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Allow Weighting of Proportional on Error/Measurement #311

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Sep 25, 2017
Merged

Allow Weighting of Proportional on Error/Measurement #311

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4 changes: 2 additions & 2 deletions cnc_ctrl_v1/Axis.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -126,7 +126,7 @@ void Axis::computePID(){

}

void Axis::setPIDValues(float KpPos, float KiPos, float KdPos, float KpV, float KiV, float KdV){
void Axis::setPIDValues(float KpPos, float KiPos, float KdPos, float propWeight, float KpV, float KiV, float KdV){
/*

Sets the positional PID values for the axis
Expand All @@ -136,7 +136,7 @@ void Axis::setPIDValues(float KpPos, float KiPos, float KdPos, float KpV, floa
_Ki = KiPos;
_Kd = KdPos;

_pidController.SetTunings(_Kp, _Ki, _Kd, P_ON_E);
_pidController.SetTunings(_Kp, _Ki, _Kd, propWeight);

motorGearboxEncoder.setPIDValues(KpV, KiV, KdV);
}
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2 changes: 1 addition & 1 deletion cnc_ctrl_v1/Axis.h
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Expand Up @@ -47,7 +47,7 @@
bool attached();
void wipeEEPROM();
MotorGearboxEncoder motorGearboxEncoder;
void setPIDValues(float Kp, float Ki, float Kd, float KpV, float KiV, float KdV);
void setPIDValues(float Kp, float Ki, float Kd, float propWeight, float KpV, float KiV, float KdV);
void loadPositionFromMemory();

private:
Expand Down
7 changes: 4 additions & 3 deletions cnc_ctrl_v1/CNC_Functions.h
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Original file line number Diff line number Diff line change
Expand Up @@ -1069,6 +1069,7 @@ void updateMotorSettings(const String& readString){
float zDistPerRot = extractGcodeValue(readString, 'N', -1);
int zEncoderSteps = extractGcodeValue(readString, 'P', -1);

float propWeight = extractGcodeValue(readString, 'R', -1);
float KpPos = extractGcodeValue(readString, 'S', -1);
float KiPos = extractGcodeValue(readString, 'T', -1);
float KdPos = extractGcodeValue(readString, 'U', -1);
Expand All @@ -1078,9 +1079,9 @@ void updateMotorSettings(const String& readString){

//Write the PID values to the axis if new ones have been received
if (KpPos != -1){
leftAxis.setPIDValues(KpPos, KiPos, KdPos, KpV, KiV, KdV);
rightAxis.setPIDValues(KpPos, KiPos, KdPos, KpV, KiV, KdV);
zAxis.setPIDValues(KpPos, KiPos, KdPos, KpV, KiV, KdV);
leftAxis.setPIDValues(KpPos, KiPos, KdPos, propWeight, KpV, KiV, KdV);
rightAxis.setPIDValues(KpPos, KiPos, KdPos, propWeight, KpV, KiV, KdV);
zAxis.setPIDValues(KpPos, KiPos, KdPos, propWeight, KpV, KiV, KdV);
}

//Change the motor properties in cnc_funtions if new values have been sent
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16 changes: 9 additions & 7 deletions cnc_ctrl_v1/PID_v1.cpp
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Expand Up @@ -23,7 +23,7 @@ PID::PID()
}

void PID::setup(double* Input, double* Output, double* Setpoint,
const double& Kp, const double& Ki, const double& Kd, const int& POn, const int& ControllerDirection)
const double& Kp, const double& Ki, const double& Kd, const double& POn, const int& ControllerDirection)
{

myOutput = Output;
Expand Down Expand Up @@ -65,14 +65,14 @@ bool PID::Compute()
outputSum+= (ki * error);

/*Add Proportional on Measurement, if P_ON_M is specified*/
if(!pOnE) outputSum-= kp * dInput;
if(pOnM) outputSum-= pOnMKp * dInput;

if(outputSum > outMax) outputSum= outMax;
else if(outputSum < outMin) outputSum= outMin;

/*Add Proportional on Error, if P_ON_E is specified*/
double output;
if(pOnE) output = kp * error;
if(pOnE) output = pOnEKp * error;
else output = 0;

/*Compute Rest of PID Output*/
Expand All @@ -96,12 +96,12 @@ bool PID::Compute()
* it's called automatically from the constructor, but tunings can also
* be adjusted on the fly during normal operation
******************************************************************************/
void PID::SetTunings(const double& Kp, const double& Ki, const double& Kd, const int& POn)
void PID::SetTunings(const double& Kp, const double& Ki, const double& Kd, const double& pOn)
{
if (Kp<0 || Ki<0 || Kd<0) return;
if (Kp<0 || Ki<0 || Kd<0 || pOn<0 || pOn>1) return;

pOn = POn;
pOnE = POn == P_ON_E;
pOnE = pOn>0; //some p on error is desired;
pOnM = pOn<1; //some p on measurement is desired;

dispKp = Kp; dispKi = Ki; dispKd = Kd;

Expand All @@ -116,6 +116,8 @@ void PID::SetTunings(const double& Kp, const double& Ki, const double& Kd, const
ki = (0 - ki);
kd = (0 - kd);
}
pOnEKp = pOn * kp;
pOnMKp = (1 - pOn) * kp;
}

/* SetSampleTime(...) *********************************************************
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8 changes: 5 additions & 3 deletions cnc_ctrl_v1/PID_v1.h
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Expand Up @@ -15,13 +15,15 @@ class PID
#define REVERSE 1
#define P_ON_M 0
#define P_ON_E 1
bool pOnE = true, pOnM = false;
double pOnEKp, pOnMKp;

//commonly used functions **************************************************************************

PID();

void setup(double*, double*, double*, // * constructor. links the PID to the Input, Output, and
const double&, const double&, const double&, const int&, const int&);// Setpoint. Initial tuning parameters are also set here.
const double&, const double&, const double&, const double&, const int&);// Setpoint. Initial tuning parameters are also set here.
// (overload for specifying proportional mode)

PID(double*, double*, double*, // * constructor. links the PID to the Input, Output, and
Expand All @@ -45,7 +47,7 @@ class PID
const double&); // constructor, this function gives the user the option
// of changing tunings during runtime for Adaptive control
void SetTunings(const double&, const double&, // * overload for specifying proportional mode
const double&, const int&);
const double&, const double&);

void SetControllerDirection(const int&); // * Sets the Direction, or "Action" of the controller. DIRECT
// means the output will increase when error is positive. REVERSE
Expand Down Expand Up @@ -91,7 +93,7 @@ class PID

unsigned long SampleTime;
double outMin, outMax;
bool inAuto, pOnE;
bool inAuto;
};
#endif