Introduced Serial cmd
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457b13c46b
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839b687400
1 changed files with 107 additions and 39 deletions
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@ -11,15 +11,17 @@ hw_timer_t * timer = NULL;
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volatile double integ = 0.0;
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volatile double derivative = 0.0;
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volatile double esc_output = 0.0;
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int ser_esc_output = -1;
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double ser_speed = 1000;
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volatile double last_error = 0.0;
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int esc_value = 0;
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volatile double goal_speed = 1000; //1.0 * speed;
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volatile double goal_speed = 0;
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volatile double current_speed = 0;
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volatile double err = 0;
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volatile double output = 0.0;
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const double kp = 0.005;
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const double ki = 0.0008;
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const double kd = 0.0001;
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double kp = 0.005;
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double ki = 0.0008;
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double kd = 0.0001;
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void ISR_HALL1();
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void ISR_HALL2();
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@ -39,6 +41,8 @@ void speed_get();
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void speed_set();
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void count_secs(time_t* run_time);
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void get_serial_cmd();
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#ifdef HAS_MQTT
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void json_init();
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#endif
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@ -110,9 +114,8 @@ void loop()
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{
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capportal.handle();
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get_serial_cmd();
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data_generate();
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count_secs(&run_time);
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speed_get();
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speed_set();
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@ -145,18 +148,18 @@ void count_secs(time_t* run_time)
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void speed_set()
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{
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static unsigned long last_esc_write_ms = 0;
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static double last_esc_output = 0;
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if(0 == last_esc_write_ms || millis() - last_esc_write_ms > UPDATE_ESC_EVERY_MS)
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{
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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);
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if(esc_output != last_esc_output)
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if(-1 == ser_esc_output )
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{
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//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);
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ESC.write(esc_output);
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last_esc_output = esc_output;
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last_esc_write_ms = millis();
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}
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else
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{
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ESC.write(ser_esc_output);
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}
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last_esc_write_ms = millis();
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}
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}
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@ -165,42 +168,49 @@ void speed_get()
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static uint8_t _count_meas = 0;
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static int _Drehregler = 0;
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static unsigned long _last_read_ms = 0;
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if( millis() - _last_read_ms > 25)
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if(ser_speed == -1)
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{
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_last_read_ms = millis();
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int maxDrehregler = 0;
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int minDrehregler = 0;
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int sumDrehregler = 0;
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for(uint8_t i = 0; i<6;i++)
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if( millis() - _last_read_ms > 25)
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{
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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.
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if(i==0)
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_last_read_ms = millis();
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int maxDrehregler = 0;
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int minDrehregler = 0;
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int sumDrehregler = 0;
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for(uint8_t i = 0; i<6;i++)
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{
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maxDrehregler = Drehregler;
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minDrehregler = Drehregler;
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}
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else
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{
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if(Drehregler < minDrehregler)
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{
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minDrehregler = Drehregler;
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}
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if(Drehregler > maxDrehregler)
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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.
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if(i==0)
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{
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maxDrehregler = Drehregler;
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minDrehregler = Drehregler;
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}
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else
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{
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if(Drehregler < minDrehregler)
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{
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minDrehregler = Drehregler;
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}
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if(Drehregler > maxDrehregler)
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{
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maxDrehregler = Drehregler;
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}
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}
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sumDrehregler = sumDrehregler + Drehregler;
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}
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sumDrehregler = sumDrehregler + Drehregler;
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sumDrehregler = sumDrehregler - maxDrehregler - minDrehregler;
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sumDrehregler = sumDrehregler/4;
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#ifdef DUMMY_DATA
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speed = 1000;
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#else
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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.
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#endif
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}
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sumDrehregler = sumDrehregler - maxDrehregler - minDrehregler;
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sumDrehregler = sumDrehregler/4;
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#ifdef DUMMY_DATA
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speed = 1000;
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#else
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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.
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#endif
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}
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else{
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speed = ser_speed;
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}
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goal_speed = 1.0 * speed;
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}
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void data_init()
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@ -297,6 +307,60 @@ void data_store()
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}
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}
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void get_serial_cmd()
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{
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if(Serial.available()){
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String command = Serial.readStringUntil('\n');
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Serial.printf("Received command '%s'", command.c_str());
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if(command.startsWith("kp=")){
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kp = command.substring(command.indexOf("=")+1).toDouble();
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Serial.printf("Set kp to %f\n", kp);
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}
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else if(command.startsWith("ki=")){
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ki = command.substring(command.indexOf("=")+1).toDouble();
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Serial.printf("Set ki to %f\n", ki);
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}
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else if(command.startsWith("speed=")){
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ser_speed = command.substring(command.indexOf("=")+1).toDouble();
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Serial.printf("Set speed to %f\n", speed);
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}
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else if(command.startsWith("kd=")){
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kd = command.substring(command.indexOf("=")+1).toDouble();
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Serial.printf("Set kd to %f\n", kd);
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}
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else if(command.equals("params")){
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Serial.printf("Actual values: kp=%f ki=%f kd=%f \n", kp, ki, kd);
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}
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else if(command.equals("control")){
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ser_esc_output = -1;
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Serial.printf("Set to drive PID control mode.\n");
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}
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else if(command.equals("max")){
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ser_esc_output = MAX_ESC_SPEED;
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Serial.printf("Set to maximal speed.\n");
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}
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else if(command.equals("min")){
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ser_esc_output = MIN_ESC_SPEED;
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Serial.printf("Set to minimal speed.\n");
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}
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else if(command.equals("start")){
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ser_esc_output = -1;
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Serial.printf("Start drive PID control mode.\n");
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}
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else if(command.equals("stop")){
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ser_esc_output = 0;
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Serial.printf("Stop drive.\n");
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}
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else if(command.equals("help")){
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Serial.printf("Commands: kp,ki,kd=x.xxxx | params | control | max | min | start | stop | speed=x | help \n");
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}
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else{
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Serial.printf("Invalid command.");
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}
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}
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}
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void IRAM_ATTR ISR_HALL1()
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{
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const uint8_t hallnr = 0;
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@ -371,6 +435,9 @@ void IRAM_ATTR ISR_HALL8()
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void IRAM_ATTR ISR_onTimer()
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{
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current_speed = HallData[0].value;
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//current_speed = map(HallData[0].value, MIN_SPEED, MAX_SPEED, MIN_ESC_SPEED, MAX_ESC_SPEED);
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err = goal_speed - current_speed;
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integ = integ + err;
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derivative = (err - last_error);
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@ -378,6 +445,7 @@ void IRAM_ATTR ISR_onTimer()
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//Beschränkung der Ausgabe
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esc_output = MIN_ESC_SPEED + constrain(output, 0, MAX_ESC_SPEED - MIN_ESC_SPEED);
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//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);
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//Aktualisierung der letzten Fehler- und Zeitwerte
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