Henrik's incPID, can't get it to work (Darrel?)
I've tried using Henrik's include file incPID but I can't get it to work. I plugged in a LCD to see what was going on and noticed that my ADC, Set_point and Error variables are working fine, but my PID_out variable is always 0, no matter what.. By the way, this code does work without the PID part.
I'm using a pic 18f2520 at 16Mhz int osc.
here's my code
asm
__CONFIG _CONFIG1H, _OSC_INTIO67_1H & _FCMEN_OFF_1H & _IESO_OFF_1H
__CONFIG _CONFIG2L, _BOREN_OFF_2L & _PWRT_ON_2L
__CONFIG _CONFIG2H, _WDT_ON_2H
__CONFIG _CONFIG3H, _MCLRE_OFF_3H & _CCP2MX_PORTBE_3H
__CONFIG _CONFIG4L, _LVP_OFF_4L & _DEBUG_OFF_4L & _XINST_OFF_4L
__CONFIG _CONFIG5L, _CP0_OFF_5L & _CP1_OFF_5L & _CP2_OFF_5L & _CP3_OFF_5L
__CONFIG _CONFIG5H, _CPB_OFF_5H & _CPD_OFF_5H
__CONFIG _CONFIG6L, _WRT0_OFF_6L & _WRT1_OFF_6L & _WRT2_OFF_6L & _WRT3_OFF_6L
__CONFIG _CONFIG6H, _WRTC_OFF_6H & _WRTB_OFF_6H & _WRTD_OFF_6H
__CONFIG _CONFIG7L, _EBTR0_OFF_7L & _EBTR1_OFF_7L & _EBTR2_OFF_7L & _EBTR3_OFF_7L
__CONFIG _CONFIG7H, _EBTRB_OFF_7H
endasm
'************************************************* **********************
'
' PID
Setpoint VAR WORD '<---This is your variable.
INCLUDE "incPID.pbp" 'Include the PID routine.
pid_Kp = $0700 'Set Kp to 7.0
pid_Ki = $0080 'Set Ki to 0.5
pid_Kd = $0225 'Set Kd to 2.14
pid_Ti = 8 'Update I-term every 8th call to PID
pid_I_Clamp = 100 'Clamp I-term to max ±100
pid_Out_Clamp = 1000 'Clamp the final output to ±1000
'************************************************* ***********************
'
' A/D
'
ADCON0 = %00000001 ' A/D converter on, CH0 selected
ADCON1 = %00001110 ' AN<0> Analog, other digital
ADCON2 = %10010110 ' FOSC/64, 4 TAD, right justified
@ADRead = ADRESL
ADRead VAR WORD EXT
GoDone var ADCON0.1
'************************************************* **********************
'
' Osc
'
OSCCON = %1100000 '4Mhz
OSCTUNE.6 = 1 'PLL on
Define OSC 16
'************************************************* **********************
'
' Com
'
cmcon = 7
'************************************************* **********************
'
'PWM
'
ccp1con = 0
pr2 = 249 '1Khz
t2con = %110 ' T2 On Prescaler 1:16
'************************************************* **********************
'
'I/O
'
Trisb = 0
Trisa = %11
trisc = 0
portb = 0
portc = 0
'-----------------------------------------------------------------------------------
'
'Vars
'
duty var word
duty = 0
advar var word
b0 var byte
CounterA var Byte
RawData var Byte [8]
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duty = 200
CCP1CON.5=DUTY.1
CCP1CON.4=DUTY.0
CCPR1L=DUTY>>2
ccp1con = %1100
setpoint = 120
goto main
'
'Reads Analog value, Sorts it, And gets the mean value of the middle 4 bytes, that's advar
'
makeADC:
for b0 = 0 to 7
PAUSEUS 10
GODONE=1
WHILE GODONE : WEND
rawdata[b0]=(ADREAD>>2)
next b0
CounterA = 0
SortLoop:
If RawData(CounterA+1) < RawData(CounterA) then
RawData(CounterA) = RawData(CounterA) ^ RawData(CounterA+1)
RawData(CounterA+1+0) = RawData(CounterA) ^ RawData(CounterA+1)
RawData(CounterA) = RawData(CounterA) ^ RawData(CounterA+1)
If CounterA > 0 then CounterA=CounterA-2
endif
CounterA=CounterA+1
If CounterA < 15 then goto SortLoop
advar = 0
for b0 = 2 to 5
advar = advar +rawdata[b0]
next b0
advar = advar/4
Return
'************************************************* ************************
main:
gosub makeADC
pid_Error = Setpoint - Advar 'Calculate the error
Gosub PID 'Result returned in pid_Drive
pid_Out = ABS pid_Out 'Convert from two's comp. to absolute
duty = pid_out
if duty>1000 then duty = 1000
CCP1CON.5=DUTY.1
CCP1CON.4=DUTY.0
CCPR1L=DUTY>>2
pause 1
goto main
