Make Your Own Giant Servo -- Episode 442

okay so before watching this video, I tried to do this using a PID controller sketch and the Arduino. Failed miserably. What I am trying to do is control a dc motor using a potentiometer but also having a potentiometer on the motor to get the current position of the motor.(like seen in this video)

Here is my setup.

12v Wiper motor.(12DC motor with Gearbox)

10K pot connected to arduino (pin A0)

A motor driver (BTS7960) connected to arduino (pin 5 and 6)

10K pot connected to arduino (pin A1)

I tried to get a set up like this video (https://www.youtube.com/watch?v=3pYWLF8qw-g&t=753s)

just without the radio controlled components.

He was using the pid library from the arduino example libraries.

Here is my code:

#include <PID_v1.h>

#include <PID_v1.h>  //PID loop from http://playground.arduino.cc/Code/PIDLibrary

#define PIN_INPUT A0

#define PIN_SETPOINT A1

double Pk1 = 1.0;  //speed it gets there

double Ik1 = 0;

double Dk1 = 1;

int deadZoneX = 50;

double Setpoint1, Input1, Output1, Output1a;    // PID variables

PID PID1(&Input1, &Output1, &Setpoint1, Pk1, Ik1 , Dk1, DIRECT);    // PID Setup

void setup() {

  pinMode(PIN_INPUT, INPUT);

  pinMode(PIN_SETPOINT, INPUT);

  pinMode(5,OUTPUT);

  pinMode(6,OUTPUT);

  Serial.begin(115200);// Start the serial monitor.

  //initialize the variables.

int curPos = analogRead(PIN_INPUT);

int comPos = analogRead(PIN_SETPOINT);

Input1 = map(curPos, 0,900,-255,255);    

Setpoint1 = map(comPos, 0,900,-255,255);

  PID1.SetMode(AUTOMATIC);              // Turn on the PID and set limits.

  PID1.SetOutputLimits(-255, 255);

}

void loop() {

int curPos = analogRead(PIN_INPUT);

int comPos = analogRead(PIN_SETPOINT);

Input1 = map(curPos, 0,900,-255,255);    

Setpoint1 = map(comPos, 0,900,-255,255);

      PID1.Compute();

      Serial.print("Current Position: ");

      Serial.print(Input1);

      Serial.print("     ");

      Serial.print("Commanded Position: ");

      Serial.print(Setpoint1);

      Serial.println(" ");

      Serial.println(Output1);

      Serial.println("");

      Serial.println(Output1a);   

      Serial.println(" ");

      Serial.println(curPos);

      Serial.println(comPos);

      if (Output1 > deadZoneX) {

        analogWrite(5, Output1);

        analogWrite(6, 0);

      }

      else if (Output1 < deadZoneX) {

        Output1a = abs(Output1);

        analogWrite(5, 0);

        analogWrite(6, Output1a);

      }

      delay(20);

  }

okay so before watching this video, I tried to do this using a PID controller sketch and the Arduino. Failed miserably. What I am trying to do is control a dc motor using a potentiometer but also having a potentiometer on the motor to get the current position of the motor.(like seen in this video)

Here is my setup.

12v Wiper motor.(12DC motor with Gearbox)

10K pot connected to arduino (pin A0)

A motor driver (BTS7960) connected to arduino (pin 5 and 6)

10K pot connected to arduino (pin A1)

I tried to get a set up like this video (https://www.youtube.com/watch?v=3pYWLF8qw-g&t=753s)

just without the radio controlled components.

He was using the pid library from the arduino example libraries.

Here is my code:

#include <PID_v1.h>

#include <PID_v1.h>  //PID loop from http://playground.arduino.cc/Code/PIDLibrary

#define PIN_INPUT A0

#define PIN_SETPOINT A1

double Pk1 = 1.0;  //speed it gets there

double Ik1 = 0;

double Dk1 = 1;

int deadZoneX = 50;

double Setpoint1, Input1, Output1, Output1a;    // PID variables

PID PID1(&Input1, &Output1, &Setpoint1, Pk1, Ik1 , Dk1, DIRECT);    // PID Setup

void setup() {

  pinMode(PIN_INPUT, INPUT);

  pinMode(PIN_SETPOINT, INPUT);

  pinMode(5,OUTPUT);

  pinMode(6,OUTPUT);

  Serial.begin(115200);// Start the serial monitor.

  //initialize the variables.

int curPos = analogRead(PIN_INPUT);

int comPos = analogRead(PIN_SETPOINT);

Input1 = map(curPos, 0,900,-255,255);    

Setpoint1 = map(comPos, 0,900,-255,255);

  PID1.SetMode(AUTOMATIC);              // Turn on the PID and set limits.

  PID1.SetOutputLimits(-255, 255);

}

void loop() {

int curPos = analogRead(PIN_INPUT);

int comPos = analogRead(PIN_SETPOINT);

Input1 = map(curPos, 0,900,-255,255);    

Setpoint1 = map(comPos, 0,900,-255,255);

      PID1.Compute();

      Serial.print("Current Position: ");

      Serial.print(Input1);

      Serial.print("     ");

      Serial.print("Commanded Position: ");

      Serial.print(Setpoint1);

      Serial.println(" ");

      Serial.println(Output1);

      Serial.println("");

      Serial.println(Output1a);   

      Serial.println(" ");

      Serial.println(curPos);

      Serial.println(comPos);

      if (Output1 > deadZoneX) {

        analogWrite(5, Output1);

        analogWrite(6, 0);

      }

      else if (Output1 < deadZoneX) {

        Output1a = abs(Output1);

        analogWrite(5, 0);

        analogWrite(6, Output1a);

      }

      delay(20);

  }