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Controls Code

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4 views

Controls Code

Uploaded by

calebhagen2
Copyright
© © All Rights Reserved
Available Formats
Download as TXT, PDF, TXT or read online on Scribd
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#include <FastPID.

h>

#include "ADS1115-Driver.h"
ADS1115 ads1115 = ADS1115(ADS1115_I2C_ADDR_GND);
uint16_t adcValue = 0;

const int stepX = 2; //stepper pin


const int dirX = 5; //direction switch pin
const int enPin = 8; //motor enable pin
const int analogInPin = A0; // Analog input pin that the potentiometer is attached
to
volatile int currentPosition = 0; //rapidly changing stepper position indicator
(goes positive and negative)
int16_t setpointShift=0;
volatile int previousPosition = 0;

int staticSetpoint = 12200;


int activeSetpoint = 0;
int stepTarget = 0;

volatile int loopCounter = 0; //loop loopCounter

float Kp=1.0, Ki=0.0, Kd=1.0, Hz=10.0;


int output_bits = 16;
bool output_signed = true;
FastPID myPID(Kp, Ki, Kd, Hz, output_bits, output_signed);

// FUNCTIONS ====================================================================

void setupStepper() {
pinMode(stepX,OUTPUT);
pinMode(dirX,OUTPUT);
pinMode(enPin,OUTPUT);
digitalWrite(enPin,LOW);
digitalWrite(dirX,HIGH);
}

static int sign(long val) {


if (val < 0) return -1;
if (val==0) return 0;
return 1;
}

void makeStep(int steps) {


if(steps < 0){ digitalWrite(dirX, LOW); } else {digitalWrite(dirX, HIGH);} //set
DIRECTION of stepper driver
if(abs(steps) > 8){ //make step! and then change the current position of the
carriage
digitalWrite(stepX,HIGH);
delayMicroseconds(5);
digitalWrite(stepX,LOW);
if(steps > 0){ currentPosition = (currentPosition + 1); } else
{ currentPosition = (currentPosition - 1); }

}
delayMicroseconds(700);
}
void setupADC() {
ads1115.reset();
ads1115.setDeviceMode(ADS1115_MODE_SINGLE);
ads1115.setDataRate(ADS1115_DR_250_SPS);
ads1115.setPga(ADS1115_PGA_6_144);
ads1115.setMultiplexer(ADS1115_MUX_AIN0_GND);

adcValue = readADC();
}

uint16_t readADC() {
ads1115.startSingleConvertion();
delayMicroseconds(25); // The ADS1115 needs to wake up from sleep mode and
usually it takes 25 uS to do that
while (ads1115.getOperationalStatus() == 0) { makeStep(stepTarget); }
return ads1115.readRawValue();
}

// RUN MAIN =====================================================

void setup() {
setupStepper();
pinMode(analogInPin, INPUT);
Serial.begin(115200);

if (myPID.err()) {
Serial.println("There is a configuration error!");
for (;;) {}
}
}

void loop() {
//setpointShift = (previousPosition - currentPosition);
Serial.println(String(setpointShift));
activeSetpoint = staticSetpoint + setpointShift;
stepTarget = readADC() - activeSetpoint;
if(loopCounter % 10 == 0) {
//loopCounter = 0;
setpointShift = 0;//(previousPosition - currentPosition);
previousPosition = currentPosition;
//setpointShift = myPID.step(0, currentPosition);

}
makeStep(int(stepTarget));
loopCounter++;
}

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