jenoack/Unendlichkeitsmaschine
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speed measure routine

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jenoack 2023-03-29 20:45:06 +02:00
parent c9ae41802b
commit 5db2e22563
3 changed files with 55 additions and 16 deletions
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2
vscode/Unendlichkeitsmaschine/include/json.hpp
View file

@ -19,6 +19,8 @@ typedef struct {
double kd;
int max_speed;
int min_speed;
double max_esc_out;
double min_esc_out
}PIDStruct;
typedef struct

15
vscode/Unendlichkeitsmaschine/include/main.hpp
View file

@ -102,9 +102,16 @@ const uint8_t HALL8_PIN = 14;
const uint8_t TIME_PER_ROUND_VALS = 10;
const uint16_t MIN_SPEED = 500;
const uint16_t MAX_SPEED = 5000;
const uint8_t MAX_ESC_SPEED = 100;
const uint8_t MIN_ESC_SPEED = 6;
//const uint16_t MIN_SPEED = 500;
//const uint16_t MAX_SPEED = 5000;
const uint8_t MAX_ESC_OUT = 100;
const uint8_t MIN_ESC_OUT = 0;
const long MAX_D_VALUE = 10;
const long MIN_D_VALUE = -10;
const long MAX_I_VALUE = 10;
const long MIN_I_VALUE = -10;
const long MAX_P_VALUE = 10;
const long MIN_P_VALUE = -10;
#endif //MAIN_HPP

54
vscode/Unendlichkeitsmaschine/src/main.cpp
View file

@ -119,6 +119,34 @@ void loop()
}
void eval_max_min_speed()
{
Pid_params.min_esc_out = 0;
Pid_params.min_speed = 0;
for(uint8_t out = Pid_params.min_speed; out < Pid_params.max_esc_out; out++)
{
ESC.write(out);
delay(1000);
for(uint8_t i=0;i<10;i++)
{
data_check();
delay(1000);
if (0 == Pid_params.min_speed && HallData[0].value > 0)
{
Pid_params.min_speed = HallData[0].value;
Pid_params.min_esc_out = out
break;
}
}
}
ESC.write(Pid_params.max_esc_out);
delay(2000);
Pid_params.max_speed = HallData[0].value;
ESC.write(0);
delay(2000);
}
void count_secs(time_t* run_time)
{
static time_t last_update_ms = 0;
@ -151,13 +179,13 @@ void PID()
double int_derivative = Pid_params.err - last_error;
if(Pid_params.ki != 0)
{
if(Pid_params.ki*int_integ > MAX_ESC_SPEED)
if(Pid_params.ki*int_integ > MAX_I_VALUE)
{
Pid_params.integ = MAX_ESC_SPEED/Pid_params.ki;
Pid_params.integ = MAX_I_VALUE/Pid_params.ki;
}
else if(Pid_params.ki*int_integ < -1*MAX_ESC_SPEED)
else if(Pid_params.ki*int_integ < MIN_I_VALUE)
{
Pid_params.integ = -1*MAX_ESC_SPEED/Pid_params.ki;
Pid_params.integ = MIN_I_VALUE/Pid_params.ki;
}
else
{
@ -171,13 +199,13 @@ void PID()
if(Pid_params.kd != 0)
{
if(Pid_params.kd*int_derivative > MAX_ESC_SPEED)
if(Pid_params.kd*int_derivative > MAX_D_VALUE)
{
Pid_params.derivative = MAX_ESC_SPEED/Pid_params.kd;
Pid_params.derivative = MAX_D_VALUE/Pid_params.kd;
}
else if(Pid_params.kd*int_derivative < -1*MAX_ESC_SPEED)
else if(Pid_params.kd*int_derivative < MIN_D_VALUE)
{
Pid_params.derivative = -1*MAX_ESC_SPEED/Pid_params.kd;
Pid_params.derivative = MIN_D_VALUE/Pid_params.kd;
}
else
{
@ -280,11 +308,13 @@ void data_init()
Pid_params.current_speed = 0.0;
Pid_params.err = 0;
Pid_params.output = 0.0;
Pid_params.kp = 0.002;
Pid_params.ki = 0.0008;
Pid_params.kp = 0.001;
Pid_params.ki = 0.001;
Pid_params.kd = 0.001;
Pid_params.max_speed = MAX_SPEED;
Pid_params.min_speed = MIN_SPEED;
Pid_params.max_speed = 5000;
Pid_params.min_speed = 0;
Pid_params.max_esc_out = MAX_ESC_OUT;
Pid_params.min_esc_out = MIN_ESC_OUT;
#ifdef MACHINE_RESTART
run_time = 0;
start_time = capportal.epochTime();