implement PI controller for motor movement
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@ -1,3 +1,11 @@
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/*
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* Ideas/TODO:
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* POT_MIN, POT_MAX as variable with calibration procedure. Drive slowly to both ends until value does not get lower.
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* Motor error checking. Timeout overall (if regulation fails or stuck). Timeout movement (motor is tunring but no change in poti value detected). Move right direction.
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* Relais switching (selection and muting)
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* MQTT topics
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*/
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#include <Arduino.h>
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#include <Adafruit_NeoPixel.h>
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@ -67,6 +75,7 @@ float encoderMultiplier=4.0;
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#define PIN_MOTOR_IN2 PD6 //to L293(pin7) Motor IN2
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//#define SRPIN_MOTOR_IN1 1 //L293(pin2) Motor IN1 -- moved to atmega pin
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//#define SRPIN_MOTOR_IN2 2 //L293(pin7) Motor IN2 -- moved to atmega pin
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uint8_t motorspeed=0;
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#define PIN_POT A0 //A0 = PC0, reference potentiometer wiper
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#define DEADZONE_POTI 5 //maximum allowed error. stop when reached this zone
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@ -74,7 +83,7 @@ float encoderMultiplier=4.0;
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#define POT_MAX 1010 //maximum value pot can reach
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#define POTIFILTER 0.8 //0 to 1. 1 means old value stays forever
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int poti_set=512; //set value
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int poti_set; //set value, initial value will be read from poti
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int poti_read=0; //read value from poti
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boolean poti_reachedposition=true; //set to true if position reached. after that stop turning
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@ -85,22 +94,30 @@ boolean poti_reachedposition=true; //set to true if position reached. after that
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#define MOTOR_STOP(); digitalWrite(PIN_MOTOR_IN1,LOW); digitalWrite(PIN_MOTOR_IN2,LOW);
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#define MOTOR_LEFT(); digitalWrite(PIN_MOTOR_IN1,LOW); digitalWrite(PIN_MOTOR_IN2,HIGH);
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#define MOTOR_RIGHT(); digitalWrite(PIN_MOTOR_IN1,HIGH); digitalWrite(PIN_MOTOR_IN2,LOW);
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#define MOTOR_LEFT_PWM(); digitalWrite(PIN_MOTOR_IN1,LOW); analogWrite(PIN_MOTOR_IN2,motorspeed);
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#define MOTOR_RIGHT_PWM(); analogWrite(PIN_MOTOR_IN1,motorspeed); digitalWrite(PIN_MOTOR_IN2,LOW);
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#define MOTOR_TURNING() (digitalRead(PIN_MOTOR_IN1) != digitalRead(PIN_MOTOR_IN2))
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//Motorcheck
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long last_motorcheck=0;
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#define INTERVAL_MOTORCHECK 100 //check motor movement every x ms
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int poti_read_last=0;
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int motor_vel=0; //analog read units per second
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#define MINIMUM_MOTORVEL 20 //minimum velocity motor should turn wenn active
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#define MOTOR_FAILTIME 500 //in ms. if motor did not turn fox x amount of time at least with MINIMUM_MOTORVEL an error will initiate
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long last_motorTooSlow=0; //typically 0
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//int poti_read_last=0;
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//int motor_vel=0; //analog read units per second //TODO: reintroduce into code or remove
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//#define MINIMUM_MOTORVEL 20 //minimum velocity motor should turn wenn active
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//#define MOTOR_FAILTIME 500 //in ms. if motor did not turn fox x amount of time at least with MINIMUM_MOTORVEL an error will initiate
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//long last_motorTooSlow=0; //typically 0
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float motorP=1.0;
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float motorI=0.1;
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float potidifference_integral=0;
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#define MOTORI_ANTIWINDUP 32 //maximum value for (potidifference_integral*motorI). time depends on INTERVAL_MOTORCHECK
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long last_potidifferenceLow=0;
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#define DEADZONETIMEUNTILREACHED 500 //time [ms] poti read value has to be inside of deadzone to set reachedposition flag (and stop regulating)
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//error
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uint8_t error=0;
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#define NOERROR 0
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#define MOTORDIDNOTTURN 1
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boolean motorerror=false;
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void setup() {
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pinMode(PIN_BUTTON,INPUT_PULLUP);
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@ -108,6 +125,7 @@ void setup() {
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pinMode(PIN_POT,INPUT);
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pinMode(SRLATCH, OUTPUT);
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pinMode(SRCLOCK, OUTPUT);
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pinMode(SRDATA, OUTPUT);
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@ -162,6 +180,10 @@ void setup() {
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Serial.println("Ethernet disabled");
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}
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poti_set=analogRead(PIN_POT);
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Serial.print("Poti value="); Serial.println(poti_set);
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Serial.println("Ready");
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last_send = millis();
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@ -218,20 +240,8 @@ void loop() {
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//Inputs ###################################################
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poti_read=poti_read*POTIFILTER + (1.0-POTIFILTER)*analogRead(PIN_POT); //read poti
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/*
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if (!digitalRead(PIN_BUTTON)){ //button pressed
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if (button_released){
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button_released=false; //flag: not released
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if(loopmillis-last_button_released > BUTTON_RELEASE_DEBOUNCE){
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button_flag=true;
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}
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}
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}else if(!button_flag && !button_released){ //button released and flag has been cleared
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last_button_released=loopmillis;
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button_released=true;
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}*/
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button_knob.update(millis(),!digitalRead(PIN_BUTTON));
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button_knob.update(millis(),!digitalRead(PIN_BUTTON)); //Update routine
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if (button_knob.buttonPressed()){
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Serial.println("Button Pressed");
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@ -263,9 +273,10 @@ void loop() {
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//Motor Movement Routine #################
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/*
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if (error==0){ //no errors
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if (!poti_reachedposition && abs(poti_read-poti_set)>DEADZONE_POTI){ //error too high
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if (!poti_reachedposition && abs(poti_read-poti_set)>DEADZONE_POTI){ //difference too high
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if (poti_read-poti_set < 0){
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MOTOR_LEFT();
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}else{
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@ -307,6 +318,71 @@ void loop() {
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}else{ //an error occured. error!=0
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MOTOR_STOP();
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}
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*/
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//Test
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/*if (poti_set == 512){
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MOTOR_STOP();
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}else if (poti_set < 512){
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motorspeed=(512-poti_set)/2;
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MOTOR_LEFT_PWM();
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}else if (poti_set > 512){
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motorspeed=(poti_set-512)/2;
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MOTOR_RIGHT_PWM();
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}*/
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if (!motorerror) //motor not stuck etc
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{
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if (loopmillis-last_motorcheck>INTERVAL_MOTORCHECK)
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{
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last_motorcheck=loopmillis;
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int potidifference=poti_set-poti_read; //positive means poti needs to be moved higher. max poti value is 1023
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if (poti_reachedposition) {
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motorspeed=0;
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potidifference_integral=0;
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MOTOR_STOP();
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}else{ //not reached position
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int _motormove=0; //negative: move left, positive: move right. abs value: speed. 0 <= abs(_motormove) <= 255
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potidifference_integral+=potidifference*motorI;
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_motormove=potidifference*motorP+potidifference_integral;
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motorspeed=constrain(abs(_motormove), 0,255);
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if (poti_read<=POT_MIN && _motormove<0) { //stop motor if soft endstops reached and wants to turn that way
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MOTOR_STOP();
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potidifference_integral=0;
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_motormove=0;
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}else if (poti_read>=POT_MAX && _motormove>0){ //stop motor if soft endstops reached and wants to turn that way
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MOTOR_STOP();
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potidifference_integral=0;
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_motormove=0;
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}else{ //no endstop reached
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if (_motormove<0) {
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MOTOR_LEFT_PWM();
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}else if (_motormove>0) {
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MOTOR_RIGHT_PWM();
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}else{
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MOTOR_STOP();
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}
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}
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if (abs(potidifference)<DEADZONE_POTI) {
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if (last_potidifferenceLow==0){
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last_potidifferenceLow=loopmillis; //save millis first time entered deadzone
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}
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if (loopmillis-last_potidifferenceLow>DEADZONETIMEUNTILREACHED) {
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poti_reachedposition=true;
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}
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}else{
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last_potidifferenceLow = 0;
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}
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}
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}
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}
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@ -318,8 +394,10 @@ void loop() {
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Serial.print(poti_set);
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Serial.print(" is=");
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Serial.print(poti_read);
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Serial.print(" vel=");
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Serial.print(motor_vel);
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Serial.print(" motorspeed=");
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Serial.print(motorspeed);
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Serial.print(" iValue=");
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Serial.print(potidifference_integral);
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Serial.println("");
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if (button_flag){ //TODO: remove hier if correct behaviour implemented
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