jenoack/Unendlichkeitsmaschine
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Introduced Serial cmd

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This commit is contained in:
Jens Noack 2023-03-16 15:42:29 +01:00
parent 457b13c46b
commit 839b687400
1 changed files with 107 additions and 39 deletions
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146
vscode/Unendlichkeitsmaschine/src/main.cpp
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@ -11,15 +11,17 @@ hw_timer_t * timer = NULL;
volatile double integ = 0.0; volatile double integ = 0.0;
volatile double derivative = 0.0; volatile double derivative = 0.0;
volatile double esc_output = 0.0; volatile double esc_output = 0.0;
int ser_esc_output = -1;
double ser_speed = 1000;
volatile double last_error = 0.0; volatile double last_error = 0.0;
int esc_value = 0; int esc_value = 0;
volatile double goal_speed = 1000; //1.0 * speed; volatile double goal_speed = 0;
volatile double current_speed = 0; volatile double current_speed = 0;
volatile double err = 0; volatile double err = 0;
volatile double output = 0.0; volatile double output = 0.0;
const double kp = 0.005; double kp = 0.005;
const double ki = 0.0008; double ki = 0.0008;
const double kd = 0.0001; double kd = 0.0001;
void ISR_HALL1(); void ISR_HALL1();
void ISR_HALL2(); void ISR_HALL2();
@ -39,6 +41,8 @@ void speed_get();
void speed_set(); void speed_set();
void count_secs(time_t* run_time); void count_secs(time_t* run_time);
void get_serial_cmd();
#ifdef HAS_MQTT #ifdef HAS_MQTT
void json_init(); void json_init();
#endif #endif
@ -110,9 +114,8 @@ void loop()
{ {
capportal.handle(); capportal.handle();
get_serial_cmd();
data_generate(); data_generate();
count_secs(&run_time); count_secs(&run_time);
speed_get(); speed_get();
speed_set(); speed_set();
@ -145,18 +148,18 @@ void count_secs(time_t* run_time)
void speed_set() void speed_set()
{ {
static unsigned long last_esc_write_ms = 0; static unsigned long last_esc_write_ms = 0;
static double last_esc_output = 0;
if(0 == last_esc_write_ms || millis() - last_esc_write_ms > UPDATE_ESC_EVERY_MS) if(0 == last_esc_write_ms || millis() - last_esc_write_ms > UPDATE_ESC_EVERY_MS)
{ {
Serial.printf(">goal:%06.3f\n>current:%06.3f\n>err:%06.3f\n>integ:%06.3f\n>derive:%06.3f\n>output:%06.3f\n>esc_output:%06.3f\n", goal_speed, current_speed, err, integ, derivative, output, esc_output); Serial.printf(">goal:%06.3f\n>current:%06.3f\n>err:%06.3f\n>integ:%06.3f\n>derive:%06.3f\n>output:%06.3f\n>esc_output:%06.3f\n", goal_speed, current_speed, err, integ, derivative, output, esc_output);
if(esc_output != last_esc_output) if(-1 == ser_esc_output )
{ {
//Serial.printf("PID ... (goal>:%06.3f, current>:%06.3f, err>:%06.3f, integ>:%06.3f, derive>:%06.3f, output>:%06.3f), esc_output>:%06.3f \n", goal_speed, current_speed, err, integ, derivative, output, esc_output);
ESC.write(esc_output); ESC.write(esc_output);
last_esc_output = esc_output;
last_esc_write_ms = millis();
} }
else
{
ESC.write(ser_esc_output);
}
last_esc_write_ms = millis();
} }
} }
@ -165,42 +168,49 @@ void speed_get()
static uint8_t _count_meas = 0; static uint8_t _count_meas = 0;
static int _Drehregler = 0; static int _Drehregler = 0;
static unsigned long _last_read_ms = 0; static unsigned long _last_read_ms = 0;
if(ser_speed == -1)
if( millis() - _last_read_ms > 25)
{ {
_last_read_ms = millis(); if( millis() - _last_read_ms > 25)
int maxDrehregler = 0;
int minDrehregler = 0;
int sumDrehregler = 0;
for(uint8_t i = 0; i<6;i++)
{ {
Drehregler = analogRead(POTI_PIN); // Dieser Befehl liest den Wert des Potentiometers am analogen Pin A0 aus und speichert ihn unter der Variablen "Drehregler". Der Wert liegt zwischen 0 und 1023. _last_read_ms = millis();
if(i==0) int maxDrehregler = 0;
int minDrehregler = 0;
int sumDrehregler = 0;
for(uint8_t i = 0; i<6;i++)
{ {
maxDrehregler = Drehregler; Drehregler = analogRead(POTI_PIN); // Dieser Befehl liest den Wert des Potentiometers am analogen Pin A0 aus und speichert ihn unter der Variablen "Drehregler". Der Wert liegt zwischen 0 und 1023.
minDrehregler = Drehregler; if(i==0)
}
else
{
if(Drehregler < minDrehregler)
{
minDrehregler = Drehregler;
}
if(Drehregler > maxDrehregler)
{ {
maxDrehregler = Drehregler; maxDrehregler = Drehregler;
minDrehregler = Drehregler;
} }
else
{
if(Drehregler < minDrehregler)
{
minDrehregler = Drehregler;
}
if(Drehregler > maxDrehregler)
{
maxDrehregler = Drehregler;
}
}
sumDrehregler = sumDrehregler + Drehregler;
} }
sumDrehregler = sumDrehregler + Drehregler; sumDrehregler = sumDrehregler - maxDrehregler - minDrehregler;
sumDrehregler = sumDrehregler/4;
#ifdef DUMMY_DATA
speed = 1000;
#else
speed = map(sumDrehregler, 0, MAX_POTI_VALUE, MIN_SPEED, MAX_SPEED); // Der "MAP-" Befehl wandelt den Messwert aus der Variablen "Drehregler" um, damit er am ESC verarbeitet werden kann. Der Zahlenbereich 0 bis 1023 wird dabei in einen Zahlenwert zwischen 0 und 180 umgewandelt.
#endif
} }
sumDrehregler = sumDrehregler - maxDrehregler - minDrehregler;
sumDrehregler = sumDrehregler/4;
#ifdef DUMMY_DATA
speed = 1000;
#else
speed = map(sumDrehregler, 0, MAX_POTI_VALUE, MIN_SPEED, MAX_SPEED); // Der "MAP-" Befehl wandelt den Messwert aus der Variablen "Drehregler" um, damit er am ESC verarbeitet werden kann. Der Zahlenbereich 0 bis 1023 wird dabei in einen Zahlenwert zwischen 0 und 180 umgewandelt.
#endif
} }
else{
speed = ser_speed;
}
goal_speed = 1.0 * speed;
} }
void data_init() void data_init()
@ -297,6 +307,60 @@ void data_store()
} }
} }
void get_serial_cmd()
{
if(Serial.available()){
String command = Serial.readStringUntil('\n');
Serial.printf("Received command '%s'", command.c_str());
if(command.startsWith("kp=")){
kp = command.substring(command.indexOf("=")+1).toDouble();
Serial.printf("Set kp to %f\n", kp);
}
else if(command.startsWith("ki=")){
ki = command.substring(command.indexOf("=")+1).toDouble();
Serial.printf("Set ki to %f\n", ki);
}
else if(command.startsWith("speed=")){
ser_speed = command.substring(command.indexOf("=")+1).toDouble();
Serial.printf("Set speed to %f\n", speed);
}
else if(command.startsWith("kd=")){
kd = command.substring(command.indexOf("=")+1).toDouble();
Serial.printf("Set kd to %f\n", kd);
}
else if(command.equals("params")){
Serial.printf("Actual values: kp=%f ki=%f kd=%f \n", kp, ki, kd);
}
else if(command.equals("control")){
ser_esc_output = -1;
Serial.printf("Set to drive PID control mode.\n");
}
else if(command.equals("max")){
ser_esc_output = MAX_ESC_SPEED;
Serial.printf("Set to maximal speed.\n");
}
else if(command.equals("min")){
ser_esc_output = MIN_ESC_SPEED;
Serial.printf("Set to minimal speed.\n");
}
else if(command.equals("start")){
ser_esc_output = -1;
Serial.printf("Start drive PID control mode.\n");
}
else if(command.equals("stop")){
ser_esc_output = 0;
Serial.printf("Stop drive.\n");
}
else if(command.equals("help")){
Serial.printf("Commands: kp,ki,kd=x.xxxx | params | control | max | min | start | stop | speed=x | help \n");
}
else{
Serial.printf("Invalid command.");
}
}
}
void IRAM_ATTR ISR_HALL1() void IRAM_ATTR ISR_HALL1()
{ {
const uint8_t hallnr = 0; const uint8_t hallnr = 0;
@ -371,6 +435,9 @@ void IRAM_ATTR ISR_HALL8()
void IRAM_ATTR ISR_onTimer() void IRAM_ATTR ISR_onTimer()
{ {
current_speed = HallData[0].value; current_speed = HallData[0].value;
//current_speed = map(HallData[0].value, MIN_SPEED, MAX_SPEED, MIN_ESC_SPEED, MAX_ESC_SPEED);
err = goal_speed - current_speed; err = goal_speed - current_speed;
integ = integ + err; integ = integ + err;
derivative = (err - last_error); derivative = (err - last_error);
@ -378,6 +445,7 @@ void IRAM_ATTR ISR_onTimer()
//Beschränkung der Ausgabe //Beschränkung der Ausgabe
esc_output = MIN_ESC_SPEED + constrain(output, 0, MAX_ESC_SPEED - MIN_ESC_SPEED); esc_output = MIN_ESC_SPEED + constrain(output, 0, MAX_ESC_SPEED - MIN_ESC_SPEED);
//Serial.printf("PID ... (goal: %f, current: %06.3f, err: %06.3f, integ: %06.3f, derive: %06.3f) output=%06.3f \n", goal_speed, current_speed, err, integ, derivative, output); //Serial.printf("PID ... (goal: %f, current: %06.3f, err: %06.3f, integ: %06.3f, derive: %06.3f) output=%06.3f \n", goal_speed, current_speed, err, integ, derivative, output);
//Aktualisierung der letzten Fehler- und Zeitwerte //Aktualisierung der letzten Fehler- und Zeitwerte