PID implementation spd control motor?

[jokester4u]

Im using atmega ardunio board and my topic is speed control motor i would like to know how to
how to implement PID in this code ?

#include <LiquidCrystal.h>
//#include <SoftPWM.h>

LiquidCrystal lcd(12, 11, 5, 4, 3, 22);

#define set  digitalRead(10)
#define mov  digitalRead(9)
#define inc  digitalRead(8)
#define dec  digitalRead(7)
#define ent  digitalRead(6)

const int highestPin = 13;

#define pluse1 14
volatile int state = LOW;

unsigned char a[5],i,val,count,sec1,temp1,temp0;
unsigned int set_speed,output_speed, interr,sec2,usec_time,Frequency,pwmm;

void setup() 
{
   lcd.begin(16, 2);
   lcd.print("DC MOTOR CONTRwe");
   pinMode(10, INPUT);
   pinMode(9, INPUT);
   pinMode(8, INPUT);
   pinMode(7, INPUT);
   pinMode(6, INPUT);
   pinMode(14, OUTPUT);
   pinMode(highestPin, OUTPUT); 
 //  SoftPWMBegin();
 //  SoftPWMSet(13, 0);
  // SoftPWMSetFadeTime(13, 1000, 1000);
   Frequency=50;
   TCCR1A = 0;
   TCCR1B = 0;
   TCNT1H=0xFF;
   TCNT1L= 0xEA;
   TCCR1B |= (1 << CS12);    // 256 prescaler 
   TIMSK1 |= (1 << TOIE1);   // enable timer overflow interrupt
   interrupts();             // enable all interrupts
   pinMode(2, INPUT);	   // Pin 3 is input to which a switch is connected = INT1
   
   //conversion();
   delay(500);
   lcd.setCursor(0, 0);
   lcd.print("ENTER THE SPEED ");
   attachInterrupt(0, blink1, RISING);
   keypad_fun();
  // analogWrite(highestPin, set_speed/10);
   lcd.clear();
}

void loop() 
{
//  analogWrite(highestPin, 200);
        //lcd.setCursor(0, 1);
        //lcd.print(millis()/1000);
         if(inc==LOW)
           {
             lcd.clear();
             lcd.setCursor(0, 0);
             lcd.print("ENTER THE SPEED ");
             while(inc==LOW);
             keypad_fun();
           }
         lcd.setCursor(0, 0);
         lcd.print("INPUT  SPD:");
         decimal4(11,0, set_speed);
         lcd.setCursor(0, 1);
         lcd.print("OUTPUT SPD:");
   //      decimal4(11,1,interr);
         //analogWrite(highestPin, 250);
         // SoftPWMSet(13, 150);
     //      analogWrite(highestPin, 100);
if(sec1>1)
    {
        decimal4(11,1,output_speed);
        output_speed=interr*5;
         interr=0;
        if(output_speed<set_speed){pwmm++;}
       if(output_speed>set_speed){pwmm--;}
        if(output_speed==set_speed){pwmm=pwmm;}
      analogWrite(highestPin, pwmm);
       
        sec1=0;
        //conversion();
        //Setpoint(output_speed,set_speed);
    }
}
void blink1()
{
  interr++;
}

void keypad_fun()
{

   while(ent==HIGH)
   {
     if(inc==LOW)
     {
       while(inc==LOW);
       val++;
       lcd.setCursor(0+i,1);
       lcd.write(val+0x30);
       a[i]=val;
       if(val>9){val=0;}
     }
     if(dec==LOW)
     {
       while(dec==LOW);
       val--;
       a[i]=val;
       lcd.setCursor(0+i,1);
       lcd.write(val+0x30);
       if(val<=0){val=9;}
     }
     if(mov==LOW)
     {
       while(mov==LOW);
       i++;
       lcd.setCursor(0+i, 1);
       if(i>3){i=0;}
     }
   }
   if(ent==LOW)
   {
    
   set_speed=(a[0]*1000)+(a[1]*100)+(a[2]*10)+(a[3]*1);
   pwmm=set_speed/10;
   lcd.setCursor(0, 1);
   lcd.print("                    ");
   }
}
void decimal4(unsigned int col,unsigned int row,unsigned int value)
{
   lcd.setCursor(col+0, row);
   lcd.print((value%10000)/1000);
   lcd.setCursor(col+1, row);
   lcd.print((value%1000)/100);
   lcd.setCursor(col+2, row);
   lcd.print((value%100)/10);
   lcd.setCursor(col+3, row);
   lcd.print((value%10)/1);   
}

ISR(TIMER1_OVF_vect)        // interrupt service routine 
{
  TCNT1H=0xFF;
  TCNT1L= 0xEA;
  count++;
  usec_time++;
 if(usec_time>620)sec1++,usec_time=0;

}

- - - Updated - - -

I know this code is done with just with one gain integral please if someone can add the other two gains

 

[barry]

"someone can add the other two gains"? Are you kidding me? You've copied someone else's code, and now you want another person to modify it for you?? Why should we? Because you've shown so much effort and dedication? I think not.