__dc_control__.h File Reference

Header file for dc_control.c. More...

#include <__swarm_wold__.h>

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Macros
#define	MA   1
#define	MB   2
#define	DEBUG_CONTROLLER   0
#define	K_P   4.0
#define	K_I   0.3
#define	K_D   0.5

Functions
int16_t	_ref (uint8_t motor)
void	_command (uint8_t motor, int16_t inputValue)
float	_sens (uint8_t motor)
int	_set_speed (uint8_t motor, int value)
void	_break_motor (uint8_t motor)
void	_init_dc_control (void)
int16_t	_update_controller (uint8_t motor)
int16_t	_dc_controller_loop (void)

Detailed Description

Header file for dc_control.c.

• File: dc_control.h
• Compiler: GCC-AVR
• Supported devices: Tested on 328p
• AppNote: PID for DC motor control

Author

Swarm robot graduation project workgroub
Mechatronics Program for the Distinguished
$Name$

Revision

1

$RCSfile$

Date

/26/2021 9:18:13 PM

Definition in file __dc_control__.h.

Function Documentation

_break_motor()

void _break_motor

(

uint8_t

motor

)

breaks the

Parameters

motor

Parameters

[in]

motor

motor MA or MB.

{
    if (motor == MA)
    {
        _set_pwm_0A(0);
        _set_pwm_1A(0);
    }
    else if (motor == MB)
    {
        _set_pwm_0B(0);
        _set_pwm_1B(0);
    }
}

Referenced by _set_speed().

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_command()

void _command	(	uint8_t	motor,
		int16_t	inputValue
	)

Output command module for

Parameters

motor	of value
inputValue

Parameters

[in]	motor	motor MA or MB.
[in]	inputValue	input value

{
    _set_speed(motor,inputValue);
}

References _set_speed().

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_dc_controller_loop()

int16_t _dc_controller_loop

(

void

)

PID DC controller loop

{
    if(_controler_flag_A)
    {
         _update_controller(MA);
         _controler_flag_A = 0;
    }
    if(_controler_flag_B)
    {
        _update_controller(MB);
        _controler_flag_B = 0;
    }
    return 0;
}

_init_dc_control()

void _init_dc_control

(

void

)

Initialize the DC PID control module

{
    pid_Init(K_P * SCALING_FACTOR, K_I * SCALING_FACTOR , K_D * SCALING_FACTOR , &pidData);
    sei();
}

References pid_Init().

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_ref()

int16_t _ref

(

uint8_t

motor

)

Reference for

Parameters

motor

Parameters

[in]

motor

motor MA or MB.

{
    if(motor == MA)
    {
        return 20;
    }
    else if (motor == MB)
    {
        return 30;
    }
    return 0;
}

Referenced by _update_controller().

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_sens()

float _sens

(

uint8_t

motor

)

sensor module for

Parameters

motor

Parameters

[in]

motor

motor MA or MB.

{
    if(motor == MA)
    {
        return (_omega_from_encA()*9.55);
    }
    else if (motor == MB)
    {
        
        return (_omega_from_encB()*9.55);
    }
    else
    {
        return -1;
    }
}

Referenced by _update_controller().

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_set_speed()

int _set_speed	(	uint8_t	motor,
		int	value
	)

L298 driver module using PWM signals and motor orientation

Parameters

value

can be negative or positive for direction

Parameters

[in]	motor	motor MA or MB.
[in]	value	speed value

{
    if(value == 0)
    {
        _break_motor(motor);
        return value;
    }
    if(value < 0)
    {
        if (motor == MA)
        {
            _set_pwm_0A(-1*value);
            _set_pwm_1A(0);
        } 
        else if (motor == MB)
        {
            _set_pwm_0B(0);
            _set_pwm_1B(-1*value);
        }
    }
    else if(value > 0)
    {
        if (motor == MA)
        {
            _set_pwm_0A(0);
            _set_pwm_1A(value);
        }
        else if (motor == MB)
        {
            _set_pwm_0B(value);
            _set_pwm_1B(0);
        }
    }
    return value;
}

References _break_motor().

Referenced by _command().

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_update_controller()

int16_t _update_controller

(

uint8_t

motor

)

Update a control iteration for a discrete PID controller for the DC motor

Parameters

[in]

motor

motor MA or MB.

{
    int16_t ref, sen,u;
    ref = _ref(motor);
    sen =   (int16_t) _sens(motor);
    u = pid_Controller(ref,sen, &pidData);
    _command(motor, u);
    if (DEBUG_CONTROLLER)
    {
        printf("%d - %d - %d\n",ref, sen, u);
    }
    return u;
}

References _ref(), _sens(), and pid_Controller().

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