54 lines
1.4 KiB
C++
Executable File
54 lines
1.4 KiB
C++
Executable File
/********************************************************
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* PID Adaptive Tuning Example
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* One of the benefits of the PID library is that you can
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* change the tuning parameters at any time. this can be
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* helpful if we want the controller to be agressive at some
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* times, and conservative at others. in the example below
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* we set the controller to use Conservative Tuning Parameters
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* when we're near setpoint and more agressive Tuning
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* Parameters when we're farther away.
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********************************************************/
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#include <PID_v1.h>
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//Define Variables we'll be connecting to
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double Setpoint, Input, Output;
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//Define the aggressive and conservative Tuning Parameters
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double aggKp=4, aggKi=0.2, aggKd=1;
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double consKp=1, consKi=0.05, consKd=0.25;
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//Specify the links and initial tuning parameters
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PID myPID(&Input, &Output, &Setpoint, consKp, consKi, consKd, DIRECT);
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void setup()
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{
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//initialize the variables we're linked to
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Input = analogRead(0);
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Setpoint = 100;
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//turn the PID on
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myPID.SetMode(AUTOMATIC);
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}
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void loop()
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{
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Input = analogRead(0);
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double gap = abs(Setpoint-Input); //distance away from setpoint
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if(gap<10)
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{ //we're close to setpoint, use conservative tuning parameters
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myPID.SetTunings(consKp, consKi, consKd);
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}
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else
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{
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//we're far from setpoint, use aggressive tuning parameters
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myPID.SetTunings(aggKp, aggKi, aggKd);
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}
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myPID.Compute();
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analogWrite(3,Output);
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}
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