Diff: Axis.cpp

Revision:

12:b80cc2e27bdb

Parent:

11:93d924320ddc

--- a/Axis.cpp	Tue Nov 15 15:41:33 2016 +0000
+++ b/Axis.cpp	Wed Jul 11 13:47:33 2018 +0000
@@ -10,8 +10,8 @@
     this->_dir = 0;
     this->co = 0.0;
     this->Tdelay = .01;
-    this->Pk = 140.0; //120.0;      //rough gains, seem to work well but could use tuning   
-    this->Ik = 95.0;  //75.0;
+    this->Pk = 450.0; //120.0;      //rough gains, seem to work well but could use tuning   
+    this->Ik = 105.0;  //75.0;
     this->Dk = 0.0;
     this->set_point = 0.0;
     this->set_point_last = 0.0;
@@ -36,6 +36,11 @@
     this->update.attach(this, &Axis::paramUpdate, Tdelay);
     this->axisState = 0;
     this->mot_I_lim = .35;    
+    this->dIdT = 0.0;
+    this->motI = 0.0;
+    this->motI_last = 0.0;
+    this->mot_I_max = 0.0;
+    this->mot_I_max_last = 0.0;
     this->motInvert = 0;
     this->dataFormat = 'r'; //default is radians
 //    this->ctsPerDeg = cpd;  //update counts per degree passed from constructor
@@ -86,7 +91,14 @@
                                                         
     this->pid->setTunings(this->Pk, this->Ik, this->Dk); //turns on controller    
 }
-    
+
+void Axis::updatePIDgains(float P, float I, float D){
+    this->Pk = P; //120.0;      //rough gains, seem to work well but could use tuning   
+    this->Ik = I;  //75.0;
+    this->Dk = D;
+    this->pid->setTunings(this->Pk, this->Ik, this->Dk);
+}
+
 void Axis::paramUpdate(void){    
     //testOut = 1;    
     this->enc = this->ls7366->LS7366_read_counter();
@@ -255,8 +267,13 @@
 }
 
 float Axis::readCurrent(void){    
-    motCurrent = (this->_analog.read() * 3.3) / .525;  //525mV per amp
-    return motCurrent;
+    this->motI = (this->_analog.read() * 3.3) / .525;  //525mV per amp
+    if(abs(this->motI) > this->mot_I_max){   //update the max motor current measured
+        this->mot_I_max = this->motI;
+    }
+    this->dIdT = motI - motI_last;
+    this->motI_last = motI;
+    return this->motI;
 }
 
 void Axis::axisOff(void){
@@ -267,10 +284,12 @@
 
 void Axis::axisOn(void){    
     this->co = 0.0;
-    this->pid->reset();              
-    //start at 0
-    this->set_point = 0.0;
-    this->pid->setSetPoint(0); 
+    this->pid->reset();
+    //start at 0 if not already homed
+    if(this->stat != 0){
+        this->set_point = 0.0;
+        this->pid->setSetPoint(0); 
+    }
                                                         
     this->pid->setTunings(this->Pk, this->Ik, this->Dk); //turns on controller
     this->axisState = 1;
@@ -286,6 +305,7 @@
     this->enc = this->ls7366->LS7366_read_counter();
     
     this->pos = 0.0;
+    this->pid->reset();     //added to avoid possible itegral windup effects on instant position change 20170616
     this->set_point = 0.0;
     this->pid->setSetPoint(0);