"""

PID based DC motor controller

thisproject is designed to control the DC motor at a constant speed

Connect one PPR(Pulse Per Rotation sensor to RPi.GPIO 22

GPIO.23 providees PWM pulses to drive DC motor (DC motor drive between motor and RPi)

"""

import threading

import RPi.GPIO as GPIO

import time

from guizero import App, Box, Text, TextBox, PushButton, Slider

""" Input Output configaration """

GPIO.setmode(GPIO.BCM)

GPIO.setup(22, GPIO.IN, GPIO.PUD_DOWN)

GPIO.setup(23, GPIO.OUT) # PWM pulse for MOSFET/IGBT

GPIO.output(23, 0)

""" Global variabels """

Set_RPM =500 # SET RPM value

feedback=0.0

previous_time =0.0

previous_error=0.0

Integral=0.0

D_cycal=10

Kp=0 # Proportional controller Gain (0 to 100)

Ki=0 # Integral controller Gain (0 to 100)

Kd=0 # Derivative controller Gain (0 to 100)

RunRPM=0

Loop_value=0
a=0

avr=0

i=0

GatePulse = GPIO.PWM(23, 100)

""" PID control function """

def PID_function():

global previous_time

global previous_error

global Integral

global D_cycal

global Kp

global Ki

global Kd

error = int(Set_RPM) -feedback # Differnce between expected RPM and run RPM

if (previous_time== 0):

previous_time =time.time()

current_time = time.time()

delta_time = current_time - previous_time

delta_error = error - previous_error

Pout = (Kp/10 * error)

Integral += (error * delta_time)

Integral=10

if Integral<-10:

Integral=-10

Iout=((Ki/10) * Integral)

Derivative = (delta_error/delta_time) #de/dt

previous_time = current_time

previous_error = error

Dout=((Kd/1000 )* Derivative)

output = Pout + Iout + Dout # PID controller output

if ((output>D_cycal)&(D_cycal<90)):

D_cycal+=1

if ((output<D_cycal)&(D_cycal>10)):

D_cycal-=1

return ()

""" RPM calculation function """

def RPM_function():
global feedback

tc=time.time()

while (GPIO.input(22)==False):

v=0

ts=time.time()

time_count=ts-tc

if (time_count>7):

print("Feedback failed, Please make proper feedback connection")

feedback=0

return ()

while (GPIO.input(22)==True):

i=0

ts=time.time()

time_count=ts-tc

if (time_count>7):

print("Feedback failed, Please make proper feedback connection")

feedback=0

return ()

v = time.time() # Stores the first pulse time

while (GPIO.input(22)==False):

s=0

while (GPIO.input(22)==True):
 h=0

h=time.time() # Stores the next pulse time

w=(60/(h-v)) # MOTOR speed in RPM

feedback = w

return ()

def main_function():

global D_cycal

if Loop_value==1:

t1 = threading.Thread(target=RPM_function)

t1.start()

t1.join()

t2 = threading.Thread(target=PID_function)

t2.start()

t2.join()

GatePulse.ChangeDutyCycle(D_cycal)

else:

GatePulse.ChangeDutyCycle(0)

print("Welcome To The Element14 Community!")

""" GUI Functions """

app = App(title="Welcome To The Element14 Community", height=700, width=500)

def change_Kp_value(slider_value):

global Kp
 Proportional.value = slider_value

Kp=int(slider_value)

def change_Ki_value(slider_value):

global Ki

Intregral.value = slider_value

Ki= int(slider_value)

def change_Kd_value(slider_value):

global Kd

Deravative.value = slider_value

Kd=int(slider_value)

def change_SetRPM_value(slider_value):

global Set_RPM

SetRPM.value = slider_value

Set_RPM=int(slider_value)

def update_rpm():

global avr

global i

global a

global feedback

if(Loop_value==1):

if i<6:

a+=feedback

i+=1

else:
 Run_RPM.value = int(a/6)

a=0

i=0

else:

Run_RPM.value = 0

def start_funcdtion():

global Loop_value

print("MOTOR controller is ON ")

GatePulse.start(25)

Loop_value=1

Startbutton.toggle()

Startbutton.toggle()

Startbutton.repeat(1, main_function)

def Stop_function():

global Loop_value

Loop_value=0

Startbutton.cancel(main_function)

Run_RPM.value=00

D_cycal=0

Stopbutton.toggle()

Stopbutton.toggle()

GatePulse.ChangeDutyCycle(0)

print("Motor controller is Off")

def close_window():

Stop_function()
 app.hide()

message = Text(app, text="PID based DC motor controller", color="saddle brown", size= 20)

Startbutton = PushButton(app, command = start_funcdtion, text="Start")

Startbutton.text_color="dark green"

Startbutton.text_size=15

Spase = Text(app, text= " ")

SetRPM = Text(app, text= "Set_RPM")

SetRPM.text_color="blue"

SetRPM = Text(app, text= Set_RPM)

text_value = Slider(app, command=change_SetRPM_value, start=500, end=2000)

Spase = Text(app, text= " ")

Proportional = Text(app, text= "Kp")

Proportional.text_color="DarkOliveGreen4"

Proportional = Text(app, text= Kp)

text_value = Slider(app, command=change_Kp_value, start=0, end=100)

pase = Text(app, text= " ")

Intregral = Text(app, text= "Ki")

Intregral.text_color="DarkOliveGreen4"

Intregral = Text(app, text= Ki)

text_value = Slider(app, command=change_Ki_value, start=0, end=100)

pase = Text(app, text= " ")

Deravative = Text(app, text= "Kd")

Deravative.text_color="DarkOliveGreen4"

Deravative = Text(app, text= Kd)

text_value = Slider(app, command=change_Kd_value, start=0, end=100)

pase = Text(app, text= " ")

Run_RPM = Text(app, text= "RunRPM")

Run_RPM.text_color="tomato"
Run_RPM = Text(app, text= RunRPM)

Run_RPM.repeat(1, update_rpm)

pase = Text(app, text= " ")

Stopbutton = PushButton(app, command = Stop_function, text="Stop")

Stopbutton.text_color="red"

Stopbutton.text_size=15

pase = Text(app, text= " ")

close_button = PushButton(app, text="Close Project", command=close_window)

#close_button.text_coller="yellow"

close_button.text_size=20

app.display()