redovan.py

"""const int INPUT_PIN = A0;
const int OUTPUT_PIN = DD3;

double dt, last_time;
double integral, previous, output = 0;
double kp, ki, kd;
double setpoint = 75.00;

void setup()
{
  kp = 0.8;
  ki = 0.20;
  kd = 0.001;
  last_time = 0;
  Serial.begin(9600);
  analogWrite(OUTPUT_PIN, 0);
  for(int i = 0; i < 50; i++)
  {
    Serial.print(setpoint);
    Serial.print(",");
    Serial.println(0);
    delay(100);
  }
  delay(100);
}

void loop()
{
  double now = millis();
  dt = (now - last_time)/1000.00;
  last_time = now;

  double actual = map(analogRead(INPUT_PIN), 0, 1024, 0, 255);
  double error = setpoint - actual;
  output = pid(error);

  analogWrite(OUTPUT_PIN, output);

  // Setpoint VS Actual
  Serial.print(setpoint);
  Serial.print(",");
  Serial.println(actual);

  // Error
  //Serial.println(error);

  delay(300);
}

double pid(double error)
{
  double proportional = error;
  integral += error * dt;
  double derivative = (error - previous) / dt;
  previous = error;
  double output = (kp * proportional) + (ki * integral) + (kd * derivative);
  return output;
}
@marstheking
Comment
"""
import datetime
from time import time
import time


def pid(error):
    integral=0
    previous=0
    proportional = error
    integral += error * dt
    derivative = (error - previous) / dt
    previous = error
    output = (kp * proportional) + (ki * integral) + (kd * derivative)
    return output

output = 0
setpoint = 500
kp = 0.8
ki = 0.20
kd = 0.001
last_time = 0
i=0



trenutno=0
#trenutno=ENCODEROUTPUT
error=setpoint-trenutno
current_time_seconds = time.time()
now= int(round(current_time_seconds * 1000))
dt = (now - last_time)/1000.00
last_time = now
#output=pid(error)

while i<5:
    time.sleep(0.5)
    print(setpoint)
    print(",")
    print(trenutno)
    print(",")
    print(dt)
    current_time_seconds = time.time()
    now= int(round(current_time_seconds * 1000))
    dt = (now - last_time)/1000.00
    last_time = now
    #pid(error)
    print(",")
    #print(output)
    print("AAAAAA")
    i+=1