arduinoでPID_v1

概要

arduinoでpid制御やってみた。

写真

サンプルコード

# include <PID_v1.h>

double Setpoint,
	Input,
	Output;
double Kp = 1,
	Ki = 1.8,
	Kd = 0.3;
PID myPID(&Input, &Output, &Setpoint, Kp, Ki, Kd, DIRECT);
volatile float Duty;
volatile unsigned long UpNew,
	UpOld,
	DownNew,
	DownOld;
void isr()
{
	if (digitalRead(2) == LOW)
	{
		DownOld = DownNew;
		DownNew = micros();
		Duty = (DownNew - UpOld) * 30 / (DownNew - DownOld);
	}
	else
	{
		UpOld = UpNew;
		UpNew = micros();
	}
}
void setup()
{
	pinMode(3, OUTPUT);
	pinMode(2, INPUT_PULLUP);
	attachInterrupt(0, isr, CHANGE);
	Serial.begin(115200);
	Setpoint = 50;
	myPID.SetMode(AUTOMATIC);
}
void loop()
{
	Input = Duty;
	myPID.Compute();
	analogWrite(3, Output);
	Serial.print(Setpoint);
	Serial.print(",");
	Serial.print(Input);
	Serial.print(",");
	Serial.println(Output);
	delay(100);
}

以上。