{"id":2683,"date":"2020-11-23T16:32:00","date_gmt":"2020-11-23T16:32:00","guid":{"rendered":"https:\/\/physics.uwb.edu.pl\/wf\/fi-bot\/?p=2683"},"modified":"2020-11-30T15:07:25","modified_gmt":"2020-11-30T15:07:25","slug":"sterowanie-serwem-za-pomoca-joysticka-2-2-2-2-2-2-2-2-2-2-2-2-2-2-2-3-3-2-2-2-2-2-2-2-2-3-2-3-3","status":"publish","type":"post","link":"https:\/\/physics.uwb.edu.pl\/wf\/fi-bot\/?p=2683","title":{"rendered":"PID oraz podstawy: PWM + (mikro)serwo"},"content":{"rendered":"\n<h2 class=\"wp-block-heading\">Podstawy Arduino<\/h2>\n\n\n\n<p>Piny cyfrowe PWM z multimetrem i LED-em, a potem serwosilniczek (Serwo.h, silnik.attache(pin), silnik.write(stopnie).<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">Maskotka<\/h2>\n\n\n\n<p>BB: <a href=\"https:\/\/pl.wikipedia.org\/wiki\/Regulator_PID\" data-type=\"URL\" data-id=\"https:\/\/pl.wikipedia.org\/wiki\/Regulator_PID\">regulator PID<\/a> dla 1 ko\u0142a: poni\u017cej wynik dzia\u0142ania algorytmu reguluj\u0105cego prac\u0119 silnika: kolor czerwony to krzywa po\u017c\u0105dana (nastaw u\u017cytkownika, potencjometrem), kolor niebieski to aktualna praca ko\u0142a. O\u015b Y na wykresie to RPS, czyli obroty na sekund\u0119.<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"985\" height=\"373\" src=\"https:\/\/physics.uwb.edu.pl\/wf\/fi-bot\/wp-content\/uploads\/sites\/6\/2020\/11\/pid_test.png\" alt=\"\" class=\"wp-image-2684\" srcset=\"https:\/\/physics.uwb.edu.pl\/wf\/fi-bot\/wp-content\/uploads\/sites\/6\/2020\/11\/pid_test.png 985w, https:\/\/physics.uwb.edu.pl\/wf\/fi-bot\/wp-content\/uploads\/sites\/6\/2020\/11\/pid_test-300x114.png 300w, https:\/\/physics.uwb.edu.pl\/wf\/fi-bot\/wp-content\/uploads\/sites\/6\/2020\/11\/pid_test-768x291.png 768w\" sizes=\"auto, (max-width: 985px) 100vw, 985px\" \/><\/figure>\n\n\n\n<p>Praca regulatora PID ma polega\u0107 na tym, \u017ce RPS ko\u0142a ma pod\u0105\u017ca\u0107 za ustalon\u0105 warto\u015bci\u0105 niezale\u017cnie od zewn\u0119trznych czynnik\u00f3w (np. ko\u0142o na lodzie=kr\u0119ci si\u0119 praktycznie bez opor\u00f3w, lub ko\u0142o w b\u0142ocie =ci\u0119\u017cko mu wyjecha\u0107). Najwa\u017cniejsze wsp\u00f3\u0142czynniki regulatora PID Pab bartek dobra\u0142 metod\u0105 &#8222;pr\u00f3b i b\u0142\u0119d\u00f3w&#8221; (plus w\u0142asne, wcze\u015bniejsze do\u015bwiadczenie) i s\u0105 dobrane dla konkretnego silnika (dlatego ich tutaj nie podaj\u0119). Zauwa\u017c, jak szybko silnik dopasowuje si\u0119 do po\u017c\u0105danej warto\u015bci). Przy okazji: wykres ze &#8222;starej&#8221; wersji algorytmu, na zaj\u0119ciach Pan Bartek go udoskonali\u0142 i reakcja ko\u0142a jest jeszcze szybsza!<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Podstawy Arduino Piny cyfrowe PWM z multimetrem i LED-em, a potem serwosilniczek (Serwo.h, silnik.attache(pin), silnik.write(stopnie). Maskotka BB: regulator PID dla 1 ko\u0142a: poni\u017cej wynik dzia\u0142ania algorytmu reguluj\u0105cego prac\u0119 silnika: kolor czerwony to krzywa po\u017c\u0105dana (nastaw u\u017cytkownika, potencjometrem), kolor niebieski to aktualna praca ko\u0142a. O\u015b Y na wykresie to RPS, czyli obroty na sekund\u0119. Praca regulatora [&hellip;]<\/p>\n","protected":false},"author":5,"featured_media":2684,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"ngg_post_thumbnail":0,"footnotes":""},"categories":[52],"tags":[234,275,9,71],"class_list":{"0":"post-2683","1":"post","2":"type-post","3":"status-publish","4":"format-standard","5":"has-post-thumbnail","6":"hentry","7":"category-fibot","8":"tag-maskotka","9":"tag-pid","10":"tag-pwm","11":"tag-serwo","13":"post-with-thumbnail","14":"post-with-thumbnail-large"},"_links":{"self":[{"href":"https:\/\/physics.uwb.edu.pl\/wf\/fi-bot\/index.php?rest_route=\/wp\/v2\/posts\/2683","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/physics.uwb.edu.pl\/wf\/fi-bot\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/physics.uwb.edu.pl\/wf\/fi-bot\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/physics.uwb.edu.pl\/wf\/fi-bot\/index.php?rest_route=\/wp\/v2\/users\/5"}],"replies":[{"embeddable":true,"href":"https:\/\/physics.uwb.edu.pl\/wf\/fi-bot\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=2683"}],"version-history":[{"count":4,"href":"https:\/\/physics.uwb.edu.pl\/wf\/fi-bot\/index.php?rest_route=\/wp\/v2\/posts\/2683\/revisions"}],"predecessor-version":[{"id":2688,"href":"https:\/\/physics.uwb.edu.pl\/wf\/fi-bot\/index.php?rest_route=\/wp\/v2\/posts\/2683\/revisions\/2688"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/physics.uwb.edu.pl\/wf\/fi-bot\/index.php?rest_route=\/wp\/v2\/media\/2684"}],"wp:attachment":[{"href":"https:\/\/physics.uwb.edu.pl\/wf\/fi-bot\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=2683"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/physics.uwb.edu.pl\/wf\/fi-bot\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=2683"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/physics.uwb.edu.pl\/wf\/fi-bot\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=2683"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}