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Añade los ficheros base iniciales
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‎PIDfromBT.cpp‎

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#if ARDUINO >= 100
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#include "Arduino.h"
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#else
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#include "WProgram.h"
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#endif
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#include <PIDfromBT.h>
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PIDfromBT::PIDfromBT(float* kp, float* ki, float* kd, int* vel, bool debug)
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{
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_kp = kp; // P
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_ki = ki; // I
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_kd = kd; // D
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_vel = vel; // V
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_debug = debug;
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valor = "";
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letra = ' ';
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last_millis = millis();
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_type = TYPE_PIDV;
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}
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PIDfromBT::PIDfromBT(float* kp, float* ki, float* kd, int* vel, int* ideal, bool debug)
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{
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_kp = kp; // P
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_ki = ki; // I
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_kd = kd; // D
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_vel = vel; // V
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_ideal = ideal; // I
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_maxIdeal = MAX_IDEAL;
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_minIdeal = MIN_IDEAL;
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_debug = debug;
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valor = "";
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letra = ' ';
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last_millis = millis();
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_type = TYPE_PIDVI;
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}
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PIDfromBT::PIDfromBT(float* kp, float* ki, float* kd, int* vel, int* ideal, int* suction, bool debug)
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{
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_kp = kp; // P
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_ki = ki; // I
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_kd = kd; // D
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_vel = vel; // V
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_ideal = ideal; // I
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_suction = suction; // S
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_maxIdeal = MAX_IDEAL;
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_minIdeal = MIN_IDEAL;
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_debug = debug;
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valor = "";
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letra = ' ';
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last_millis = millis();
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_type = TYPE_PIDVIS;
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}
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void PIDfromBT::update() {
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if (Serial.available()) {
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// Si hay algo pendiente en el Buffer, lo lee y guarda el tiempo en el que lo leyo.
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_last_update = millis();
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byte readByte = Serial.read();
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if ((isDigit((char)readByte) || (char)readByte == '.' || (char)readByte == '-')) {
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// Si es un dígito, signo decimal o signo negativo, lo guarda como un valor.
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_value += (char)readByte;
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}else{
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if(_letter != ' '){
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// Si es una letra y ya hay otra letra ya leída, ejecuta la acción correspondiente a esa letra.
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execute_task(_letter, (_value!="")?_value.toFloat():0);
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}
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// Llega una nueva letra; limpia el _value anterior y lee la nueva letra.
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_value = "";
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_letter = (char)readByte;
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}
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}else if((millis()-_last_update) > 5 && _letter != ' '){
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// Si no se ha recibido nada en los últimos 5ms y hay alguna letra pendiente, ejecuta su acción correspondiente.
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execute_task(_letter, (_value!="")?_value.toFloat():0);
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_letter = ' ';
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_value = "";
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}
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}
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void PIDfromBT::execute_task(char letter, float value)
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{
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switch (letter) {
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case 'P':
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if(_type < TYPE_PIDV)return;
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*_kp = valor;
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if (print) {
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Serial.println("Kp: " + String(value));
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}
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break;
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case 'I':
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if(_type < TYPE_PIDV)return;
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*_ki = value;
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if (print) {
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Serial.println("Ki: " + String(value));
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}
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break;
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case 'D':
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if(_type < TYPE_PIDV)return;
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*_kd = value;
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if (print) {
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Serial.println("Kd: " + String(value));
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}
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break;
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case 'V':
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if(_type < TYPE_PIDV)return;
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*_vel = value;
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if (print) {
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Serial.println("Vel: " + String(value));
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}
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break;
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case 'X':
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if(_type < TYPE_PIDVI)return;
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*_ideal = map(value, -1000, 1000, minIdeal, maxIdeal);;
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if (print) {
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Serial.println("Ideal: " + String(*ideal));
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}
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break;
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case 'S':
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if(_type < TYPE_PIDVS)return;
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*_suction = value.toInt();
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if (print) {
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Serial.println("Suc: " + String(value));
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}
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break;
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}
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}
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void PIDfromBT::setMinIdeal(int minIdeal){
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_minIdeal = minIdeal;
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}
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void PIDfromBT::setMaxIdeal(int maxIdeal){
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_maxIdeal = maxIdeal;
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}

‎PIDfromBT.h‎

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#ifndef PIDfromBT_h
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#define PIDfromBT_h
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#define LIBRARY_VERSION 1.0
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#include <SoftwareSerial.h>
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class PIDfromBT
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{
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#define DEBUG 1
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#define NO_DEBUG 0
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#define MIN_IDEAL 0
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#define MAX_IDEAL 500
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#define TYPE_PIDV 1
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#define TYPE_PIDVI 2
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#define TYPE_PIDVIS 3
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public:
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// PIDV
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PIDfromBT(float* kp, float* kd, float* ki, int* vel, bool debug);
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// PIDVI
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PIDfromBT(float* kp, float* kd, float* ki, int* vel, int* ideal, bool debug);
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// PIDVIS
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PIDfromBT(float* kp, float* kd, float* ki, int* vel, int* ideal, int* suction, bool debug);
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void setMinIdeal(int minIdeal);
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void setMaxIdeal(int maxIdeal);
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bool update();
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private:
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void execute_task();
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String _value;
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char _letter;
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long _last_update;
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bool _debug;
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int _type;
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float *_kp;
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float *_ki;
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float *_kd;
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int *_vel;
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int *_ideal;
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int *_suction;
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int _maxIdeal;
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int _minIdeal;
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};
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#endif

‎SoftwareSerial.h‎

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/*
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SoftwareSerial.h (formerly NewSoftSerial.h) -
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Multi-instance software serial library for Arduino/Wiring
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-- Interrupt-driven receive and other improvements by ladyada
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(http://ladyada.net)
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-- Tuning, circular buffer, derivation from class Print/Stream,
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multi-instance support, porting to 8MHz processors,
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various optimizations, PROGMEM delay tables, inverse logic and
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direct port writing by Mikal Hart (http://www.arduiniana.org)
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-- Pin change interrupt macros by Paul Stoffregen (http://www.pjrc.com)
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-- 20MHz processor support by Garrett Mace (http://www.macetech.com)
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-- ATmega1280/2560 support by Brett Hagman (http://www.roguerobotics.com/)
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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The latest version of this library can always be found at
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http://arduiniana.org.
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*/
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#ifndef SoftwareSerial_h
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#define SoftwareSerial_h
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#include <inttypes.h>
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#include <Stream.h>
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/******************************************************************************
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* Definitions
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******************************************************************************/
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#ifndef _SS_MAX_RX_BUFF
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#define _SS_MAX_RX_BUFF 64 // RX buffer size
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#endif
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#ifndef GCC_VERSION
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#define GCC_VERSION (__GNUC__ * 10000 + __GNUC_MINOR__ * 100 + __GNUC_PATCHLEVEL__)
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#endif
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class SoftwareSerial : public Stream
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{
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private:
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// per object data
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uint8_t _receivePin;
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uint8_t _receiveBitMask;
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volatile uint8_t *_receivePortRegister;
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uint8_t _transmitBitMask;
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volatile uint8_t *_transmitPortRegister;
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volatile uint8_t *_pcint_maskreg;
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uint8_t _pcint_maskvalue;
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// Expressed as 4-cycle delays (must never be 0!)
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uint16_t _rx_delay_centering;
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uint16_t _rx_delay_intrabit;
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uint16_t _rx_delay_stopbit;
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uint16_t _tx_delay;
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uint16_t _buffer_overflow:1;
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uint16_t _inverse_logic:1;
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// static data
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static uint8_t _receive_buffer[_SS_MAX_RX_BUFF];
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static volatile uint8_t _receive_buffer_tail;
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static volatile uint8_t _receive_buffer_head;
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static SoftwareSerial *active_object;
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// private methods
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inline void recv() __attribute__((__always_inline__));
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uint8_t rx_pin_read();
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void setTX(uint8_t transmitPin);
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void setRX(uint8_t receivePin);
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inline void setRxIntMsk(bool enable) __attribute__((__always_inline__));
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// Return num - sub, or 1 if the result would be < 1
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static uint16_t subtract_cap(uint16_t num, uint16_t sub);
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// private static method for timing
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static inline void tunedDelay(uint16_t delay);
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public:
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// public methods
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SoftwareSerial(uint8_t receivePin, uint8_t transmitPin, bool inverse_logic = false);
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~SoftwareSerial();
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void begin(long speed);
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bool listen();
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void end();
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bool isListening() { return this == active_object; }
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bool stopListening();
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bool overflow() { bool ret = _buffer_overflow; if (ret) _buffer_overflow = false; return ret; }
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int peek();
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virtual size_t write(uint8_t byte);
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virtual int read();
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virtual int available();
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virtual void flush();
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operator bool() { return true; }
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using Print::write;
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// public only for easy access by interrupt handlers
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static inline void handle_interrupt() __attribute__((__always_inline__));
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};
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// Arduino 0012 workaround
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#undef int
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#undef char
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#undef long
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#undef byte
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#undef float
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#undef abs
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#undef round
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#endif

‎library.properties‎

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name=PIDfromBTlib
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version=2.0.0
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author=Alex Santos
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maintainer=Alex Santos <contacto.oprobots@gmail.com>
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sentence=Permite el calibrado del algoritmo PID junto con otros parámetros.
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paragraph=Con esta librería podrás calibrar facilmente el PID y la velocidad de cualquier sistema, usando la app Android asociada a la misma.
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category=Communication
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url=https://github.com/robotaleh/PIDfromBTlib
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architectures=*

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