class Motor(object):
# 1440 ticks per rev, 150 rev per min 60 sec per minute
MAX_SPEED = float(1440 * 150 / 60.)
MAX_ACCELERATION = MAX_SPEED / 10 # Max speed achieved in 10 iterations
MAX_CMD = 400.
def __init__(self):
self.pid_speed = PID(0.01, 0.9, 0, Motor.MAX_CMD)
self.target_speed = 0
@staticmethod
def convert_command_to_speed(x):
if x > 1:
x = 1
if x < -1:
x = -1
return x * Motor.MAX_SPEED
def set_speed(self, target_speed):
if abs(target_speed) > 1:
print(target_speed)
raise ValueError(
"The absolute value of target_speed "
"cannot be greater than 1, was: {}".format(target_speed))
self.target_speed = self.convert_command_to_speed(target_speed)
def get_speed_command(self, speed_measurement, time_of_measurement):
speed_cmd = self.pid_speed.get_output(self.target_speed,
speed_measurement,
time_of_measurement)
if self.target_speed == 0 and abs(speed_cmd) < 30:
self.reset_pids()
speed_cmd = 0
return speed_cmd
def reset_pids(self):
self.pid_speed.reset()
class HeatPlatform():
"""
加热平台控制主类
"""
def __init__(self, config_dict, OLED_Status=True):
self.cfg = config_dict # 配置文件信息
self.pwm_out = PWM(Pin(2), freq=5, duty=1023)
self.max6675 = MAX6675(None, None, None, Pin(16, Pin.OUT))
# max6675使用的是硬件SPI，会设置GPIO13引脚，若使用GPIO13（蜂鸣器）请后初始化
self.beep = Pin(13, Pin.OUT) # 蜂鸣器引脚
self.beep.value(1) # 关闭蜂鸣器
self.beep_flag1 = True
self.beep_flag2 = False # 只当编码器值改变时才置为True
# 安全温度阈值，当 实际温度-与设定温度>self.max_error_temperature 触发报警
self.max_error_temperature = 30
self.buf_len = 3
self.buf_index = 0
self.temperature_err_flag = True
self.temperature_buf = [20] * self.buf_len
self.buf_sum = 20 * self.buf_len
self.temp_now = self.max6675.read_temperature()
self.temp_target = 50
# 进行PID控制的阈值（以致于前期可以持续快速升温）
self.temp_DValue = 20
self.pid_enable = False
self.pid_dt = 300 # PID的调整时间ms
gc.collect()
# 创建OLED显示器
# construct an I2C bus，软件i2c所有接口都适用
self.interface = Interface(self, Pin(1), Pin(3), OLED_Status)
self.interface.temperature_now = self.temp_now
self.interface.temperature_target = self.temp_target
self.interface.opt_deal()
# 创建编码器控制对象
self.knobs = EC11(4, 5, 0)
# 创建pid控制对象
# self.pid_contorller = PID(6.0, 18.0, 6.0, self.pid_dt/1000)
# self.pid_contorller = PID(6.0, 3.0, 10.0, self.pid_dt/1000)
self.pid_contorller = PID(1.0, 0.3, 6.0, self.pid_dt/1000)
# 创建蜂鸣器的定时器
self.beep_start_timer = Timer(-1) # periodic with 100ms period
# mode: Timer.ONE_SHOT / Timer.PERIODIC
self.beep_start_timer.init(period=1000, mode=Timer.PERIODIC,
callback=self.start_beep)
# 创建温度读取的定时器
self.temperature_timer = Timer(-1) # periodic with 100ms period
# mode: Timer.ONE_SHOT / Timer.PERIODIC
self.temperature_timer.init(
period=200, mode=Timer.PERIODIC, callback=self.get_temperature)
# 创建按键检测的定时器
self.knobs_timer = Timer(-1) # periodic with 100ms period
# mode: Timer.ONE_SHOT / Timer.PERIODIC
self.knobs_timer.init(
period=200, mode=Timer.PERIODIC, callback=self.check_knobs)
# 创建pid调节的定时器
self.adjust_timer = Timer(-1)
# mode: Timer.ONE_SHOT / Timer.PERIODIC
self.adjust_timer.init(
period=self.pid_dt, mode=Timer.PERIODIC, callback=self.adjust_temperature)
gc.collect()
def get_temperature(self, timer):
temperature = self.max6675.read_temperature()
if temperature == 4095:
self.temperature_err_flag = True
return None
else:
self.temperature_err_flag = False
self.buf_sum = self.buf_sum - self.temperature_buf[self.buf_index]
self.temperature_buf[self.buf_index] = temperature
self.buf_sum = self.buf_sum + self.temperature_buf[self.buf_index]
self.buf_index = (self.buf_index+1) % self.buf_len
def check_knobs(self, timer):
# increase为一个长度为2的元组 编码脉冲+按键是否按下
increase = self.knobs.get_data()
# 跳转到界面里处理按键触发的指令
self.interface.opt_deal(increase[0], increase[1])
def start_beep(self, timer):
"""
蜂鸣器报警
"""
if self.beep_flag1 == True and self.beep_flag2 == True \
and self.beep.value() == 1:
self.beep_flag1 = False
self.beep_flag2 = False
self.beep.value(0)
# 创建蜂鸣器的关闭定时器
self.beep_end_timer = Timer(-1) # periodic with 100ms period
# mode: Timer.ONE_SHOT / Timer.PERIODIC
self.beep_end_timer.init(
period=700, mode=Timer.ONE_SHOT, callback=self.end_beep)
def end_beep(self, timer):
"""
蜂鸣器报警
"""
self.beep.value(1)
def adjust_temperature(self, timer):
if self.temperature_err_flag == True:
str_temp_now = "XXXX"
self.pwm_out.duty(1023)
self.interface.temperature_now = str_temp_now
self.interface.pwm = 1023
self.interface.show()
return None
self.interface.temperature_now = int(self.buf_sum/self.buf_len)
self.temp_now = self.interface.temperature_now
str_temp_now = str(self.temp_now)
pwm_val = None # 输出的PWM值
if self.temp_target - self.temp_now > self.temp_DValue:
pwm_val = 0
#self.pid_enable = False
self.beep_flag1 = False
self.pid_contorller.set_data(self.temp_DValue, 0)
elif self.temp_now > self.temp_target:
pwm_val = 1023
#self.pid_enable = False
if self.temp_now-self.max_error_temperature > self.temp_target:
# 当温度高于安全温度差，立即报警
self.beep_flag1 = True # 蜂鸣器报警标志
self.beep_flag2 = True # 蜂鸣器报警标志
self.pid_contorller.set_data(0, 0)
else:
if self.temp_target == self.temp_now:
self.beep_flag1 = True # 蜂鸣器报警标志
#if self.pid_enable == False:
# self.pid_enable = True
out_val = self.pid_contorller.get_output(
self.temp_target, self.temp_now)
pwm_val = int(out_val)
if pwm_val > 0:
if pwm_val > 1020:
pwm_val = 0
else:
pwm_val = 1023-pwm_val
else:
pwm_val = 1023
self.pwm_out.duty(pwm_val)
self.interface.pwm = pwm_val
self.interface.show()
def __del__(self):
self.temperature_timer.deinit()
self.knobs_timer.deinit()
self.adjust_timer.deinit()
self.temperature_timer.deinit()
