FEAT refactured examples to support PID controller

askuric · askuric · commit 9982c471c25b · 2020-09-06T07:37:32.000+02:00
diff --git a/examples/hardware_specific_examples/Bluepill_examples/encoder/bluepill_position_control/bluepill_position_control.ino b/examples/hardware_specific_examples/Bluepill_examples/encoder/bluepill_position_control/bluepill_position_control.ino
@@ -42,13 +42,13 @@ void setup() {
   // default parameters in defaults.h
 
   // velocity PI controller parameters
-  motor.PI_velocity.P = 0.2;
-  motor.PI_velocity.I = 20;
+  motor.PID_velocity.P = 0.2;
+  motor.PID_velocity.I = 20;
   // default voltage_power_supply
   motor.voltage_limit = 6;
   // jerk control using voltage voltage ramp
   // default value is 300 volts per sec  ~ 0.3V per millisecond
-  motor.PI_velocity.voltage_ramp = 1000;
+  motor.PID_velocity.output_ramp = 1000;
  
   // velocity low pass filtering time constant
   motor.LPF_velocity.Tf = 0.01;
diff --git a/examples/hardware_specific_examples/Bluepill_examples/magnetic_sensor/bluepill_position_control/bluepill_position_control.ino b/examples/hardware_specific_examples/Bluepill_examples/magnetic_sensor/bluepill_position_control/bluepill_position_control.ino
@@ -43,8 +43,8 @@ void setup() {
   // default parameters in defaults.h
 
   // velocity PI controller parameters
-  motor.PI_velocity.P = 0.2;
-  motor.PI_velocity.I = 20;
+  motor.PID_velocity.P = 0.2;
+  motor.PID_velocity.I = 20;
   // maximal voltage to be set to the motor
   motor.voltage_limit = 6;
   
diff --git a/examples/hardware_specific_examples/DRV8305_driver/motor_full_control_serial_examples/encoder/full_control_serial/full_control_serial.ino b/examples/hardware_specific_examples/DRV8305_driver/motor_full_control_serial_examples/encoder/full_control_serial/full_control_serial.ino
@@ -64,8 +64,8 @@ void setup() {
   motor.controller = ControlType::voltage;
 
   // contoller configuration based on the controll type 
-  motor.PI_velocity.P = 0.2;
-  motor.PI_velocity.I = 20;
+  motor.PID_velocity.P = 0.2;
+  motor.PID_velocity.I = 20;
   // default voltage_power_supply
   motor.voltage_limit = 12;
 
diff --git a/examples/hardware_specific_examples/ESP32/encoder/esp32_position_control/esp32_position_control.ino b/examples/hardware_specific_examples/ESP32/encoder/esp32_position_control/esp32_position_control.ino
@@ -38,13 +38,13 @@ void setup() {
   // default parameters in defaults.h
 
   // velocity PI controller parameters
-  motor.PI_velocity.P = 0.2;
-  motor.PI_velocity.I = 20;
+  motor.PID_velocity.P = 0.2;
+  motor.PID_velocity.I = 20;
   // default voltage_power_supply
   motor.voltage_limit = 6;
   // jerk control using voltage voltage ramp
   // default value is 300 volts per sec  ~ 0.3V per millisecond
-  motor.PI_velocity.voltage_ramp = 1000;
+  motor.PID_velocity.output_ramp = 1000;
  
   // velocity low pass filtering time constant
   motor.LPF_velocity.Tf = 0.01;
diff --git a/examples/hardware_specific_examples/ESP32/magnetic_sensor/esp32_position_control/esp32_position_control.ino b/examples/hardware_specific_examples/ESP32/magnetic_sensor/esp32_position_control/esp32_position_control.ino
@@ -42,8 +42,8 @@ void setup() {
   // default parameters in defaults.h
 
   // velocity PI controller parameters
-  motor.PI_velocity.P = 0.2;
-  motor.PI_velocity.I = 20;
+  motor.PID_velocity.P = 0.2;
+  motor.PID_velocity.I = 20;
   // maximal voltage to be set to the motor
   motor.voltage_limit = 6;
   
diff --git a/examples/hardware_specific_examples/HMBGC_example/position_control/position_control.ino b/examples/hardware_specific_examples/HMBGC_example/position_control/position_control.ino
@@ -56,13 +56,13 @@ void setup() {
   // default parameters in defaults.h
 
   // velocity PI controller parameters
-  motor.PI_velocity.P = 0.2;
-  motor.PI_velocity.I = 20;
+  motor.PID_velocity.P = 0.2;
+  motor.PID_velocity.I = 20;
   // default voltage_power_supply
   motor.voltage_limit = 6;
   // jerk control using voltage voltage ramp
   // default value is 300 volts per sec  ~ 0.3V per millisecond
-  motor.PI_velocity.voltage_ramp = 1000;
+  motor.PID_velocity.output_ramp = 1000;
  
   // velocity low pass filtering time constant
   motor.LPF_velocity.Tf = 0.01;
diff --git a/examples/motion_control/position_motion_control/encoder/angle_control/angle_control.ino b/examples/motion_control/position_motion_control/encoder/angle_control/angle_control.ino
@@ -67,13 +67,14 @@ void setup() {
   // default parameters in defaults.h
 
   // velocity PI controller parameters
-  motor.PI_velocity.P = 0.2;
-  motor.PI_velocity.I = 20;
+  motor.PID_velocity.P = 0.2;
+  motor.PID_velocity.I = 20;
+  motor.PID_velocity.D = 0;
   // default voltage_power_supply
   motor.voltage_limit = 6;
   // jerk control using voltage voltage ramp
   // default value is 300 volts per sec  ~ 0.3V per millisecond
-  motor.PI_velocity.voltage_ramp = 1000;
+  motor.PID_velocity.output_ramp = 1000;
  
   // velocity low pass filtering time constant
   motor.LPF_velocity.Tf = 0.01;
diff --git a/examples/motion_control/position_motion_control/hall_sensor/angle_control/angle_control.ino b/examples/motion_control/position_motion_control/hall_sensor/angle_control/angle_control.ino
@@ -60,13 +60,14 @@ void setup() {
   // default parameters in defaults.h
 
   // velocity PI controller parameters
-  motor.PI_velocity.P = 0.2;
-  motor.PI_velocity.I = 2;
+  motor.PID_velocity.P = 0.2;
+  motor.PID_velocity.I = 2;
+  motor.PID_velocity.D = 0;
   // default voltage_power_supply
   motor.voltage_limit = 6;
   // jerk control using voltage voltage ramp
   // default value is 300 volts per sec  ~ 0.3V per millisecond
-  motor.PI_velocity.voltage_ramp = 1000;
+  motor.PID_velocity.output_ramp = 1000;
  
   // velocity low pass filtering time constant
   motor.LPF_velocity.Tf = 0.01;
diff --git a/examples/motion_control/position_motion_control/magnetic_sensor/angle_control/angle_control.ino b/examples/motion_control/position_motion_control/magnetic_sensor/angle_control/angle_control.ino
@@ -40,8 +40,9 @@ void setup() {
   // default parameters in defaults.h
 
   // velocity PI controller parameters
-  motor.PI_velocity.P = 0.2;
-  motor.PI_velocity.I = 20;
+  motor.PID_velocity.P = 0.2;
+  motor.PID_velocity.I = 20;
+  motor.PID_velocity.D = 0;
   // maximal voltage to be set to the motor
   motor.voltage_limit = 6;
   
diff --git a/examples/motion_control/velocity_motion_control/encoder/velocity_control/velocity_control.ino b/examples/motion_control/velocity_motion_control/encoder/velocity_control/velocity_control.ino
@@ -68,13 +68,14 @@ void setup() {
   // default parameters in defaults.h
 
   // velocity PI controller parameters
-  motor.PI_velocity.P = 0.2;
-  motor.PI_velocity.I = 20;
+  motor.PID_velocity.P = 0.2;
+  motor.PID_velocity.I = 20;
+  motor.PID_velocity.D = 0;
   // default voltage_power_supply
   motor.voltage_limit = 6;
   // jerk control using voltage voltage ramp
   // default value is 300 volts per sec  ~ 0.3V per millisecond
-  motor.PI_velocity.voltage_ramp = 1000;
+  motor.PID_velocity.output_ramp = 1000;
   
   // velocity low pass filtering time constant
   motor.LPF_velocity.Tf = 0.01;
diff --git a/examples/motion_control/velocity_motion_control/hall_sensor/velocity_control.ino b/examples/motion_control/velocity_motion_control/hall_sensor/velocity_control.ino
@@ -58,13 +58,14 @@ void setup() {
   // default parameters in defaults.h
 
   // velocity PI controller parameters
-  motor.PI_velocity.P = 0.2;
-  motor.PI_velocity.I = 2;
+  motor.PID_velocity.P = 0.2;
+  motor.PID_velocity.I = 2;
+  motor.PID_velocity.D = 0;
   // default voltage_power_supply
   motor.voltage_limit = 6;
   // jerk control using voltage voltage ramp
   // default value is 300 volts per sec  ~ 0.3V per millisecond
-  motor.PI_velocity.voltage_ramp = 1000;
+  motor.PID_velocity.output_ramp = 1000;
   
   // velocity low pass filtering time constant
   motor.LPF_velocity.Tf = 0.01;
diff --git a/examples/motion_control/velocity_motion_control/magnetic_sensor/velocity_control/velocity_control.ino b/examples/motion_control/velocity_motion_control/magnetic_sensor/velocity_control/velocity_control.ino
@@ -40,13 +40,14 @@ void setup() {
   // default parameters in defaults.h
 
   // velocity PI controller parameters
-  motor.PI_velocity.P = 0.2;
-  motor.PI_velocity.I = 20;
+  motor.PID_velocity.P = 0.2;
+  motor.PID_velocity.I = 20;
+  motor.PID_velocity.D = 0;
   // default voltage_power_supply
   motor.voltage_limit = 6;
   // jerk control using voltage voltage ramp
   // default value is 300 volts per sec  ~ 0.3V per millisecond
-  motor.PI_velocity.voltage_ramp = 1000;
+  motor.PID_velocity.output_ramp = 1000;
   
   // velocity low pass filtering
   // default 5ms - try different values to see what is the best. 
diff --git a/examples/motor_commands_serial_examples/encoder/full_control_serial/full_control_serial.ino b/examples/motor_commands_serial_examples/encoder/full_control_serial/full_control_serial.ino
@@ -17,13 +17,14 @@
  *              - to get the current target value enter: V3 
  * 
  * List of commands:
- *  - P: velocity PI controller P gain
- *  - I: velocity PI controller I gain
- *  - L: velocity PI controller voltage limit
- *  - R: velocity PI controller voltage ramp
+ *  - P: velocity PID controller P gain
+ *  - I: velocity PID controller I gain
+ *  - D: velocity PID controller D gain
+ *  - R: velocity PID controller voltage ramp
  *  - F: velocity Low pass filter time constant
  *  - K: angle P controller P gain
  *  - N: angle P controller velocity limit
+ *  - L: system voltage limit
  *  - C: control loop 
  *    - 0: voltage 
  *    - 1: velocity 
@@ -66,8 +67,9 @@ void setup() {
   motor.controller = ControlType::voltage;
 
   // contoller configuration based on the controll type 
-  motor.PI_velocity.P = 0.2;
-  motor.PI_velocity.I = 20;
+  motor.PID_velocity.P = 0.2;
+  motor.PID_velocity.I = 20;
+  motor.PID_velocity.D = 0;
   // default voltage_power_supply
   motor.voltage_limit = 12;
 
diff --git a/examples/motor_commands_serial_examples/hall_sensor/full_control_serial/full_control_serial.ino b/examples/motor_commands_serial_examples/hall_sensor/full_control_serial/full_control_serial.ino
@@ -17,13 +17,14 @@
  *              - to get the current target value enter: V3 
  * 
  * List of commands:
- *  - P: velocity PI controller P gain
- *  - I: velocity PI controller I gain
- *  - L: velocity PI controller voltage limit
- *  - R: velocity PI controller voltage ramp
+ *  - P: velocity PID controller P gain
+ *  - I: velocity PID controller I gain
+ *  - D: velocity PID controller D gain
+ *  - R: velocity PID controller voltage ramp
  *  - F: velocity Low pass filter time constant
  *  - K: angle P controller P gain
  *  - N: angle P controller velocity limit
+ *  - L: system voltage limit
  *  - C: control loop 
  *    - 0: voltage 
  *    - 1: velocity 
@@ -75,8 +76,9 @@ void setup() {
   motor.controller = ControlType::voltage;
 
   // contoller configuration based on the controll type 
-  motor.PI_velocity.P = 0.2;
-  motor.PI_velocity.I = 20;
+  motor.PID_velocity.P = 0.2;
+  motor.PID_velocity.I = 20;
+  motor.PID_velocity.D = 0;
   // default voltage_power_supply
   motor.voltage_limit = 12;
 
diff --git a/examples/motor_commands_serial_examples/magnetic_sensor/full_control_serial/full_control_serial.ino b/examples/motor_commands_serial_examples/magnetic_sensor/full_control_serial/full_control_serial.ino
@@ -17,13 +17,14 @@
  *              - to get the current target value enter: V3 
  * 
  * List of commands:
- *  - P: velocity PI controller P gain
- *  - I: velocity PI controller I gain
- *  - L: velocity PI controller voltage limit
- *  - R: velocity PI controller voltage ramp
+ *  - P: velocity PID controller P gain
+ *  - I: velocity PID controller I gain
+ *  - D: velocity PID controller D gain
+ *  - R: velocity PID controller voltage ramp
  *  - F: velocity Low pass filter time constant
  *  - K: angle P controller P gain
  *  - N: angle P controller velocity limit
+ *  - L: system voltage limit
  *  - C: control loop 
  *    - 0: voltage 
  *    - 1: velocity 
@@ -64,8 +65,9 @@ void setup() {
   motor.controller = ControlType::voltage;
 
   // contoller configuration based on the control type 
-  motor.PI_velocity.P = 0.2;
-  motor.PI_velocity.I = 20;
+  motor.PID_velocity.P = 0.2;
+  motor.PID_velocity.I = 20;
+  motor.PID_velocity.D = 0;
   // default voltage_power_supply
   motor.voltage_limit = 12;
 
diff --git a/keywords.txt b/keywords.txt
@@ -80,6 +80,7 @@ I	KEYWORD2
 D	KEYWORD2
 Tf	KEYWORD2
 voltage_limit	KEYWORD2
+output_ramp	KEYWORD2
 velocity_limit	KEYWORD2
 voltage_power_supply	KEYWORD2
 voltage_sensor_align	KEYWORD2
