curiores / arduinotutorials Goto Github PK

Your explanations are very clear and impressive.

I am trying to implement high pass filter using the same method you mentioned. But I am not familier with the structure can you please guide on what value should i put here?``

# Low-pass filter w0 = 2*np.pi*5; # pole frequency (rad/s) num = w0 # transfer function numerator coefficients den = [1,w0] # transfer function denominator coefficients lowPass = signal.TransferFunction(num,den) # Transfer function

I got that, I must have to made changes here but dont know what changes should i make to get it work for high pass filter.

When I write your code, the motor goes to the desired position, but the Arduino triggers the motor twice, that is, if it is supposed to go 180 degrees at the beginning, it goes to 180 degrees and stops, and then it turns another 180 degrees and then stops. How can I solve this? ?

#include <util/atomic.h> // For the ATOMIC_BLOCK macro

#define ENCA 2 // YELLOW
#define ENCB 3 // WHITE
#define PWM 5
#define IN2 6
#define IN1 7

volatile int posi = 0; // specify posi as volatile: https://www.arduino.cc/reference/en/language/variables/variable-scope-qualifiers/volatile/
long prevT = 0;
float eprev = 0;
float eintegral = 0;

void setup() {
Serial.begin(9600);
pinMode(ENCA, INPUT);
pinMode(ENCB, INPUT);
attachInterrupt(digitalPinToInterrupt(ENCA), readEncoder, RISING);

pinMode(PWM, OUTPUT);
pinMode(IN1, OUTPUT);
pinMode(IN2, OUTPUT);

Serial.println("target pos");
}

void loop() {

// set target position
int target = 112;

// PID constants
float kp = 5;
float kd = 0.5;
float ki = 1;

// time difference
long currT = micros();
float deltaT = ((float)(currT - prevT)) / (1.0e6);
prevT = currT;

// Read the position in an atomic block to avoid a potential
// misread if the interrupt coincides with this code running
// see: https://www.arduino.cc/reference/en/language/variables/variable-scope-qualifiers/volatile/
int pos = 0;
ATOMIC_BLOCK(ATOMIC_RESTORESTATE)
{
pos = posi;
}

// error
int e = target - pos;

// derivative
float dedt = (e - eprev) / (deltaT);

// integral
eintegral = eintegral + e * deltaT;

// control signal
float u = kp * e + kd * dedt + ki * eintegral;

// motor power
float pwr = fabs(u);
if (pwr > 255)
{
pwr = 255;
}

// motor direction
int dir = 1;
if (u < 0)
{
dir = -1;
}

// signal the motor
setMotor(dir, pwr, PWM, IN1, IN2);

// store previous error
eprev = e;

// Print target and position
Serial.print(target);
Serial.print(" ");
Serial.println(pos);
}

void setMotor(int dir, int pwmVal, int pwm, int in1, int in2)
{
analogWrite(pwm, pwmVal);
if (dir == 1)
{
digitalWrite(in1, HIGH);
digitalWrite(in2, LOW);
}
else if (dir == -1)
{
digitalWrite(in1, LOW);
digitalWrite(in2, HIGH);
}
else
{
digitalWrite(in1, LOW);
digitalWrite(in2, LOW);
}
}

void readEncoder()
{
int b = digitalRead(ENCB);
if (b > 0)
{
posi++;
}
else
{
posi--;
}
} my code