat(); //get string after vs_kp
  }
  if (mySt.substring(0,5) == "vs_ki"){
    ki = mySt.substring(5,mySt.length()).toFloat(); //get string after vs_ki
  }
  if (mySt.substring(0,5) == "vs_kd"){
    kd = mySt.substring(5,mySt.length()).toFloat(); //get string after vs_kd
  }  
}

void detect_a() {
  encoder+=1; //increasing encoder at new pulse
  m_direction = digitalRead(pin_b); //read direction of motor
}
ISR(TIMER1_OVF_vect)        // interrupt service routine - tick every 0.1sec
{
  TCNT1 = timer1_counter;   // set timer
  pv_speed = 600.0*(encoder/200.0)/0.1;  //calculate motor speed, unit is rpm
  encoder=0;
  //print out speed
  if (Serial.available() <= 0) {
    Serial.print("speed");
    Serial.println(pv_speed);         //Print speed (rpm) value to Visual Studio
    }

  //PID program
  if (motor_start){
    e_speed = set_speed - pv_speed;
    pwm_pulse = e_speed*kp + e_speed_sum*ki + (e_speed - e_speed_pre)*kd;
    e_speed_pre = e_speed;  //save last (previous) error
    e_speed_sum += e_speed; //sum of error
    if (e_speed_sum >4000) e_speed_sum = 4000;
    if (e_speed_sum <-4000) e_speed_sum = -4000;
  }
  else{
    e_speed = 0;
    e_speed_pre = 0;
    e_speed_sum = 0;
    pwm_pulse = 0;
  }
  
  //update new speed
  if (pwm_pulse <255 & pwm_pulse >0){
    analogWrite(pin_pwm,pwm_pulse);  //set motor speed  
  }
  else{
    if (pwm_pulse>255){
      analogWrite(pin_pwm,255);
    }
    else{
      analogWrite(pin_pwm,0);
    }
  }
  
}
void serialEvent() {
  while (Serial.available()) {
    // get the new byte:
    char inChar = (char)Serial.read();
    // add it to the inputString:
    if (inChar != '\n') {
      mySt += inChar;
    }
    // if the incoming character is a newline, set a flag
    // so the main loop can do something about it:
    if (inChar == '\n') {
      stringComplete = true;
    }
  }
}

Popularity 3/10 Helpfulness 1/10 Language whatever

Source: engineer2you.blogspot.com

Tags: arduino pid whatever

Link to this answer
Share Copy Link

Contributed on Apr 29 2023

Poised Panda

0 Answers Avg Quality 2/10

Closely Related Answers

arduino PID control usnig L298N

Comment

//link =>https://engineer2you.blogspot.com/2016/12/arduino-motor-pid-speed-control.html
String mySt = "";
char myChar;
boolean stringComplete = false;  // whether the string is complete
boolean motor_start = false;
const byte pin_a = 2;   //for encoder pulse A
const byte pin_b = 3;   //for encoder pulse B
const byte pin_fwd = 4; //for H-bridge: run motor forward
const byte pin_bwd = 5; //for H-bridge: run motor backward
const byte pin_pwm = 6; //for H-bridge: motor speed
int encoder = 0;
int m_direction = 0;
int sv_speed = 100;     //this value is 0~255
double pv_speed = 0;
double set_speed = 0;
double e_speed = 0; //error of speed = set_speed - pv_speed
double e_speed_pre = 0;  //last error of speed
double e_speed_sum = 0;  //sum error of speed
double pwm_pulse = 0;     //this value is 0~255
double kp = 0;
double ki = 0;
double kd = 0;
int timer1_counter; //for timer
int i=0;


void setup() {
  pinMode(pin_a,INPUT_PULLUP);
  pinMode(pin_b,INPUT_PULLUP);
  pinMode(pin_fwd,OUTPUT);
  pinMode(pin_bwd,OUTPUT);
  pinMode(pin_pwm,OUTPUT);
  attachInterrupt(digitalPinToInterrupt(pin_a), detect_a, RISING);
  // start serial port at 9600 bps:
  Serial.begin(9600);
  //--------------------------timer setup
  noInterrupts();           // disable all interrupts
  TCCR1A = 0;
  TCCR1B = 0;
  timer1_counter = 59286;   // preload timer 65536-16MHz/256/2Hz (34286 for 0.5sec) (59286 for 0.1sec)

  
  TCNT1 = timer1_counter;   // preload timer
  TCCR1B |= (1 << CS12);    // 256 prescaler 
  TIMSK1 |= (1 << TOIE1);   // enable timer overflow interrupt
  interrupts();             // enable all interrupts
  //--------------------------timer setup
  
  while (!Serial) {
    ; // wait for serial port to connect. Needed for native USB port only
  }

  analogWrite(pin_pwm,0);   //stop motor
  digitalWrite(pin_fwd,0);  //stop motor
  digitalWrite(pin_bwd,0);  //stop motor
}

void loop() {
  if (stringComplete) {
    // clear the string when COM receiving is completed
    mySt = "";  //note: in code below, mySt will not become blank, mySt is blank until '\n' is received
    stringComplete = false;
  }

  //receive command from Visual Studio
  if (mySt.substring(0,8) == "vs_start"){
    digitalWrite(pin_fwd,1);      //run motor run forward
    digitalWrite(pin_bwd,0);
    motor_start = true;
  }
  if (mySt.substring(0,7) == "vs_stop"){
    digitalWrite(pin_fwd,0);
    digitalWrite(pin_bwd,0);      //stop motor
    motor_start = false;
  }
  if (mySt.substring(0,12) == "vs_set_speed"){
    set_speed = mySt.substring(12,mySt.length()).toFloat();  //get string after set_speed
  }
  if (mySt.substring(0,5) == "vs_kp"){
    kp = mySt.substring(5,mySt.length()).toFloat(); //get string after vs_kp
  }
  if (mySt.substring(0,5) == "vs_ki"){
    ki = mySt.substring(5,mySt.length()).toFloat(); //get string after vs_ki
  }
  if (mySt.substring(0,5) == "vs_kd"){
    kd = mySt.substring(5,mySt.length()).toFloat(); //get string after vs_kd
  }  
}

void detect_a() {
  encoder+=1; //increasing encoder at new pulse
  m_direction = digitalRead(pin_b); //read direction of motor
}
ISR(TIMER1_OVF_vect)        // interrupt service routine - tick every 0.1sec
{
  TCNT1 = timer1_counter;   // set timer
  pv_speed = 600.0*(encoder/200.0)/0.1;  //calculate motor speed, unit is rpm
  encoder=0;
  //print out speed
  if (Serial.available() <= 0) {
    Serial.print("speed");
    Serial.println(pv_speed);         //Print speed (rpm) value to Visual Studio
    }

  //PID program
  if (motor_start){
    e_speed = set_speed - pv_speed;
    pwm_pulse = e_speed*kp + e_speed_sum*ki + (e_speed - e_speed_pre)*kd;
    e_speed_pre = e_speed;  //save last (previous) error
    e_speed_sum += e_speed; //sum of error
    if (e_speed_sum >4000) e_speed_sum = 4000;
    if (e_speed_sum <-4000) e_speed_sum = -4000;
  }
  else{
    e_speed = 0;
    e_speed_pre = 0;
    e_speed_sum = 0;
    pwm_pulse = 0;
  }
  
  //update new speed
  if (pwm_pulse <255 & pwm_pulse >0){
    analogWrite(pin_pwm,pwm_pulse);  //set motor speed  
  }
  else{
    if (pwm_pulse>255){
      analogWrite(pin_pwm,255);
    }
    else{
      analogWrite(pin_pwm,0);
    }
  }
  
}
void serialEvent() {
  while (Serial.available()) {
    // get the new byte:
    char inChar = (char)Serial.read();
    // add it to the inputString:
    if (inChar != '\n') {
      mySt += inChar;
    }
    // if the incoming character is a newline, set a flag
    // so the main loop can do something about it:
    if (inChar == '\n') {
      stringComplete = true;
    }
  }
}

Popularity 3/10 Helpfulness 1/10 Language whatever

Source: engineer2you.blogspot.com

Tags: arduino whatever pid

Link to this answer
Share Copy Link

Contributed on Apr 29 2023

Poised Panda

0 Answers Avg Quality 2/10

arduino PID control usnig L298N

Contents

More Related Answers

arduino PID control usnig L298N

Closely Related Answers

arduino PID control usnig L298N

Grepper

Documentation

Social

Legal

Contact

Oops, You will need to install Grepper and log-in to perform this action.