#include <PID_v1.h>
#define IN1 4
#define IN2 3
#define IN3 8
#define IN4 7
#define ENA 6
#define ENB 5
#define BL 2
extern uint8_t SmallFont[];
extern uint8_t MediumNumbers[];
extern uint8_t BigNumbers[];
double Setpoint_X, Input_X, Output_X,X_plus;
double p_X =0.8,i_X =0.1,d_X = 0.008;
double Setpoint_Y, Input_Y, Output_Y,Y_plus;
double p_Y =0.8,i_Y =0.1,d_Y = 0.008;
int i,on_put;
unsigned long time;
PID PID_X(&Input_X, &Output_X, &Setpoint_X,p_X,i_X,d_X, DIRECT);
PID PID_Y(&Input_Y, &Output_Y, &Setpoint_Y,p_Y,i_Y,d_Y, DIRECT);
char inByte='9',nullByte,run_flag,run_dirict;
float go_step;
void turn_X(int a)
{
if(a>=0)
{
digitalWrite(IN1,1);
digitalWrite(IN2,0);
analogWrite(ENA,a);
}
else
{
a=-a;
digitalWrite(IN1,0);
digitalWrite(IN2,1);
analogWrite(ENA,a);
}
}
void turn_Y(int a)
{
if(a>=0)
{
digitalWrite(IN3,0);
digitalWrite(IN4,1);
analogWrite(ENB,a);
}
else
{
a=-a;
digitalWrite(IN3,1);
digitalWrite(IN4,0);
analogWrite(ENB,a);
}
}
void setup()
{
pinMode(IN1,OUTPUT);
pinMode(IN2,OUTPUT);
pinMode(IN3,OUTPUT);
pinMode(IN4,OUTPUT);
pinMode(ENA,OUTPUT);
pinMode(ENB,OUTPUT);
pinMode(BL,OUTPUT);
digitalWrite(IN1,0);
digitalWrite(IN2,0);
digitalWrite(IN3,0);
digitalWrite(IN4,0);
analogWrite(ENA,0);
analogWrite(ENB,0);
Serial.begin(115200);
Setpoint_X = 500;//560;
Setpoint_Y = 500;//560;
PID_X.SetTunings(p_X,i_X,d_X);
PID_Y.SetTunings(p_Y,i_Y,d_Y);
PID_X.SetOutputLimits(-255,255);
PID_Y.SetOutputLimits(-255,255);
PID_X.SetSampleTime(5);
PID_Y.SetSampleTime(5);
PID_X.SetMode(AUTOMATIC);
PID_Y.SetMode(AUTOMATIC);
}
void loop()
{
while (Serial.available() > 0)
{
nullByte= char(Serial.read());
if(nullByte == 'w')
{
Setpoint_X+=10;
//inByte =Serial.read();
}
else if(nullByte == 'q')
{
Setpoint_X-=10;
}
else if(nullByte == 's')
{
Setpoint_Y+=10;
}
else if(nullByte == 'a')
{
Setpoint_Y-=10;
}
else if(nullByte == 'o')
{
run_flag=!run_flag;
run_dirict = 1;
Setpoint_X=560;
Setpoint_Y=560;
}
else if(nullByte =='p')
{
run_flag=!run_flag;
run_dirict = 0;
Setpoint_X=560;
Setpoint_Y=560;
}
else if(nullByte =='x')
{
nullByte=char(Serial.read());
if(nullByte>20)
{inByte=nullByte;
Setpoint_X = 10*(inByte-'0')+480;
}
nullByte=char(Serial.read());
if(nullByte>20)
{inByte=nullByte;
Setpoint_Y = 10*(inByte-'0')+480;
}
}
if(Setpoint_X>575)
Setpoint_X=575;
if(Setpoint_Y>575)
Setpoint_Y=575;
if(Setpoint_X<480)
Setpoint_X=480;
if(Setpoint_Y<480)
Setpoint_Y=480;
nullByte ='?';
}
Input_X = analogRead(A1);
Input_Y = analogRead(A0);
if(analogRead(A2)>450)
{
digitalWrite(BL,1);
on_put=1;
}
else
{
digitalWrite(BL,0);
on_put=0;
}
i++;
if(on_put)
{
PID_X.Compute();
PID_Y.Compute();
turn_X(Output_X+X_plus);
turn_Y(Output_Y+Y_plus);
if(run_flag)
{
if(millis()-time>2)
{
time = millis();
if(run_dirict)
{
X_plus = 25*cos(go_step);
Y_plus = 25*sin(go_step);
}
else
{
X_plus = 25*sin(go_step);
Y_plus = 25*cos(go_step);
}
go_step+=0.07;
if(go_step>6.3)
go_step=0;
}
}
}
else
{
turn_X(0);
turn_Y(0);
}
Serial.println(Input_X);
Serial.println(Input_Y);
// Serial.print(on_put);
}
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