This chapter describes how to implement a PI controller with Matlab replacing Robotino's internal PI controller.
function [ success ] = example_pi_controller
kp = 5;
ki = 0.05;
ea09com_init;
ea09com_bind( 8809 );
ea09com_setAddress( '172.26.254.254', 8809 );
send_RFV;
while( 0 == [num_FV] )
ea09com_update;
end;
takeFirst_FV
%set monitoring of motor 0 on
send_SetMMONITOR( 0, 1 );
send_SetMMONITOR( 1, 0 );
send_SetMMONITOR( 2, 0 );
send_SetMMONITOR( 3, 0 );
send_SetMCTRL( 0, 2 );
send_SetMCTRL( 1, 1 );
send_SetMCTRL( 2, 1 );
send_SetMCTRL( 3, 1 );
numReceived = 0;
i = 0;
while( numReceived < 2000 )
count = ea09com_update;
while( count < 1 )
count = ea09com_update;
end;
numReceived = numReceived + count;
messageA = last_MessageA(0);
speed_setpoint = messageA(3);
actual_speed = messageA(4);
e = speed_setpoint - actual_speed;
i = i + e;
u = kp * ( e + ki * i );
if( u > 255 )
u = 255;
elseif( u < -255 )
u = -255;
end;
send_SetControlPoint( u, 0, 0, 0 );
end;
%set monitoring of motor 0 off
send_SetMMONITOR( 0, 0 );
send_SetMCTRL( 0, 1 );
index = 1;
messageA = takeFirst_MessageA(0);
startTime = messageA(2);
while( [num_MessageA(0)] > 0 )
messageA = takeFirst_MessageA(0);
ea09time(index) = messageA(2) - startTime;
speed_setpoint(index) = messageA(3);
actual_speed(index) = messageA(4);
current(index) = messageA(5);
control_point(index) = messageA(6);
index = index + 1;
end;
ea09com_close;
title('Motor 0 monitor');
hold;
plot( ea09time, speed_setpoint / 255, 'Color', [1 0 0] );
plot( ea09time, actual_speed / 255, 'Color', [0 1 0] );
plot( ea09time, current / 4096, 'Color', [0 0 1] );
plot( ea09time, control_point / 255, 'Color', [1 0 1] );
legend( 'speed set-point', 'actual speed', 'current', 'control point' );
hold;
