Switch over to PID control.

boil_kettle/boil_kettle.ino

@@ -22,9 +22,9 @@ double KettleSetpoint = 70;
 double CurrentTemp;
 bool tuning = false;
 
-//EEPROMStorage<double> eepromKp(0, 2.0); // 9 bytes for doubles 8 + 1 for checksum
+EEPROMStorage<double> eepromKp(0, 2.0); // 9 bytes for doubles 8 + 1 for checksum
-//EEPROMStorage<double> eepromKi(9, 5.0); // Initialize at zero.
+EEPROMStorage<double> eepromKi(9, 5.0);
-//EEPROMStorage<double> eepromKd(18, 1.0);
+EEPROMStorage<double> eepromKd(18, 1.0);
 
 // User I/O objects.
 Button Enter;
@@ -32,11 +32,7 @@ slowPWM boilPWM;
 MD_REncoder rotary = MD_REncoder(encoderDT, encoderCLK);
 LiquidCrystal_I2C lcd(0x27, 20, 4);
 Adafruit_MAX31865 thermoRTD = Adafruit_MAX31865(KettleRTD);
-thermoControl Controller(&CurrentTemp, &KettleSetpoint, &KettleDuty, AUTOMATIC);
+Controller(&CurrentTemp, &KettleDuty, &KettleSetpoint, eepromKp, eepromKi, eepromKd, P_ON_M, DIRECT);
-
-//PID ControllerPID(&CurrentTemp, &KettleDuty, &KettleSetpoint, eepromKp, eepromKi, eepromKd, P_ON_M, DIRECT);
-
-unsigned long lastRun = 0;
 
 // Return a character array to represent the
 // On/Off state of the kettle.
@@ -74,6 +70,8 @@ LiquidMenu menu(lcd);
 // Increases/decreases the kettle output to a max
 // of 100% and minimum of 0%.
 void doEncoder() {
+  if (tuning) return;
+
   uint8_t result = rotary.read();
   uint8_t inc = 1;
 
@@ -108,7 +106,6 @@ void doEncoder() {
 
 void setup() {
 
-  lastRun = millis() - UpdateInterval;
   Serial.begin(115200);
   rotary.begin();
   thermoRTD.begin(MAX31865_3WIRE);
@@ -116,7 +113,6 @@ void setup() {
   attachInterrupt(digitalPinToInterrupt(encoderCLK), doEncoder, CHANGE);
   attachInterrupt(digitalPinToInterrupt(encoderDT), doEncoder, CHANGE);
 
-
   pinMode(encoderCLK, INPUT_PULLUP);
   pinMode(encoderDT, INPUT_PULLUP);
   Enter.begin(encoderBTN);
@@ -143,33 +139,48 @@ void run_kettle() {
   Controller.Compute();
 
 }
-/*
+
 void run_tuning() {
+
   if (Enter.pressed()) {
-    stopAutoTune();
+    if(tuning) { //cancel autotune
+      Controller.Cancel();
+      Controller.Mode(OFF);
+      tuning=false;
+    }
+    return;
+  }
+
+  // Initial setup
+  if(!tuning) {
+    KettleDuty=50;
+    Controller.SetNoiseBand(0.5);
+    Controller.SetOutputStep(30);
+    Controller.SetLookbackSec(20);
+    Controller.Mode(AUTOMATIC);
+    tuning=true;
+  }
+
+  if (Controller.ComputeTune() != 0) {
+    tuning = false;
+  }
+  if(!tuning) {
+    //we're done, set the tuning parameters
+    Controller.SetTunings(Controller.TunedKp(),Controller.TunedKi(),Controller.TunedKd());
+    Controller.Mode(OFF);
   }
-  int result = ControllerPID.ComputeTune();
-    if (result!=0)
-    {
-      tuning = false;
-    }
-    if(!tuning)
-    { //we're done, set the tuning parameters
-      ControllerPID.SetTunings(ControllerPID.TunedKp(),ControllerPID.TunedKi(),ControllerPID.TunedKd());
-      ControllerPID.Mode(OFF);
-    }
 }
-*/
+
 void loop() {
   unsigned long now = millis();
-  static unsigned long lastTime=now-2000;
+  static unsigned long lastTime=now-250;
   unsigned long timeChange = (now - lastTime);
   static byte lastoutput = LOW;
   static double lastKettleDuty = 0;
   static double lastKettleSetpoint = 0;
   static byte lastTemperature;
 
-  if(timeChange >= 2000) {
+  if(timeChange >= 250) {
     CurrentTemp = 32 + 1.8 * thermoRTD.temperature(RNOMINAL_KETTLE, RREF_KETTLE);
     lastTime = now;
   }
@@ -177,7 +188,8 @@ void loop() {
   if (!tuning) {
     run_kettle();
   } else {
-    //run_tuning();
+    startAutoTune();
+    run_tuning();
   }
 
   byte output = boilPWM.Compute(KettleDuty);
@@ -195,31 +207,11 @@ void loop() {
   }
   
 }
-/*
-void startAutoTune() {
-  if(!tuning) {
-    //Set the output to the desired starting frequency.
-    KettleDuty=50;
-    ControllerPID.SetNoiseBand(1);
-    ControllerPID.SetOutputStep(30);
-    ControllerPID.SetLookbackSec(20);
-    ControllerPID.Mode(AUTOMATIC);
-    tuning=true;
-  }
-}
-
-void stopAutoTune() {
-  if(tuning) { //cancel autotune
-    ControllerPID.Cancel();
-    ControllerPID.Mode(OFF);
-    tuning=false;
-  }
-}
 
 void SaveTunings() {
-  eepromKp = ControllerPID.GetKp();
+  eepromKp = Controller.GetKp();
-  eepromKi = ControllerPID.GetKi();
+  eepromKi = Controller.GetKi();
-  eepromKd = ControllerPID.GetKd();
+  eepromKd = Controller.GetKd();
 }
 
 void SerialSend()
@@ -230,9 +222,9 @@ void SerialSend()
   if(tuning){
     Serial.println("tuning mode");
   } else {
-    Serial.print("kp: ");Serial.print(ControllerPID.GetKp());Serial.print(" ");
+    Serial.print("kp: ");Serial.print(Controller.GetKp());Serial.print(" ");
-    Serial.print("ki: ");Serial.print(ControllerPID.GetKi());Serial.print(" ");
+    Serial.print("ki: ");Serial.print(Controller.GetKi());Serial.print(" ");
-    Serial.print("kd: ");Serial.print(ControllerPID.GetKd());Serial.println();
+    Serial.print("kd: ");Serial.print(Controller.GetKd());Serial.println();
   }
 }
 
@@ -242,13 +234,10 @@ void SerialReceive()
     String myinput;
     myinput = Serial.readString();
     myinput.trim();
-    if(myinput=="start"){
+    if(myinput=="tune"){
       startAutoTune();  
-    } else if(myinput=="stop") {
-      stopAutoTune();
     } else if(myinput=="save") {
       SaveTunings();
     }
   }
 }
-*/

boil_kettle/src/Arduino-PID-Library

@@ -1 +1 @@
-Subproject commit 7787498eda8955288e99a18d02581a425203bac5
+Subproject commit b3255d94d45c7a24acf39312f85c8fb69ef7278a