l-abe / embedded_controller

Embedded Software Kata problem studying the anatomy of PID velocity controllers

PID Controller - DC Motor

Members

• L Abe (Code development and documentation)

Introduction

This is a attempt to implement a PID Controller using:

• Toradex Colibri VF50;
• Motor Maxon RE25 118754;
• H-Bridge L298;
• Encoder HEDL 5540 110514.

This code was not tested, use at your own risk.

How to build and execute?

Check configure-toolchain to learn to configure Toradex Software Development Kit (SDK) for cross-compilation of C/C++ code to the ARM architecture.

• Setting environment for cross compilation:

   . /usr/local/oecore-x86_64/environment-setup-armv7at2hf-neon-angstrom-linux-gnueabi

• Compiling the controller:

  make all

• Clean directory:

  make clean

• Copying binary to colibri VF50:

  scp ./bin/controller [email protected]:/home/root

• In the target terminal, run the application:

  ./controller

What to expect in this code?

• The original PID Controller was written by tfoliva.
• The driver to control the motor is based on a H-Bridge configuration, that can control direction and speed.
• The sensor code compute the motor's speed using the time difference between N pulses from the encoder's Channel I. A new thread was created to keep getting the sensor data and not interfere in the main code.
• To make a timer to update the pid control was created a loop to wait until the next execution.

Links

• colibri-vf50
• configure-toolchain
• basic-gpio-usage