maglev-tuner
Tuner plugin for PID controlling based on the Texas Instruments TM4C1294NCPDT MCU (EK-TM4C1294XL board). Name has been defined by the first application of the device - magnetic levitation.
Description
Program implementing PID controller with the feature of tuning PID coefficients (Kp, Ki, Kd) by analog inputs (potentiometers). There is no any remote control protocol such as in maglev-ti-rtos or maglev projects, but device is able to send current PID coefficients over UART. So main purpose is to properly tune controller (i.e. determine correct coefficients) using some algorithm (for example Ziegler–Nichols method) and then set them as default ones in the developing program.
Usage
4 analog inputs of the MCU are used: PE0 for PID feedback and PE3-PE1 for Kp, Ki and Kd respectively (connect 3 potentiometers to them). Use on-board button (PJ0) to send current coefficients over USB UART at 115200 speed (8N1 configuration). PID PWM output is PG0 pin (PWM_FREQUENCY=8kHz frequency).
Requirements
- Texas Instruments TivaWare library