test_result_normal

Yaonian72 · May 31, 2021 · 41efcf4 · 41efcf4
1 parent fb20be9
commit 41efcf4
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Showing 8 changed files with 62 additions and 30 deletions.
diff --git a/include/define.h b/include/define.h
@@ -19,6 +19,6 @@ const double KP = 0.3;
 const double KI = 0.1;
 const double KD = 0;
 
-#define DEBUG_SERIAL Serial3
-
+// #define DEBUG_SERIAL Serial3
+#define DEBUG_SERIAL Serial
 #endif //GSAAIO_DEFINES_H
diff --git a/lib/AIOapp/AIOapp.cpp b/lib/AIOapp/AIOapp.cpp
@@ -43,7 +43,10 @@ void AIOapp::airFlow(uint8_t speed) {
 }
 
 void AIOapp::printData(){
+    f_ctler.printData();
     sensorBoard.print();
+    // _comm_ser->println("123");
+    _dbg_ser->println();
 }
 
 void AIOapp::startsample(){

diff --git a/lib/AIOapp/AIOapp.h b/lib/AIOapp/AIOapp.h
@@ -39,10 +39,12 @@ class AIOapp {
             if (cur - last_release >= UPDATE_INTERVAL){
                 last_release = cur;
                 readSensor();
+                f_ctler.update();
                 if (Sample_flag && (sample_count >= 0)){
                     sampling();
                 }
                 printData();
+                pump.set_speed(50);//should be removed
             }
         }
 
@@ -54,14 +56,15 @@ class AIOapp {
         uint16_t sample_period = 0;
 
         // ELClient esp;
+        // ESPweb pidweb;
         Stream * _comm_ser;
         Stream * _dbg_ser;
 
         SensorBoard sensorBoard;
         Valve valve_switch;
         Pump pump;
         FlowController f_ctler;
-        AppConfig p_speed = {30, 30};
+        AppConfig p_speed = {100, 100};
 
 };
 

diff --git a/lib/FlowController/FlowController.cpp b/lib/FlowController/FlowController.cpp
@@ -11,13 +11,11 @@ double FlowController::getFlowRate() {
     uint16_t rate;
 
     Wire.requestFrom(0x07, 2);    // request 6 bytes from slave device #8
-
     while (Wire.available()) { // slave may send less than requested
         byte b1 = Wire.read();
         byte b2 = Wire.read();// receive a byte as character
         rate = b1 << 8 | b2;
     }
-
     return rate;
 #else
     double vout = analogRead(FLOW_METER_IN) * 5 / 1024.0;
@@ -39,6 +37,7 @@ void FlowController::init(Pump *pump) {
 #ifdef FLOW_METER_ANALOG
     pinMode(FLOW_METER_IN, INPUT);
 #endif
+    Wire.begin();
     this->initPump(pump);
     this->controller.SetOutputLimits(0, 255); // if PWM
     this->setFlowRate(DEFAULT_FLOW_RATE); // set default flow rate

diff --git a/lib/FlowController/FlowController.h b/lib/FlowController/FlowController.h
@@ -19,7 +19,7 @@ class FlowController {
 
     double getFlowRate();
 
-    void setFlowRate(double target);
+    void setFlowRate(double target);//setpoint
 
     void drivePump() const;
 

diff --git a/lib/SensorBoard/SensorBoard.cpp b/lib/SensorBoard/SensorBoard.cpp
@@ -38,7 +38,6 @@ void SensorBoard::print() {
     for (double i : _voltage_data){
         _ser->print(i*0.001,7); _ser->print(",");
     }
-    _ser->println();
 }
 
 void SensorBoard::_setResolution() {

diff --git a/src/configWeb.html b/src/configWeb.html
diff --git a/src/pid.html b/src/pid.html
@@ -0,0 +1,51 @@
+  <!-- EspLink will add header here -->
+  <html><body>
+  <div class="header">
+    <h1>PID Setting</h1>
+  </div>
+
+  <div class="content">
+    <form>
+      a_kd:<input id="a_kd" name="a_kd"  type="number"  min="0.00" max="50.00" step="0.01"/>
+      <input type="submit">
+      <br>
+    </form>
+    <form>
+      a_ki: <input id="a_ki" name="a_ki"  type="number"  min="0.00" max="50.00" step="0.01"/>
+      <input type="submit">
+      <br>
+    </form>
+    <form>
+      a_kp: <input id="a_kp" name="a_kp"  type="number"  min="0.00" max="50.00" step="0.01"/>
+      <input type="submit">
+      <br>
+    </form>
+    <form>
+      airspeed: <input id="airspeed" name="airspeed"  type="number"  min="0" max="255" step="1"/>
+      <input type="submit">
+      <br>
+    </form>
+    <form>
+      f_kd:<input id="f_kd" name="f_kd"  type="number"  min="0.00" max="50.00" step="0.01"/>
+      <input type="submit">
+      <br>
+    </form>
+    <form>
+      f_ki: <input id="f_ki" name="f_ki"  type="number"  min="0.00" max="50.00" step="0.01"/>
+      <input type="submit">
+      <br>
+    </form>
+    <form>
+      f_kp: <input id="f_kp" name="f_kp"  type="number"  min="0.00" max="50.00" step="0.01"/>
+      <input type="submit">
+      <br>
+    </form>
+    <form>
+      fragspeed: <input id="fragspeed" name="fragspeed"  type="number"  min="0" max="255" step="1"/>
+      <input type="submit">
+      <br>
+    </form>
+  </div>
+<button id="Valve_on" type="button">Valve_on</button>
+<button id="Valve_off" type="button">Valve_off</button>
+<!-- </body></html> -->