Pid Arduino

#define pSENSOR A1
#define pCONTROLE A5//era A1

#include <LiquidCrystal.h>
//LiquidCrystal lcd(12, 11, 13, 10, 9, 8);//trocar o 5 por 13; o 4 por 10; o 3 por
9; o 2 por 8
antigo LiquidCrystal lcd(12, 11, 5, 4, 3, 2);
void setup() {
DDRD= B11111111;//pinos para mostra a forma de onda no osciloscopio
// put your setup code here, to run once:

Serial.begin(9600);
pinMode(pSENSOR,INPUT);//define o pino A1 como o pino de entrada analogica do

sensor
pinMode(pCONTROLE,OUTPUT);//define o pino 6 digital como sendo a saida PWM do
controle PID
pinMode(A5,OUTPUT);
pinMode(A2,OUTPUT);
pinMode(A3,OUTPUT);
pinMode(A4,OUTPUT);
pinMode(A0,OUTPUT);
lcd.begin(16, 2);
lcd.clear();
lcd.setCursor(0, 0);
lcd.println("______PID_______");
lcd.println("controle de temp.");
delay(1);
lcd.clear();
lcd.println("Equipe:_________");
lcd.println("Alan;Erick;James");
delay(1);
float error = 0;
float error_percentual = 0;
float temperature;
float lastTemperature;
double
kP = 1.0,
kI = 0.0,
kD = 0.0;
double P = 0, I = 0, D = 0;
double PID;
float setPoint = 25;
int controlePwm = 0;
long lastProcess = 0;
float saida_sistema;
void loop() {
// put your main code here, to run repeatedly:
int rawTemp = analogRead(pSENSOR);
double temperature = map(rawTemp,0,1023,0,100);
//implementa��o PID
error = setPoint - temperature;
error_percentual=((setPoint-temperature)/setPoint)*100;
float deltaTime = (millis() - lastProcess)/1000.0;
lastProcess = millis();
//P
P = error*kP;
//I
I = I + error*kI;
//D
D = (lastTemperature - temperature)*kD;
// soma tudo
PID = P + I + D;
//converte para controle

controlePwm = (PID + 50);
//saida do controle
analogWrite(pCONTROLE, controlePwm);//said\ pelo pino digital 5
analogWrite(A5, temperature);
lcd.begin(16, 2);
lcd.print("e:");
lcd.print(error);
/*
lcd.print("%");
*/
lcd.print("T:");
lcd.print(setPoint);
lcd.print("Ts:");
lcd.print(temperature);
/*
Serial.println("Controle PWM:");
Serial.println(controlePwm);
Serial.println();
Serial.println("Temperatura do Sensor:");
Serial.println(temperature);
Serial.println();
*/
//saida_sistema=temperature - error;
/*
if(temperature>setPoint){while(temperature>setPoint)
{ saida_sistema=temperature+error;delay(10);Serial.println(saida_sistema);}}
else if(temperature<setPoint){saida_sistema=temperature+error;delay(10);}
else if(temperature==setPoint){saida_sistema=setPoint;delay(10);}
*/
//if(error>0){while (error>0)
{saida_sistema=temperature+error;Serial.println(saida_sistema);}}
if(error>0){saida_sistema=error + temperature;}
else if(error<0){saida_sistema=temperature + error;}
else if(error==0){saida_sistema=temperature + error;}
//Gs=exp(polo*tempo)
//float reset=0;
//Serial.println(reset);
for(int d=0;d<101;d++){
Serial.println("Temperatura Corrigida:");
float e=d;
float polo=-1;
saida_sistema=+setPoint-setPoint*((PID)*(exp(polo*d)/(1+PID*exp(polo*d))));
float auxx = map(saida_sistema,0,100,0,100);

analogWrite(A0,auxx);
PORTD=auxx;
//Serial.println(d);
Serial.println(saida_sistema);
//Serial.println(((1))*((PID)*(1/(1+PID*1))));
lcd.print(";");
lcd.print(saida_sistema,5);//o 5 � referente a quantidade de casas decimais
delay(1);
if(saida_sistema>setPoint){
analogWrite(A2, 1023);
analogWrite(A3, 0);
analogWrite(A4, 0);
}
else if(saida_sistema<setPoint){
analogWrite(A2, 0);
analogWrite(A3, 0);
else if(saida_sistema==setPoint){
analogWrite(A2, 0);
analogWrite(A4, 0);
}
/*
}
float b;
//for(int a=0;a<101;a++){b=a;Serial.println((exp((b-100)/100))*(saida_sistema*(1-
error_percentual)));}
//obs: imcrementar uma exp; valor_desejado*exp((x-100)/100), onde x varia de 0 ao
infinito;
//saida_sistema=temperature - error;
/*
int tempo=2000;
for(int c=0;c<tempo;c++){
Serial.println("Temperatura Corrigida:");
Serial.println(saida_sistema*(1-error_percentual));
Serial.println();
delay(1);
}
*/
//lcd.print(millis() / 1000);
if(error<0){
analogWrite(A3, 0);
analogWrite(A4, 0);
}
else if(error>0){
analogWrite(A2, 0);
analogWrite(A3, 0);
else if(error==0){
analogWrite(A2, 0);
analogWrite(A4, 0);
//controlePwm=0;
/*while(error>0){saida_sistema=temperature - (error);}
while(error<0){saida_sistema=temperature + (error);}
saida_sistema=temperature;
*/
// *
**************************************_PROGRAMA_PARA_O_LCD_************************
***********************
/*
LiquidCrystal Library - Hello World
Demonstrates the use a 16x2 LCD display. The LiquidCrystal

library works with all LCD displays that are compatible with the
Hitachi HD44780 driver. There are many of them out there, and you
can usually tell them by the 16-pin interface.
This sketch prints "Hello World!" to the LCD

and shows the time.
The circuit:
* LCD RS pin to digital pin 12
* LCD Enable pin to digital pin 11
* LCD D4 pin to digital pin 5
* LCD R/W pin to ground
* LCD VSS pin to ground
* LCD VCC pin to 5V
* 10K resistor:
* ends to +5V and ground
* wiper to LCD VO pin (pin 3)
Library originally added 18 Apr 2008

by David A. Mellis
library modified 5 Jul 2009
by Limor Fried (http://www.ladyada.net)
example added 9 Jul 2009
by Tom Igoe
modified 22 Nov 2010
by Tom Igoe
This example code is in the public domain.
http://www.arduino.cc/en/Tutorial/LiquidCrystal
*/
/*
// include the library code:
#include <LiquidCrystal.h>
// initialize the library with the numbers of the interface pins

LiquidCrystal lcd(12, 11, 5, 4, 3, 2);
void setup() {
// set up the LCD's number of columns and rows:
lcd.begin(16, 2);
// Print a message to the LCD.
lcd.print("hello, world!");
}
void loop() {
// set the cursor to column 0, line 1
// (note: line 1 is the second row, since counting begins with 0):
// print the number of seconds since reset:
lcd.print(millis() / 1000);
}
*/

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#define pSENSOR A1

#define pCONTROLE A5//era A1

// put your setup code here, to run once:

pinMode(pSENSOR,INPUT);//define o pino A1 como o pino de entrada analogica do

//converte para controle

float auxx = map(saida_sistema,0,100,0,100);

Demonstrates the use a 16x2 LCD display. The LiquidCrystal

This sketch prints "Hello World!" to the LCD

Library originally added 18 Apr 2008

This example code is in the public domain.

// initialize the library with the numbers of the interface pins

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