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Arduino PID Implementation
README.md
Arduino PID
This is a basic implementation of a PID controller on an Arduino.
To replicate this, wire up the system as shown below:
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For more info, check out the YouTube video here.
arduino_pid_system.png
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circuit.png
ArduinoNano
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pid.ino
1 const int INPUT_PIN = A0;
2 const int OUTPUT_PIN = DD3;
3
4 double dt, last_time;
5 double integral, previous, output = 0;
6 double kp, ki, kd;
7 double setpoint = 75.00;
8
9 void setup()
10 {
11 kp = 0.8;
12 ki = 0.20;
13 kd = 0.001;
14 last_time = 0;
15 Serial.begin(9600);
16 analogWrite(OUTPUT_PIN, 0);
17 for(int i = 0; i < 50; i++)
18 {
19 Serial.print(setpoint);
20 Serial.print(",");
21 Serial.println(0);
22 delay(100);
23 }
24 delay(100);
25 }
26
27 void loop()
28 {
29 double now = millis();
30 dt = (now - last_time)/1000.00;
31 last_time = now;
32
33 double actual = map(analogRead(INPUT_PIN), 0, 1024, 0, 255);
34 double error = setpoint - actual;
35 output = pid(error);
36
37 analogWrite(OUTPUT_PIN, output);
38
39 // Setpoint VS Actual
40 Serial.print(setpoint);
41 Serial.print(",");
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42 Serial.println(actual);
43
44 // Error
45 //Serial.println(error);
46
47 delay(300);
48 }
49
50 double pid(double error)
51 {
52 double proportional = error;
53 integral += error * dt;
54 double derivative = (error - previous) / dt;
55 previous = error;
56 double output = (kp * proportional) + (ki * integral) + (kd * derivative);
57 return output;
58 }
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