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/******************************************************************
* PID Simple Example (Augmented with Processing.org Communication)
* Version 0.3
* by Brett Beauregard
* License: Creative-Commons Attribution Share-Alike
* April 2011
******************************************************************/
#include <PID_v1.h>
#include <MegaEncoderCounter.h>
#include <AFMotor.h>
MegaEncoderCounter megaEncoderCounter(4); // Initializes the Mega Encoder Counter in the 4X Count Mode
AF_DCMotor motor(1);
//Define Variables we'll be connecting to
double Setpoint, Input, Output;
int inputPin=0, outputPin=3;
unsigned long count;
unsigned long rgcount;
int qualityTestHigh[32];
int qualityTestLow[32];
//Specify the links and initial tuning parameters
PID myPID(&Input, &Output, &Setpoint,0.01,0.1,0, DIRECT);
unsigned long serialTime; //this will help us know when to talk with processing
void setup()
{
//initialize the serial link with processing
Serial.begin(9600);
//initialize the variables we're linked toh
Input =megaEncoderCounter.XAxisGetCount();
if (Input>10000000){
Input=0;}
Setpoint = 100000;
//turn the PID on
myPID.SetMode(AUTOMATIC);
myPID.SetOutputLimits(-255, 255);
myPID.SetSampleTime(1);
}
void loop()
{
//pid-related code
Input =megaEncoderCounter.XAxisGetCount();
if (Input>10000000){
Input=0;}
myPID.Compute();
if(Output >= 0){
motor.setSpeed(Output);
motor.run(FORWARD);
}
else{
motor.setSpeed(abs(Output));
motor.run(BACKWARD);
}
//send-receive with processing if it's time
if(millis()>serialTime)
{
SerialReceive();
SerialSend();
serialTime+=100;
}
}
/********************************************
* Serial Communication functions / helpers
********************************************/
union { // This Data structure lets
byte asBytes[24]; // us take the byte array
float asFloat[6]; // sent from processing and
} // easily convert it to a
foo; // float array
// getting float values from processing into the arduino
// was no small task. the way this program does it is
// as follows:
// * a float takes up 4 bytes. in processing, convert
// the array of floats we want to send, into an array
// of bytes.
// * send the bytes to the arduino
// * use a data structure known as a union to convert
// the array of bytes back into an array of floats
// the bytes coming from the arduino follow the following
// format:
// 0: 0=Manual, 1=Auto, else = ? error ?
// 1: 0=Direct, 1=Reverse, else = ? error ?
// 2-5: float setpoint
// 6-9: float input
// 10-13: float output
// 14-17: float P_Param
// 18-21: float I_Param
// 22-245: float D_Param
void SerialReceive()
{
// read the bytes sent from Processing
int index=0;
byte Auto_Man = -1;
byte Direct_Reverse = -1;
while(Serial.available()&&index<26)
{
if(index==0) Auto_Man = Serial.read();
else if(index==1) Direct_Reverse = Serial.read();
else foo.asBytes[index-2] = Serial.read();
index++;
}
// if the information we got was in the correct format,
// read it into the system
if(index==26 && (Auto_Man==0 || Auto_Man==1)&& (Direct_Reverse==0 || Direct_Reverse==1))
{
Setpoint=double(foo.asFloat[0]);
//Input=double(foo.asFloat[1]); // * the user has the ability to send the
// value of "Input" in most cases (as
// in this one) this is not needed.
if(Auto_Man==0) // * only change the output if we are in
{ // manual mode. otherwise we'll get an
Output=double(foo.asFloat[2]); // output blip, then the controller will
} // overwrite.
double p, i, d; // * read in and set the controller tunings
p = double(foo.asFloat[3]); //
i = double(foo.asFloat[4]); //
d = double(foo.asFloat[5]); //
myPID.SetTunings(p, i, d); //
if(Auto_Man==0) myPID.SetMode(MANUAL);// * set the controller mode
else myPID.SetMode(AUTOMATIC); //
if(Direct_Reverse==0) myPID.SetControllerDirection(DIRECT);// * set the controller Direction
else myPID.SetControllerDirection(REVERSE); //
}
Serial.flush(); // * clear any random data from the serial buffer
}
// unlike our tiny microprocessor, the processing ap
// has no problem converting strings into floats, so
// we can just send strings. much easier than getting
// floats from processing to here no?
void SerialSend()
{
// Serial.print("PID ");
// Serial.print(Setpoint);
// Serial.print(" ");
Serial.println(Input);
// Serial.print(" ");
// Serial.println(Output);
// Serial.print(" ");
// Serial.print(myPID.GetKp());
// Serial.print(" ");
// Serial.print(myPID.GetKi());
// Serial.print(" ");
// Serial.print(myPID.GetKd());
// Serial.print(" ");
// if(myPID.GetMode()==AUTOMATIC) Serial.print("Automatic");
// else Serial.print("Manual");
// Serial.print(" ");
// if(myPID.GetDirection()==DIRECT) Serial.println("Direct");
// else Serial.println("Reverse");
}
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