Add heater with PID
Add heating, PID Library, autotune PID TODO: check autotune PID work
This commit is contained in:
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d02a4f0602
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@ -1,3 +1,6 @@
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#if !defined(ESP8266)
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#error This code is designed to run on ESP8266 and ESP8266-based boards! Please check your Tools->Board setting.
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#endif
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#include <Wire.h>
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//// Not work with Gyver Lib - EncButton
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//const int sda=D1, scl=D2;
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@ -24,6 +27,7 @@ hd44780_I2Cexp lcd; // declare lcd object and let it auto-configure everything.
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#define DIR_PIN D8 // thermistor pin
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#define EN_PIN D6 // thermistor pin
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#define MOS_PIN D0
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// Make custom characters:
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byte motor_char_1[] = {
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B00111,
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@ -59,42 +63,43 @@ GyverNTC therm(T_PIN, 100000, 3950, 25, 8890);
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#include <EncButton2.h>
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EncButton2<EB_BTN> btn[BTN_AMOUNT];
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//enable stepper
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//#define GS_NO_ACCEL
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// отключить модуль движения с ускорением (уменьшить вес кода)
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#include <GyverStepper2.h>
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GStepper2<STEPPER2WIRE> stepper(STEPS, STEP_PIN, DIR_PIN, EN_PIN);
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#if !defined(ESP8266)
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#error This code is designed to run on ESP8266 and ESP8266-based boards! Please check your Tools->Board setting.
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#endif
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// These define's must be placed at the beginning before #include "ESP8266TimerInterrupt.h"
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// _TIMERINTERRUPT_LOGLEVEL_ from 0 to 4
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// Don't define _TIMERINTERRUPT_LOGLEVEL_ > 0. Only for special ISR debugging only. Can hang the system.
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#define TIMER_INTERRUPT_DEBUG 0
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#define _TIMERINTERRUPT_LOGLEVEL_ 0
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// Select a Timer Clock
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#define USING_TIM_DIV1 false // for shortest and most accurate timer
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#define USING_TIM_DIV16 false // for medium time and medium accurate timer
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#define USING_TIM_DIV256 true // for longest timer but least accurate. Default
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#include "ESP8266TimerInterrupt.h"
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volatile uint32_t lastMillis = 0;
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#define TIMER_INTERVAL_MS 1000
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// Init ESP8266 timer 1
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ESP8266Timer ITimer;
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#define P 16.67
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#define I 0.75
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#define D 91.91
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#define DT 10
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//PID regulator
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#include "GyverPID.h"
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GyverPID regulator(P, I, D, DT); // коэф. П, коэф. И, коэф. Д, период дискретизации dt (мс)
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//Autotune PID
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#include "PIDtuner.h"
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PIDtuner tuner;
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//define vars
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int max_speed = STEPS; //3600 degrees in 10 seconds = 10 rotate/seconds
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int max_speed = STEPS;
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int cursor=1; //позиция курсора
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int t_current=230;
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int t_current=25;
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// int t_current_temp=230;
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int t_set=230;
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int t_set=25;
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// int t_set_temp=230;
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int motor_speed=100;
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// int motor_speed_temp=100;
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@ -108,10 +113,10 @@ String motor_dir_text = "FWD";
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// String motor_dir_temp_text = "FWD";
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int save=100; //режим работы меню. 100- режим выбора. 1,2,3 - выбранное значение
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float filT = 0; //фильтрованное значение датчика
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long previousMillis = 0; // храним время последнего переключения светодиода
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long interval = 600; // интервал между включение/выключением светодиода (1 секунда)
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int autotune=0;
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//===========Stepping in timer interrupts==================================
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void IRAM_ATTR TimerHandler()
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{
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@ -121,11 +126,12 @@ void IRAM_ATTR TimerHandler()
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}
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}
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//=====================================================================
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void setup(){
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Serial.begin(115200);
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//stepper.setSpeed(0);
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// Interval in microsecs
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// Start interrupts timer. Interval in microsecs
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if (ITimer.attachInterruptInterval(100, TimerHandler))
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{
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lastMillis = millis();
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@ -134,6 +140,21 @@ void setup(){
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else{
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Serial.println(F("Can't set ITimer correctly. Select another freq. or interval"));
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}
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//initial screen
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init_screen();
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//init buttons
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btn[0].setPins(INPUT_PULLUP, L_BTN);
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btn[1].setPins(INPUT_PULLUP, R_BTN);
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btn[2].setPins(INPUT_PULLUP, E_BTN);
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regulator.setDirection(NORMAL); // направление регулирования (NORMAL/REVERSE). ПО УМОЛЧАНИЮ СТОИТ NORMAL
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regulator.setLimits(0, 255); // пределы (ставим для 8 битного ШИМ). ПО УМОЛЧАНИЮ СТОЯТ 0 И 255
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regulator.setpoint = t_set; // сообщаем регулятору температуру, которую он должен поддерживать
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}
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void init_screen(){
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int istatus;
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istatus = lcd.begin(20,4);
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if(istatus)
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@ -168,6 +189,11 @@ void setup(){
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lcd.setCursor(4,1);
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lcd.print(t_set);
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lcd.setCursor(0,2);
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lcd.print(" PID TUNE");//0,2 - set Temperature setting
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// lcd.setCursor(4,1);
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// lcd.print(t_set);
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lcd.setCursor(9,0);
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lcd.write(0);
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lcd.write(1);
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@ -201,215 +227,7 @@ void setup(){
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lcd.print("dir: FWD");//16,2 - Motor speed
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lcd.setCursor(16,2);
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lcd.print(motor_dir_text);
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btn[0].setPins(INPUT_PULLUP, L_BTN);
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btn[1].setPins(INPUT_PULLUP, R_BTN);
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btn[2].setPins(INPUT_PULLUP, E_BTN);
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Serial.println("+++++Menu screen ok");
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}
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void loop()
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{
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//управляем мотором
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//get temperature with filtration
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//filT += (therm.getTemp() - filT) * 0.1;
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t_current=therm.getTemp();
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//therm.getTempAverage();
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unsigned long currentMillis = millis();
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//проверяем не прошел ли нужный интервал, если прошел то
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if(currentMillis - previousMillis > interval) {
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// сохраняем время последнего переключения
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previousMillis = currentMillis;
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change_params(0,100,0);
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}
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if (motor_state == 1){
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if (motor_dir == 0){
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stepper.setSpeed(motor_speed);
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}else{
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stepper.setSpeed(-motor_speed);
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}
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}else{
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stepper.disable();
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}
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if (save==100){
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lcd.noBlink();
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lcd.cursor();
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}
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for (int i = 0; i < BTN_AMOUNT; i++) btn[i].tick();
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if (cursor==1){
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lcd.setCursor(3, 1);
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}
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if (cursor==2){
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lcd.setCursor(15, 0);
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}
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if (cursor==3){
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lcd.setCursor(15, 1);
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}
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if (cursor==4){
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lcd.setCursor(15, 2);
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}
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//listen button held
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if (btn[0].held()) {
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Serial.println("hold enter");
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//enter change mode
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if (save==100){
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Serial.println("hold enter and save==100");
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save=cursor;
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lcd.blink();
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lcd.cursor();
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}else{
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//enter save mode
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if(save==1){
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//Serial.println("hold enter and save==1");
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//t_set=t_set_temp;
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lcd.setCursor(4,1);
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lcd.print(" ");
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lcd.setCursor(4,1);
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lcd.print(t_set);
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lcd.cursor();
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lcd.blink();
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delay(3000);
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}
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if(save==2){
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//Serial.println("hold enter and save==2");
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//motor_speed=motor_speed_temp;
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if (motor_state==1){
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if (motor_dir==0){
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stepper.setSpeed(motor_speed);
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}else{
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stepper.setSpeed(-motor_speed);
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}
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}
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lcd.setCursor(16,0);
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lcd.print(" ");
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lcd.setCursor(16,0);
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lcd.print(motor_speed);
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lcd.cursor();
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lcd.blink();
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delay(3000);
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}
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if(save==3){
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//Serial.println("hold enter and save==3");
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//motor_state=motor_state_temp;
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//motor_state_text=motor_state_temp_text;
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if (motor_state==0){
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stepper.stop();
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stepper.disable();
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}else{
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stepper.enable();
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}
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lcd.setCursor(16,1);
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lcd.print(" ");
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lcd.setCursor(16,1);
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lcd.print(motor_state_text);
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lcd.cursor();
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lcd.blink();
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delay(3000);
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}
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if(save==4){
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//Serial.println("hold enter and save==4");
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//motor_dir=motor_dir_temp;
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//motor_dir_text=motor_dir_temp_text;
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//тормозим перед сменой направления
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stepper.brake();
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lcd.setCursor(16,2);
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lcd.print(" ");
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lcd.setCursor(16,2);
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lcd.print(motor_dir_text);
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lcd.cursor();
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lcd.blink();
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delay(3000);
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}
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lcd.noBlink();
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lcd.cursor();
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//lcd.blink();
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save=100;
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}
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}
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//listen button click
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if (btn[0].click()) {
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//Serial.println("press enter");
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if(save!=100){
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save=100;
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// t_current_temp=t_current;
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// t_set_temp=t_set;
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// motor_speed_temp=motor_speed;
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// motor_state_temp=motor_state;
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// motor_state_temp_text=motor_state_text;
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// motor_dir_temp=motor_dir;
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// motor_dir_temp_text=motor_dir_text;
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lcd.setCursor(4,0);
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lcd.print(" ");
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lcd.setCursor(4,0);
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lcd.print(t_current);
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lcd.setCursor(4,1);
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lcd.print(" ");
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lcd.setCursor(4,1);
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lcd.print(t_set);
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lcd.setCursor(16,0);
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lcd.print(" ");
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lcd.setCursor(16,0);
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lcd.print(motor_speed);
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lcd.setCursor(16,1);
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lcd.print(" ");
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lcd.setCursor(16,1);
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lcd.print(motor_state_text);
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lcd.setCursor(16,2);
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lcd.print(" ");
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lcd.setCursor(16,2);
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lcd.print(motor_dir_text);
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}
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cursor++;
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if (cursor>4){
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cursor=1;
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}
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}
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//TODO: how to know how much click done before held?
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//int clicks1 = btn[1].hasClicks();
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//int clicks2 = btn[2].hasClicks();
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if (btn[1].step(2) && save!=100) {
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//Serial.println("press right and save!=100 and HOLD");
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//Serial.println(clicks1);
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change_params(save,1,3);
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}
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if (btn[2].step(2) && save!=100) {
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//Serial.println("press right and save!=100 and HOLD");
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change_params(save,0,3);
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}
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if (btn[1].step(4) && save!=100) {
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//Serial.println("press right and save!=100 and HOLD");
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//Serial.println(clicks1);
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change_params(save,1,4);
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}
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if (btn[2].step(4) && save!=100) {
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//Serial.println("press right and save!=100 and HOLD");
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change_params(save,0,4);
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}
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if (btn[1].click() && save!=100) {
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//Serial.println("press right and save!=100");
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change_params(save,1,1);
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}
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if (btn[2].click() && save!=100) {
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//Serial.println("press left and save!=100");
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change_params(save,0,1);
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}
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}
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void change_params(int save, int plus, int step_val){
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//change current temperature
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//save - value change params.
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@ -524,3 +342,238 @@ void change_params(int save, int plus, int step_val){
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Serial.println("+++++Set motor direction ok");
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}
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}
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void loop()
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{
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if (autotune==1){
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tuner.setParameters(NORMAL, t_set, 15, 5000, 0.08, 15000, 500);
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tuner.setInput(therm.getTempAverage());
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tuner.compute();
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analogWrite(MOS_PIN, tuner.getOutput());
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if (tuner.getAccuracy() > 95){
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autotune=0;
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// выводит в порт текстовые отладочные данные, включая коэффициенты
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tuner.debugText();
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lcd.setCursor(0,3);
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lcd.print(" ");//0,2 - set Temperature setting
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lcd.setCursor(0,3);
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lcd.print(tuner.getPID_p());//0,2 - set Temperature setting
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lcd.setCursor(6,3);
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lcd.print(tuner.getPID_i());//0,2 - set Temperature setting
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lcd.setCursor(12,3);
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lcd.print(tuner.getPID_d());//0,2 - set Temperature setting
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regulator.Kp = tuner.getPID_p();
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regulator.Ki = tuner.getPID_i();
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regulator.Kd = tuner.getPID_d();
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}
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}
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//t_current=therm.getTemp();
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t_current=therm.getTempAverage();
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unsigned long currentMillis = millis();
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//проверяем не прошел ли нужный интервал, если прошел то
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if(currentMillis - previousMillis > interval) {
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// сохраняем время последнего переключения
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previousMillis = currentMillis;
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change_params(0,100,0);
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}
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if (autotune!=1){
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regulator.setpoint = t_set;
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regulator.input = t_current; // сообщаем регулятору текущую температуру
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// getResultTimer возвращает значение для управляющего устройства
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// (после вызова можно получать это значение как regulator.output)
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// обновление происходит по встроенному таймеру на millis()
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regulator.getResult();
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analogWrite(D0, regulator.output); // отправляем на мосфет
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}
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if (motor_state == 1){
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if (motor_dir == 0){
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stepper.setSpeed(motor_speed);
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}else{
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stepper.setSpeed(-motor_speed);
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}
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}else{
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stepper.disable();
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}
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if (save==100){
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lcd.noBlink();
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lcd.cursor();
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}
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for (int i = 0; i < BTN_AMOUNT; i++) btn[i].tick();
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if (cursor==1){
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lcd.setCursor(3, 1);
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}
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if (cursor==2){
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lcd.setCursor(15, 0);
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}
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if (cursor==3){
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lcd.setCursor(15, 1);
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}
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if (cursor==4){
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lcd.setCursor(15, 2);
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}
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if (cursor==5){
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lcd.setCursor(0, 2);
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}
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//listen button held
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if (btn[0].held()) {
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Serial.println("hold enter");
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//enter change mode
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if (save==100){
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Serial.println("hold enter and save==100");
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save=cursor;
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lcd.blink();
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lcd.cursor();
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}else{
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//enter save mode
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if(save==1){
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//Serial.println("hold enter and save==1");
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//t_set=t_set_temp;
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lcd.setCursor(4,1);
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lcd.print(" ");
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lcd.setCursor(4,1);
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lcd.print(t_set);
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lcd.cursor();
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lcd.blink();
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delay(3000);
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}
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if(save==2){
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//Serial.println("hold enter and save==2");
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//motor_speed=motor_speed_temp;
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if (motor_state==1){
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if (motor_dir==0){
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stepper.setSpeed(motor_speed);
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}else{
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stepper.setSpeed(-motor_speed);
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}
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}
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|
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lcd.setCursor(16,0);
|
||||
lcd.print(" ");
|
||||
lcd.setCursor(16,0);
|
||||
lcd.print(motor_speed);
|
||||
lcd.cursor();
|
||||
lcd.blink();
|
||||
delay(3000);
|
||||
}
|
||||
if(save==3){
|
||||
//Serial.println("hold enter and save==3");
|
||||
//motor_state=motor_state_temp;
|
||||
//motor_state_text=motor_state_temp_text;
|
||||
if (motor_state==0){
|
||||
stepper.stop();
|
||||
stepper.disable();
|
||||
}else{
|
||||
stepper.enable();
|
||||
}
|
||||
lcd.setCursor(16,1);
|
||||
lcd.print(" ");
|
||||
lcd.setCursor(16,1);
|
||||
lcd.print(motor_state_text);
|
||||
lcd.cursor();
|
||||
lcd.blink();
|
||||
delay(3000);
|
||||
}
|
||||
if(save==4){
|
||||
//Serial.println("hold enter and save==4");
|
||||
//motor_dir=motor_dir_temp;
|
||||
//motor_dir_text=motor_dir_temp_text;
|
||||
//тормозим перед сменой направления
|
||||
stepper.brake();
|
||||
lcd.setCursor(16,2);
|
||||
lcd.print(" ");
|
||||
lcd.setCursor(16,2);
|
||||
lcd.print(motor_dir_text);
|
||||
lcd.cursor();
|
||||
lcd.blink();
|
||||
delay(3000);
|
||||
}
|
||||
|
||||
if (save==5){
|
||||
autotune=1;
|
||||
lcd.setCursor(0,2);
|
||||
lcd.cursor();
|
||||
lcd.blink();
|
||||
delay(3000);
|
||||
}
|
||||
lcd.noBlink();
|
||||
lcd.cursor();
|
||||
//lcd.blink();
|
||||
save=100;
|
||||
}
|
||||
}
|
||||
//listen button click
|
||||
if (btn[0].click()) {
|
||||
//Serial.println("press enter");
|
||||
if(save!=100){
|
||||
save=100;
|
||||
// t_current_temp=t_current;
|
||||
// t_set_temp=t_set;
|
||||
// motor_speed_temp=motor_speed;
|
||||
// motor_state_temp=motor_state;
|
||||
// motor_state_temp_text=motor_state_text;
|
||||
// motor_dir_temp=motor_dir;
|
||||
// motor_dir_temp_text=motor_dir_text;
|
||||
lcd.setCursor(4,0);
|
||||
lcd.print(" ");
|
||||
lcd.setCursor(4,0);
|
||||
lcd.print(t_current);
|
||||
lcd.setCursor(4,1);
|
||||
lcd.print(" ");
|
||||
lcd.setCursor(4,1);
|
||||
lcd.print(t_set);
|
||||
lcd.setCursor(16,0);
|
||||
lcd.print(" ");
|
||||
lcd.setCursor(16,0);
|
||||
lcd.print(motor_speed);
|
||||
lcd.setCursor(16,1);
|
||||
lcd.print(" ");
|
||||
lcd.setCursor(16,1);
|
||||
lcd.print(motor_state_text);
|
||||
lcd.setCursor(16,2);
|
||||
lcd.print(" ");
|
||||
lcd.setCursor(16,2);
|
||||
lcd.print(motor_dir_text);
|
||||
}
|
||||
cursor++;
|
||||
if (cursor>5){
|
||||
cursor=1;
|
||||
}
|
||||
}
|
||||
//TODO: how to know how much click done before held?
|
||||
//int clicks1 = btn[1].hasClicks();
|
||||
//int clicks2 = btn[2].hasClicks();
|
||||
if (btn[1].step(2) && save!=100) {
|
||||
//Serial.println("press right and save!=100 and HOLD");
|
||||
//Serial.println(clicks1);
|
||||
change_params(save,1,3);
|
||||
}
|
||||
if (btn[2].step(2) && save!=100) {
|
||||
//Serial.println("press right and save!=100 and HOLD");
|
||||
change_params(save,0,3);
|
||||
}
|
||||
if (btn[1].step(4) && save!=100) {
|
||||
//Serial.println("press right and save!=100 and HOLD");
|
||||
//Serial.println(clicks1);
|
||||
change_params(save,1,4);
|
||||
}
|
||||
if (btn[2].step(4) && save!=100) {
|
||||
//Serial.println("press right and save!=100 and HOLD");
|
||||
change_params(save,0,4);
|
||||
}
|
||||
if (btn[1].click() && save!=100) {
|
||||
//Serial.println("press right and save!=100");
|
||||
change_params(save,1,1);
|
||||
}
|
||||
if (btn[2].click() && save!=100) {
|
||||
//Serial.println("press left and save!=100");
|
||||
change_params(save,0,1);
|
||||
}
|
||||
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue