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//PINs setting
int adjust1Pin = A0; //用來調節A的電位器
int adjust2Pin = A1; //用來調節B的電位器
int read1Pin = A2; //用來連接輸入A傳感器
int read2Pin = A3; //用來連接輸入B傳感器
int i1Pin = 6; //連接電機驅動板的I1接口
int i2Pin = 7; //連接電機驅動板的I2接口
int i3Pin = 9; //連接電機驅動板的I3接口
int i4Pin = 8; //連接電機驅動板的I4接口
int power1Pin = 4; //連接電機驅動板的EA接口
int power2Pin = 3; //連接電機驅動板的EB接口
double setKp = 0.55;
double setKi = 0.55;
double setKd = 22;
//PID structure
typedef struct {
double target;
double aver;
double Kp;
double Kd;
int preError;
int power;
boolean flag;
double v;
} PID;
PID Pid1, Pid2;
void setup()
{
pinMode(i1Pin, OUTPUT); //I1和I2都是數字信號
pinMode(i2Pin, OUTPUT); //通過設置I1和I2來控制電流方向
pinMode(i3Pin, OUTPUT); //I1和I2都是數字信號
pinMode(i4Pin, OUTPUT); //通過設置I1和I2來控制電流方向
pinMode(power1Pin, OUTPUT); //按占空比方式輸出的模擬信號
pinMode(power2Pin, OUTPUT); //按占空比方式輸出的模擬信號
TCCR0B = 0x01; // Timer 0: PWM 5 & 6 @ 16 kHz
TCCR1B = 0x01; // Timer 1: PWM 9 & 10 @ 32 kHz
TCCR2B = 0x01; // Timer 2: PWM 3 & 11 @ 32 kHz
Pid1.Kp = setKp;
Pid1.preError = 0;
Pid1.Kd = setKd1;
Pid1.power = 0;
Pid1.flag = true;
Pid1.target = 300;
Pid1.aver = 0;
Pid1.v = 0;
Pid2.Kp = setKp;
Pid2.preError = 0;
Pid2.Kd = setKd2;
Pid2.power = 0;
Pid2.flag = true;
Pid2.target = 300;
Pid2.aver = 0;
Pid2.v = 0;
}
void loop()
{
//=======第一組電位器和傳感器========
int readValue1 = 0;
for(int i = 0; i < 4; i++) readValue1 += analogRead(read1Pin);
readValue1 >>= 2;
//readValue1 += (Pid1.flag ? 1 : -1) * Pid1.power / 17;
int adjustValue1 = analogRead(adjust1Pin); //410 analogRead(adjust1Pin);
Pid1.aver = Pid1.aver * 0.9995 + readValue1 * 0.0005;
Pid1.target = Pid1.target + (Pid1.target - Pid1.aver) / 100.0;
//=======第二組電位器和傳感器=======
int readValue2 = 0;
for(int i = 0; i < 4; i++) readValue2 += analogRead(read2Pin);
readValue2 >>= 2;
//readValue2 += (Pid2.flag ? 1 : -1) * Pid2.power / 6;
int adjustValue2 = analogRead(adjust2Pin); //240 analogRead(adjust2Pin);
Pid2.aver = Pid2.aver * 0.9995 + readValue2 * 0.0005;
Pid2.target = Pid2.target + (Pid2.target - Pid2.aver) / 1000.0;
//Calculate power values
double v, error;
error = readValue1 - Pid1.target;
v = error - Pid1.preError;
Pid1.v = (Pid1.v * 6 + v) / 7;
Pid1.power = (int)error * Pid1.Kd + Pid1.v * Pid1.Kp;
Pid1.flag = Pid1.power > 0;
Pid1.power = abs(Pid1.power);
if(Pid1.power>255) Pid1.power = 255;
Pid1.preError = error;
error = readValue2 - Pid2.target;
v = error - Pid2.preError;
Pid2.v = (Pid2.v * 6 + v) / 7;
Pid2.power = (int)error * Pid2.Kd + Pid2.v * Pid2.Kp;
Pid2.flag = Pid2.power < 0;
Pid2.power = abs(Pid2.power);
if(Pid2.power>255) Pid2.power = 255;
Pid2.preError = error;
//Write PMW to control the floa
digitalWrite(i1Pin, Pid1.flag);
digitalWrite(i2Pin, !Pid1.flag);
analogWrite(power1Pin, Pid1.power);
digitalWrite(i3Pin, Pid2.flag);
digitalWrite(i4Pin, !Pid2.flag);
analogWrite(power2Pin, Pid2.power);
}

復制代碼