buffer.c

@@ -1,42 +0,0 @@
-#include <util/atomic.h>
-
-#include "buffer.h"
-
-void insert_to_buffer(uint16_t val, volatile buffer_t* buf){
-    ATOMIC_BLOCK(ATOMIC_FORCEON){
-        buf->position++;
-        if(buf->position == BUFFER_SIZE)
-            buf->position = 0;
-        buf->values[buf->position] = val;
-    }
-}
-
-float get_buffer_mean(volatile buffer_t* buf){
-
-    ///* discard lowest and highest value */
-    //uint16_t low=0xFFFF;
-    //uint16_t high=0;
-    //uint16_t index_l = 0;
-    //uint16_t index_h = 0;
-    //for(uint16_t i=0; i<BUFFER_SIZE; i++){
-    //    if(buf->values[i] < low){
-    //        low=buf->values[i];
-    //        index_l = i;
-    //    }
-    //    if(buf->values[i] > high){
-    //        high=buf->values[i];
-    //        index_h = i;
-    //    }
-    //}
-        
-
-    uint32_t sum = 0;
-    for(uint16_t i=0; i<BUFFER_SIZE; i++){
-        //if(i == index_h || i == index_l)
-        //    continue;
-        sum += buf->values[i];
-    }
-
-    uint16_t res = sum/(BUFFER_SIZE/*-2*/);
-    return res;
-}

buffer.h

@@ -1,11 +0,0 @@
-#include <stdint.h>
-
-#define BUFFER_SIZE 200
-
-typedef struct {
-    uint16_t values[BUFFER_SIZE];
-    uint16_t position;
-} buffer_t;
-
-void insert_to_buffer(uint16_t val, volatile buffer_t* buf);
-float get_buffer_mean(volatile buffer_t* buf);

pid.c

@@ -1,32 +0,0 @@
-#include <util/atomic.h>
-#include "pid.h"
-
-float pid_step(volatile struct pid* controller, float dt, float error) {
-    // Calculate p term
-    float p = error * controller->kP;
-
-    // Calculate i term
-    ATOMIC_BLOCK(ATOMIC_FORCEON){
-        controller->integral += error * dt * controller->kI;
-        if(controller->integral > 80)
-            controller->integral = 80;
-        if(controller->integral < -80)
-            controller->integral = -80;
-    }
-
-    // Calculate d term, taking care to not divide by zero
-    float d = dt == 0 ? 0 : ((error - controller->lastError) / dt) * controller->kD;
-    controller->lastError = error;
-
-    return p + controller->integral + d;
-}
-
-void init_pid(volatile struct pid* controller, float p, float i, float d){
-    *controller = (struct pid){
-        .kP = p,
-        .kI = i,
-        .kD = d,
-        .lastError = 0,
-        .integral = 0
-    };
-}

pid.h

@@ -1,14 +0,0 @@
-struct pid{
-    // Controller gains
-    float kP;
-    float kI;
-    float kD;
-
-    // State variables
-    float lastError;
-    float integral;
-};
-
-float pid_step(volatile struct pid* controller, float dt, float error);
-void init_pid(volatile struct pid* controller, float p, float i, float d);
-

plot.py

@@ -1,43 +0,0 @@
-import time
-from simple_pid import PID
-from itertools import count
-import matplotlib.pyplot as plt
-from matplotlib.animation import FuncAnimation
-
-import minimalmodbus
-
-tempSens = minimalmodbus.Instrument('/dev/ttyUSB0', 1)
-tempSens.serial.baudrate = 38400
-
-plt.style.use('fivethirtyeight')
-
-x_values = []
-y_values = []
-
-index = count()
-
-
-def animate(i):
-    try:
-        #temp1 = tempSens.read_float(1, functioncode=4, byteorder=0) / 100 
-        #temp2 = tempSens.read_float(3, functioncode=4, byteorder=0) / 100
-        #temp3 = tempSens.read_float(5, functioncode=4, byteorder=0) / 100
-
-        #temp = tempSens.read_register(1)
-        temp2 = tempSens.read_float(3, functioncode=4)
-
-        y_values.append(temp2)
-        x_values.append(next(index))
-        print(tempSens.read_float(11, functioncode=4), end="\t")
-        print(temp2)
-
-        plt.cla()
-        plt.scatter(x_values, y_values)
-    except Exception as e: print(e)
-
-
-ani = FuncAnimation(plt.gcf(), animate, 2000)
-
-
-plt.tight_layout()
-plt.show()