PID Output always 0 :(

Projects Programming
1

I'm doing a propeller pendulum, but the controller output is always 0.
What do I do? I need to solve this urgent problem.

#include <PID_v1.h>

#define PIN_REFERENCE A2
#define PIN_SENSOR_MOTOR A1
#define PIN_PWM 9

//variaveis que usaremos para armazenar os valores
double sensorMotorValue, referenceValue, outputController;

//parametros iniciais que estamos utilizando
double Kp = 60 , Ki = 0.290 , Kd = 0.0750 ;

PID myPID(&referenceValue, &outputController, &sensorMotorValue, Kp, Ki, Kd, DIRECT);

unsigned long timet;
unsigned long previousTime;
bool enterFunction = true;

void setup(){
Serial.begin(115200);
pinMode(PIN_REFERENCE, INPUT);
pinMode(PIN_SENSOR_MOTOR, INPUT);
pinMode(PIN_PWM, OUTPUT);

// atribuindo valores as nossas variaves
referenceValue = analogRead(PIN_REFERENCE);
sensorMotorValue = analogRead(PIN_SENSOR_MOTOR);

// ligando o PID

myPID.SetMode(AUTOMATIC);
}

void loop(){
referenceValue = map(analogRead(PIN_REFERENCE), 0, 1023, 0, 100);
sensorMotorValue = map(analogRead(PIN_SENSOR_MOTOR), 0, 1023, 170, -94);

myPID.Compute();
analogWrite(PIN_PWM, outputController);

timet = micros();
if (entrar_na_funcao == true){
previousTime = timet;

//inicie o codigo abaixo
Serial.print(sensorMotorValue);
Serial.print(" ");
Serial.print(referenceValue);
Serial.print(" ");
Serial.println(outputController);
}

if (timet - previousTime < 99999){
enterFunction = false;
}else{
enterFunction = true;
}

}

pendulo-helice.ino (1.49 KB)

2

Please edit your post to add code tags, as described in How to use this forum.

Also, please post a wiring diagram, links to any modules used (like the controller), explain what a "propeller pendulum" is, and what the inputs represent.

3

Input (your 'referenceValue') and Setpoint (your 'sensorMotorValue') have to be in the SAME units. WHY do they have different ranges?

    referenceValue = map(analogRead(PIN_REFERENCE), 0, 1023, 0, 100);
    sensorMotorValue = map(analogRead(PIN_SENSOR_MOTOR), 0, 1023, 170, -94);

If you set 'sensorMotorValue' to any value below 0 or greater than 100 it will be impossible for the system to reach that setpoint.