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motors:pid [2022/09/30 21:03] – created aistismotors:pid [2022/09/30 21:09] (current) – aistis
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 motor PID controler motor PID controler
 +
 +Speed 20 (easy)
 +{{:motors:pasted:20220930-210357.png}}
 +
 +Speed 10 (hard)
 +{{:motors:pasted:20220930-210508.png}}
 +
 +non stable PID (depends on PID params):
 +{{:motors:pasted:20220930-210850.png}}
  
 {{:motors:pasted:20220930-210230.png}} {{:motors:pasted:20220930-210230.png}}
  
 https://www.youtube.com/watch?v=ng2PVOePN68 https://www.youtube.com/watch?v=ng2PVOePN68
 +
 +<code cpp>
 +#include <Encoder.h>
 +#include <driver/dac.h>
 +
 +Encoder encoder(19, 16);
 +
 +void setup() {
 +  Serial.begin(115200);
 +  Serial.println("start");
 +
 +  //  dac_output_enable(DAC_CHANNEL_1);
 +  ledcSetup(1, 5000, 8);
 +  ledcAttachPin(25, 1);
 +}
 +
 +
 +
 +float motor_speed_dac = 0;
 +float speed_step = 1;
 +void loop() {
 +
 +
 +  //  dac_output_voltage(DAC_CHANNEL_1, int(motor_speed_dac));
 +  ledcWrite(1, motor_speed_dac);
 +  
 +  //if (motor_speed_dac == 255 or motor_speed_dac == 0) speed_step = -speed_step;
 +
 +  //Serial.printf("%f\n", motor_speed_dac);
 +
 +
 +  auto pos = encoder.read();
 +  static auto prev_pos = pos;
 +
 +  auto newtime = micros();
 +  static auto prev_newtime = newtime;
 +
 +  float motor_speed = ((pos - prev_pos) / 44.0) / (newtime - prev_newtime) * 1000000.0;
 +
 +  if (isnan(motor_speed)) motor_speed = 0;
 +//  if (motor_speed > 60) motor_speed = 60;
 +
 +  float motor_speed_error = 20-motor_speed;
 +  static float motor_speed_error_prev = motor_speed_error;
 +  float motor_speed_error_diff = motor_speed_error_prev - motor_speed_error;
 +  float p_coef = 0.5;
 +  float i_coef = 0.01;
 +  float d_coef = 0.01;
 +  static float sum_dif = 0;
 +  sum_dif += motor_speed_error;
 +
 +  motor_speed_dac += motor_speed_error * p_coef + sum_dif * i_coef + motor_speed_error_diff * d_coef;
 +
 +  if (motor_speed_dac > 255) motor_speed_dac = 255;
 +  if (motor_speed_dac < 0) motor_speed_dac = 0;
 +
 +//  if (motor_speed > 10) motor_speed_dac += -1;
 +//  if (motor_speed < 10) motor_speed_dac +=  1;
 +
 +  delay(100);
 +  Serial.printf("%f,%f,%f,%f\n", motor_speed, motor_speed_dac, motor_speed_error, sum_dif);
 +
 +  prev_newtime = newtime;
 +  prev_pos = pos;
 +
 +  motor_speed_error_prev = motor_speed_error;
 +
 +}
 +</code>
  
  
  
motors/pid.1664561002.txt.gz · Last modified: by aistis