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Adjusting p and d #29

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Adjusting p and d #29

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61 changes: 51 additions & 10 deletions measurements/pid_controller.m
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
clear; clc;
close all;
a = arduino('COM7','Nano3','Libraries',{'RotaryEncoder', 'I2C'});
a = arduino('COM5','Nano3','Libraries',{'RotaryEncoder', 'I2C'});
encoder = rotaryEncoder(a,'D2','D3');

desiredAngle = 15;
Expand All @@ -9,25 +9,32 @@
cpr = 2797; % encoder resolution

% PID parameters
kp = 1;
ki = 0.009;
kd = 0.05;
kp = 0.0015;
ki = 0;
kd = 0.0003;

t0 = clock;
lastTime = t0;
lastErr = 1;
errSum = 0;
angles = [];
torques = [];
pwms = [];
time = [];

while(etime(clock, t0) < 10.15)

pause(0.0001);
acrobot = acrobot.acrobot_torque_control();

rate = rateControl(10);

% while(etime(clock, t0) < 50.0)
while(1)
% pause(0.00001);

now = clock;
timeChange = etime(now, lastTime);

count = readCount(encoder);
measuredAngle = (360 / cpr) * count;
measuredAngle = (360 / cpr) * count

angles = [angles, measuredAngle];
time = [time, etime(now, t0)];
Expand All @@ -37,24 +44,58 @@
errSum = errSum + (error * timeChange);
dErr = (error - lastErr) / timeChange;
u = (kp * error) + (ki * errSum) + (kd * dErr);
torques = [torques, u];

if (u < 0)
% if (u > 0)
% writeDigitalPin(a, 'D6', 1);
% writeDigitalPin(a, 'D7', 0);
% else
% writeDigitalPin(a, 'D6', 0);
% writeDigitalPin(a, 'D7', 1);
% end
%
% pwm = min(abs(u/12), 0.5)


pwm = acrobot.getPWM(u);
pwms = [pwms, pwm];
if (pwm > 0)
writeDigitalPin(a, 'D6', 1);
writeDigitalPin(a, 'D7', 0);
else
writeDigitalPin(a, 'D6', 0);
writeDigitalPin(a, 'D7', 1);
end

pwm = min(abs(u/12), 0.6)
writePWMDutyCycle(a,'D9',abs(pwm));

lastErr = error;
lastTime = now;

waitfor(rate);
end

writePWMDutyCycle(a,'D9',0.0);
%%
subplot(2,1,1)
plot(time, angles);
title('Measured Angle vs Time');
xlabel('Time (s)');
ylabel('Angle (degrees)');
subplot(2,1,2)
plot(time, torques);
title('Torque vs Time');
xlabel('Time (s)');
ylabel('Torque');

figure
subplot(2,1,1)
plot(time, angles);
title('Measured Angle vs Time');
xlabel('Time (s)');
ylabel('Angle (degrees)');
subplot(2,1,2)
plot(time, pwms);
title('PWM vs Time');
xlabel('Time (s)');
ylabel('Duty Cycle');