new file: GaggiaPID.ino
new file: PID_AutoTune_v0/Examples/AutoTune_Example/AutoTune_Example.pde new file: PID_AutoTune_v0/PID_AutoTune_v0.cpp new file: PID_AutoTune_v0/PID_AutoTune_v0.h new file: src/SevenSegmentTM1637/SevenSegmentAsciiMap.cpp new file: src/SevenSegmentTM1637/SevenSegmentAsciiMap.h new file: src/SevenSegmentTM1637/SevenSegmentExtended.cpp new file: src/SevenSegmentTM1637/SevenSegmentExtended.h new file: src/SevenSegmentTM1637/SevenSegmentFun.cpp new file: src/SevenSegmentTM1637/SevenSegmentFun.h new file: src/SevenSegmentTM1637/SevenSegmentTM1637.cpp new file: src/SevenSegmentTM1637/SevenSegmentTM1637.h Committer: Isaac <isaac@iosull.com>
This commit is contained in:
izzeho
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#include <PID_v1.h>
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#include <PID_AutoTune_v0.h>
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byte ATuneModeRemember=2;
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double input=80, output=50, setpoint=180;
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double kp=2,ki=0.5,kd=2;
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double kpmodel=1.5, taup=100, theta[50];
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double outputStart=5;
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double aTuneStep=50, aTuneNoise=1, aTuneStartValue=100;
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unsigned int aTuneLookBack=20;
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boolean tuning = false;
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unsigned long modelTime, serialTime;
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PID myPID(&input, &output, &setpoint,kp,ki,kd, DIRECT);
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PID_ATune aTune(&input, &output);
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//set to false to connect to the real world
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boolean useSimulation = true;
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void setup()
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{
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if(useSimulation)
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{
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for(byte i=0;i<50;i++)
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{
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theta[i]=outputStart;
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}
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modelTime = 0;
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}
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//Setup the pid
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myPID.SetMode(AUTOMATIC);
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if(tuning)
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{
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tuning=false;
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changeAutoTune();
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tuning=true;
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}
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serialTime = 0;
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Serial.begin(9600);
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}
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void loop()
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{
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unsigned long now = millis();
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if(!useSimulation)
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{ //pull the input in from the real world
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input = analogRead(0);
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}
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if(tuning)
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{
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byte val = (aTune.Runtime());
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if (val!=0)
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{
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tuning = false;
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}
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if(!tuning)
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{ //we're done, set the tuning parameters
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kp = aTune.GetKp();
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ki = aTune.GetKi();
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kd = aTune.GetKd();
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myPID.SetTunings(kp,ki,kd);
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AutoTuneHelper(false);
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}
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}
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else myPID.Compute();
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if(useSimulation)
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{
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theta[30]=output;
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if(now>=modelTime)
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{
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modelTime +=100;
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DoModel();
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}
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}
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else
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{
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analogWrite(0,output);
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}
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//send-receive with processing if it's time
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if(millis()>serialTime)
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{
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SerialReceive();
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SerialSend();
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serialTime+=500;
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}
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}
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void changeAutoTune()
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{
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if(!tuning)
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{
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//Set the output to the desired starting frequency.
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output=aTuneStartValue;
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aTune.SetNoiseBand(aTuneNoise);
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aTune.SetOutputStep(aTuneStep);
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aTune.SetLookbackSec((int)aTuneLookBack);
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AutoTuneHelper(true);
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tuning = true;
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}
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else
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{ //cancel autotune
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aTune.Cancel();
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tuning = false;
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AutoTuneHelper(false);
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}
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}
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void AutoTuneHelper(boolean start)
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{
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if(start)
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ATuneModeRemember = myPID.GetMode();
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else
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myPID.SetMode(ATuneModeRemember);
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}
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void SerialSend()
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{
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Serial.print("setpoint: ");Serial.print(setpoint); Serial.print(" ");
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Serial.print("input: ");Serial.print(input); Serial.print(" ");
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Serial.print("output: ");Serial.print(output); Serial.print(" ");
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if(tuning){
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Serial.println("tuning mode");
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} else {
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Serial.print("kp: ");Serial.print(myPID.GetKp());Serial.print(" ");
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Serial.print("ki: ");Serial.print(myPID.GetKi());Serial.print(" ");
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Serial.print("kd: ");Serial.print(myPID.GetKd());Serial.println();
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}
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}
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void SerialReceive()
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{
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if(Serial.available())
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{
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char b = Serial.read();
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Serial.flush();
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if((b=='1' && !tuning) || (b!='1' && tuning))changeAutoTune();
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}
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}
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void DoModel()
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{
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//cycle the dead time
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for(byte i=0;i<49;i++)
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{
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theta[i] = theta[i+1];
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}
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//compute the input
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input = (kpmodel / taup) *(theta[0]-outputStart) + input*(1-1/taup) + ((float)random(-10,10))/100;
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}
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@@ -0,0 +1,196 @@
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#if ARDUINO >= 100
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#include "Arduino.h"
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#else
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#include "WProgram.h"
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#endif
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#include <PID_AutoTune_v0.h>
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PID_ATune::PID_ATune(double* Input, double* Output)
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{
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input = Input;
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output = Output;
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controlType =0 ; //default to PI
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noiseBand = 0.5;
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running = false;
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oStep = 30;
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SetLookbackSec(10);
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lastTime = millis();
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}
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void PID_ATune::Cancel()
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{
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running = false;
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}
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int PID_ATune::Runtime()
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{
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justevaled=false;
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if(peakCount>9 && running)
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{
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running = false;
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FinishUp();
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return 1;
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}
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unsigned long now = millis();
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if((now-lastTime)<sampleTime) return false;
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lastTime = now;
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double refVal = *input;
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justevaled=true;
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if(!running)
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{ //initialize working variables the first time around
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peakType = 0;
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peakCount=0;
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justchanged=false;
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absMax=refVal;
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absMin=refVal;
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setpoint = refVal;
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running = true;
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outputStart = *output;
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*output = outputStart+oStep;
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}
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else
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{
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if(refVal>absMax)absMax=refVal;
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if(refVal<absMin)absMin=refVal;
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}
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//oscillate the output base on the input's relation to the setpoint
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if(refVal>setpoint+noiseBand) *output = outputStart-oStep;
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else if (refVal<setpoint-noiseBand) *output = outputStart+oStep;
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//bool isMax=true, isMin=true;
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isMax=true;isMin=true;
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//id peaks
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for(int i=nLookBack-1;i>=0;i--)
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{
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double val = lastInputs[i];
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if(isMax) isMax = refVal>val;
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if(isMin) isMin = refVal<val;
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lastInputs[i+1] = lastInputs[i];
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}
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lastInputs[0] = refVal;
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if(nLookBack<9)
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{ //we don't want to trust the maxes or mins until the inputs array has been filled
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return 0;
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}
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if(isMax)
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{
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if(peakType==0)peakType=1;
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if(peakType==-1)
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{
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peakType = 1;
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justchanged=true;
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peak2 = peak1;
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}
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peak1 = now;
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peaks[peakCount] = refVal;
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}
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else if(isMin)
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{
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if(peakType==0)peakType=-1;
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if(peakType==1)
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{
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peakType=-1;
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peakCount++;
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justchanged=true;
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}
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if(peakCount<10)peaks[peakCount] = refVal;
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}
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if(justchanged && peakCount>2)
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{ //we've transitioned. check if we can autotune based on the last peaks
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double avgSeparation = (abs(peaks[peakCount-1]-peaks[peakCount-2])+abs(peaks[peakCount-2]-peaks[peakCount-3]))/2;
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if( avgSeparation < 0.05*(absMax-absMin))
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{
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FinishUp();
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running = false;
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return 1;
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}
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}
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justchanged=false;
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return 0;
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}
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void PID_ATune::FinishUp()
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{
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*output = outputStart;
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//we can generate tuning parameters!
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Ku = 4*(2*oStep)/((absMax-absMin)*3.14159);
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Pu = (double)(peak1-peak2) / 1000;
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}
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double PID_ATune::GetKp()
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{
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return controlType==1 ? 0.6 * Ku : 0.4 * Ku;
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}
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double PID_ATune::GetKi()
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{
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return controlType==1? 1.2*Ku / Pu : 0.48 * Ku / Pu; // Ki = Kc/Ti
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}
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double PID_ATune::GetKd()
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{
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return controlType==1? 0.075 * Ku * Pu : 0; //Kd = Kc * Td
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}
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void PID_ATune::SetOutputStep(double Step)
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{
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oStep = Step;
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}
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double PID_ATune::GetOutputStep()
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{
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return oStep;
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}
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void PID_ATune::SetControlType(int Type) //0=PI, 1=PID
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{
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controlType = Type;
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}
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int PID_ATune::GetControlType()
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{
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return controlType;
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}
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void PID_ATune::SetNoiseBand(double Band)
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{
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noiseBand = Band;
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}
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double PID_ATune::GetNoiseBand()
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{
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return noiseBand;
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}
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void PID_ATune::SetLookbackSec(int value)
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{
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if (value<1) value = 1;
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if(value<25)
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{
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nLookBack = value * 4;
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sampleTime = 250;
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}
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else
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{
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nLookBack = 100;
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sampleTime = value*10;
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}
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}
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int PID_ATune::GetLookbackSec()
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{
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return nLookBack * sampleTime / 1000;
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}
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@@ -0,0 +1,55 @@
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#ifndef PID_AutoTune_v0
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#define PID_AutoTune_v0
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#define LIBRARY_VERSION 0.0.1
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class PID_ATune
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{
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public:
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//commonly used functions **************************************************************************
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PID_ATune(double*, double*); // * Constructor. links the Autotune to a given PID
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int Runtime(); // * Similar to the PID Compue function, returns non 0 when done
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void Cancel(); // * Stops the AutoTune
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void SetOutputStep(double); // * how far above and below the starting value will the output step?
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double GetOutputStep(); //
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void SetControlType(int); // * Determies if the tuning parameters returned will be PI (D=0)
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int GetControlType(); // or PID. (0=PI, 1=PID)
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void SetLookbackSec(int); // * how far back are we looking to identify peaks
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int GetLookbackSec(); //
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void SetNoiseBand(double); // * the autotune will ignore signal chatter smaller than this value
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double GetNoiseBand(); // this should be acurately set
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double GetKp(); // * once autotune is complete, these functions contain the
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double GetKi(); // computed tuning parameters.
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double GetKd(); //
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private:
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void FinishUp();
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bool isMax, isMin;
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double *input, *output;
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double setpoint;
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double noiseBand;
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int controlType;
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bool running;
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unsigned long peak1, peak2, lastTime;
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int sampleTime;
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int nLookBack;
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int peakType;
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double lastInputs[101];
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double peaks[10];
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int peakCount;
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bool justchanged;
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bool justevaled;
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double absMax, absMin;
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double oStep;
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double outputStart;
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double Ku, Pu;
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};
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#endif
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