Lec2 FeedbackControl Arduino-complete

7/26/2019 Lec2 FeedbackControl Arduino-complete

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^``j CC "S%2K1:"/$ $3 $D" "Î&",,23/ ^ R ^ ` [j

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^ `R +j CC "S%2K1:"/$ $3 $D" "Î&",,23/ ^ R ^ ` +j

^ MR +j CC "S%2K1:"/$ $3 $D" "Î&",,23/ ^ R ^ M +j

^ fR +j CC "S%2K1:"/$ $3 $D" "Î&",,23/ ^ R ^ f +j

^ CR +j CC "S%2K1:"/$ $3 $D" "Î&",,23/ ^ R ^ C +j


55/79

G33:"1/ 3I"&1$3&, qq MM :302#1: 1/6

H&%" 3/:+ 2N 73$D 3I"&1/6, 1&" $&%"T "L0L2N 46202$1:W"164(; RR [ qq 6202$1:W"164c; RR [;

n CC #36"

o

rr MMM :302#1: 3&

H&%" 2N "2$D"& 3I"&1/6 2, $&%"T "L0L

2N 4^ \ A rr + \ A; n

CC LLL

o

2, $&%" 2N "2$D"& ^ 3& + 2, 0&"1$"& $D1/ AL

s MM /3$

H&%" 2N $D" 3I"&1/6 2, N1:,"T "L0L

2N 4s^; n

CC LLL

o

2, $&%" 2N ^ 2, N1:," 42L"L 2N ^ "S%1:, A;L


56/79


57/79

E1$1 $+I",

For statement


58/79

For statement

*+/$1^)

>^1-I:")

N3& 42/2$21:2V1$23/j #3/62$23/j 2/#&"-"/$;

n

CC,$1$"-"/$4,;j

o

CC ,8"$#D cMAi

2/$ :"6O2/ R [cj

2/$ 6":1+O"&236 R [AAj

K326 ,"$%I4;

nI2/


59/79

while statement

*+/$1^)

>^1-I:")

QD2:"4"^I&",,23/;

n

CC ,$1$"-"/$4,;

o

CC ,8"$#D cMAi

2/$ :"6O2/ R [cj

2/$ 6":1+O"&236 R [AAj

K326 ,"$%I4;

nI2/


60/79

t6"N2/" 62&"#$2K"

91/ %," t6"N2/" $3 1,,3#21$" 1 K1:%" Q2$D 1

K1&217:" I&3K26"6 $D" K1:%" 63", /3$ #D1/0"L HD2,

,1K", -"-3&+L

53& "^1-I:"T &"I:1#"

2/$ :"6O2/ R [cj

7+t6"N2/" :"6O2/ [c

Z3$" $D"&" 2, /3 ,"-2M#3:3/ /""6"6 1N$"& t6"N2/"L

5%/#$23/,


61/79

5%/#$23/,

= N%/#$23/ 2, 1 :28" 1 I&30&1- Q2$D2/ 1 I&30&1-L

*+/$1^)

>^1-I:")

&"$%&/$+I" N%/#$23/Z1-"4 1&0%-"/$, ;n

CCN%/#$23/ 736+

&"$%&/ &"$%&/$+I"j

o

2/$ :"6O2/ R [cj

2/$ 6":1+O"&236 R (aAj

K326 ,"$%I4;

n

I2/


62/79

O1,,2/0 I1&1-"$"& $3 1 N%/#$23/

>^1-I:")

CC ,8"$#D ?MA(2/$ :"6O2/ R [cj

2/$ 6":1+O"&236 R (aAj

K326 ,"$%I4;

n

I2/


63/79

5%/#$23/ $D1$ &"$%&/, K1:%" >^1-I:")

2/$ #"/$H351&"/42/$ #;

n

2/$ N R # f @ C a ` c(j

&"$%&/ Nj

o

HD2, N%/#$23/ $18", 1 $"-I"&1$%&" 2/ 6"0&"", #"/$20&16"1/6 &"$%&/, $D" "S%2K1:"/$ 2/ 6"0&"", N1D&"/D"2$L Y3% #1/

#1:: 2$ %,2/0)

2/$ H"-I"&1$%&" R #"/$H351&"/4(A;j

X"&" $D" &",%:$ 2, 6"#:1&"6 1, 1/ 2/$"0"&L *3 $D" &",%:$ Q2::be rounded off. To keep decimal values, use float instead

of 2/$.

5%/#$23/ $D1$ &"$%&/, K1:%" 4N:31$2/0


64/79

5%/#$23/ $D1$ &"$%&/, K1:%" 4N:31$2/0

I32/$; >^1-I:")

N:31$ #"/$H351&"/4N:31$ #;

n

N:31$ N R # f @LA C aLA ` c(LAj

&"$%&/ Nj

Y3% #1/ #1:: 2$ %,2/0)

N:31$ H"-I"&1$%&" R #"/$H351&"/4(A;j

Z3$" $D1$ Q" D1K" %," N:31$,

$D&3%0D3%$ D"&"L P" D1K" 1:,3 166"6

LA $3 $D" "/6 3N 3%& #3/,$1/$,L HD2,

"/,%&", $D1$ $D" #3-I2:"& 8/3Q, $3

$&"1$ $D"- 1, N:31$, &1$D"& $D1/ 2/$,L

=&&1+,


65/79

=&&1+,

=/ 1&&1+ #3/$12/, 1 :2,$ 3N

K1:%",T &1$D"& $D1/ U%,$ 3/"

K1:%"L

2/$ 6%&1$23/,]_ R n(AAT (AAT (AAT aAAT aAAT aAAT

(AAT (AAT (AAoj

=&&1+,


66/79

=&&1+,

>^1-I:")CC ,8"$#D


67/79

*$&2/0, = ,$&2/0 2, 1/ 1&&1+ 3N $+I" 64*-L

HD" $+I" 64*-2, 1 /%-7"& 7"$Q""/ A 1/6 [(h $D1$

&"I&","/$, 3/" #D1&1#$"& 4=*9..;L

93--3/ =*9.. #36")

>^)

#D1& /1-"]_ R uX"::3uj

HD2, 6"N2/", 1/ 1&&1+ 3N char called name 1/6

initializes it to the word X"::3. It 1:,3 166, 1 N2/1:

/%:: K1:%" 4=*9.. A; $3 -1&8 $D" "/6 3N $D" ,$&2/0L

name[0] holds H

name[1] holds e, "$#

*$&2/0,


68/79

*$&2/0, HD" N3::3Q2/0 1&" "S%2K1:"/$)

#D1& /1-"]_ R uX"::3uj

#D1& f/1-" R uX"::3uj

HD" f 2/62#1$", 1 I32/$"&L *3 $D" /1-" I32/$, $3 $D" N2&,$ #D1&

":"-"/$ 3N $D" #D1& 1&&1+L

>^1-I:")

CC ,8"$#D#D1& -",,10"]_ R uX"::3uj CC 3& %,") #D1& f-",,10" R uX"::3uj

K326 ,"$%I4;

n

*"&21:L7"02/4@pAA;j

o

K326 :33I4;

n

*"&21:LI&2/$:/4-",,10";j

6":1+4[AAA;j

o

N


69/79

=&&1+ 3N ,$&2/0,

P" #1/ 1:,3 N3&- 1/ 1&&1+ 3N ,$&2/0, 4/3$ U%,$ 1&&1+ 3N #D1&;

#har *letters[] = { 17#, 6"N,0D2);

HD2, -"1/,)letters[0] holds 17#

letters[1] holds 6"N, "$#

*"&21: #3--%/2#1$23/


70/79

*"&21:L7"02/4,I""6; M ,"$, $D" 61$1 &1$" 2/ 72$, I"& ,"#3/6T

QD"&" ,I""6 2, 3/" 3N $D"," &1$",) cAAT pAAT [(AAT (?AAT ?iAAT

@pAAT [??AAT [@(AAT (iiAAT ci?AAT ahpAAT 3& [[a(AA

*"&21:L1K12:17:"4; MM HD2, N%/#$23/ &"$%&/, $D" /%-7"& 3N 7+$",

3N 61$1 2/ $D" 7%NN"& $D1$ 1&" Q12$2/0 N3& +3% $3 &"16L

*"&21:LN:%,D4; M P12$, N3& $D" $&1/,-2,,23/ 3N 3%$032/0 ,"&21:

61$1 $3 #3-I:"$"L

*"&21:L&"164;&"16, 2/ 3/" 7+$" 43& M[ 2N /3 61$1 1K12:17:";

*"&21:LQ&2$"48*&; M Q&2$" 72/1&+ 61$1 $3 ,"&21: I3&$T QD"&" 8*&2, 1

K1:%" $3 ,"/6 1, 1 ,2/0:" 7+$"L

*"&21:LQ&2$"4()-;Q&2$" 72/1&+ 61$1 $3 ,"&21: I3&$T QD"&" ()-2, 1

,$&2/0 $3 ,"/6 1, 1 ,"&2", 3N 7+$",

*"&21:LQ&2$"4+!59 &'0; M Q&2$" 72/1&+ 61$1 $3 ,"&21: I3&$T QD"&"

+!52, 1/ 1&&1+ $3 ,"/6 1, 1 ,"&2", 3N 7+$", 1/6 &'02, $D" :"/0$D

3N $D" 7%NN"&

*"&21: #3--%/2#1$23/


71/79

*"&21:LI&2/$47*)*; M O&2/$, 7*)*$3 $D" ,"&21: I3&$ 1, D%-1/M

&"1617:" =*9.. $"^$L

>^)

*"&21:LI&2/$4hi; 02K", uhiu

*"&21:LI&2/$4[L(c?ap; 02K", u[L(cu

*"&21:LI&2/$4vZv; 02K", uZu

*"&21:LI&2/$4uX"::3 Q3&:6Lu; 02K", uX"::3 Q3&:6Lu

*"&21:LI&2/$:/47*)*; M I&2/$, 7*)*$3 $D" ,"&21: I3&$ 1, D%-1/M

&"1617:" =*9.. $"^$ N3::3Q"6 7+ 1 #1&&210" &"$%&/ #D1&1#$"&

*"&21: #3--%/2#1$23/


72/79

>^1-I:") Q" #1/ #3--%/2#1$" Q2$D 1&6%2/3 %,2/0 ,"&21: -3/2$3&CC,8"$#D

2/$ 3%$O2/ R ?jK326 ,"$%I4;

n

I2//$"& [ 3& Au;j

o

K326 :33I4;

n

2N 4*"&21:L1K12:17:"4; \ A;

n

#D1& #D R *"&21:L&"164;j2N 4#D RR v[v;

n 6202$1:P&2$"43%$O2/T X.BX;j o

":," 2N 4#D RR vAv;

n 6202$1:P&2$"43%$O2/T !JP;j o

o

o

G2 X 7


73/79

G2/1&+T X"^ /%-7"&,

G2/1&+ /%-7"& use leading B. Only works with 872$ K1:%",L

>^1-I:") G[[[[[A[[

X"^16"#2-1: /%-7"& M use leading 0x.

>^1-I:") A^hG

G2$Q2," 3I"&1$23/,


74/79

G2$Q2," 3I"&1$23/,

q MM 72$Q2," =ZEL

>^1-I:") G[[[[[A[[ q GAAAA[[[[ +2":6, GAAAA[A[[

r M 72$Q2," JW

>^1-I:") G[[[[[A[[ r GAAAA[[[[ +2":6, G[[[[[[[[

w M 72$Q2," ZJH

>^1-I:") w G[[[[[A[[ +2":6, GAAAAA[AA

./$"&&%I$,


75/79

./$"&&%I$,

=&6%2/3 2, ,2/0:" $D&"16L *3 -3/2$3&2/0 $D"

3##%&&"/#" 3N 1/ "K"/$ %,", %I I&"#23%, 9OF$2-"L

F," 2/$"&&%I$ 2/,$"16L

9OF Q2:: I"&N3&- 2$, &"0%:1& 1#$2K2$2", %/$2:2/$"&&%I$ 3##%&,L HD"/ 2$ Q2:: ,%,I"/6

QD1$"K"& 2$ 2, 632/0 1/6 &%/, 1 N%/#$23/ $3

D1/6:" $D" 2/$"&&%I$L =&6%2/3 F/3 D1, ( 2/$"&&%I$ I2/, 4O2/ ( 1/6 c;

#3&&",I3/62/0 $3 2/$"&&%I$ A 1/6 [ &",I"#$2K":+L

F,2/0 2/$"&&%I$,


76/79

0 I =$$1#D 1 ,20/1: $3 1/ 2/$"&&%I$ I2/L

=,,3#21$" 1 N%/#$23/T 2/$"&&%I$ ,"&K2#" &3%$2/" 4.*W;T Q2$D $D"

2/$"&&%I$)

1$$1#D./$"&&%I$42/$"&&%I$T N%/#$23/T -36";

QD"&"

2/$"&&%I$) $D" /%-7"& 3N $D" 2/$"&&%I$ 4A 3& [;

N%/#$23/) $D" /1-" 3N $D" .*W

-36") 6"N2/", QD"/ $D" 2/$"&&%I$ ,D3%:6 7" $&200"&"6L

!JP $3 $&200"& $D" 2/$"&&%I$ QD"/"K"& $D" I2/ 2, :3QT

9X=ZB> $3 $&200"& $D" 2/$"&&%I$ QD"/"K"& $D" I2/ #D1/0",

K1:%"

W.*.ZB $3 $&200"& QD"/ $D" I2/ 03", N&3- :3Q $3 D20DT

5=!!.ZB QD"/ $D" I2/ 03", N&3- D20D $3 :3QL

PD"/ $D" 2/$"&&%I$ 3##%&,T $D" 1&6%2/3 Q2:: &%/ $D" .*WL

PD"/ $D" .*W 2, 63/"T $D" 1&6%2/3 Q2:: &",%-" 2$, &"0%:1&

1#$2K2$2", 7"N3&" $D" 2/$"&&%I$23/L

F,2/0 2/$"&&%I$,


77/79

0 I >^1-I:")

CC,8"$#D hMA?

2/$ 2/$"&&%I$O2/ R (j

2/$ :"6O2/ R [cj

2/$ I"&236 R aAAj

K326 ,"$%I4;

n

I2/


78/79

0 C F," W"1:M$2-" Q2/63Q, $1&0"$ 4&$Q2/$0$; $33:73^

I1#8"$ 2/I%$ 7:3#8

I1#8"$ 3%$I%$ 7:3#8

4-18" ,%&" $3 ,"$ $D" #3&&"#$ 9J< I3&$ $D" 1&6%2/3 2, #3//"#$"6 $3;

Data type: single in -1$:17 (4 bytes) is the same as float in

=&6%2/3

F," *"&21:LQ&2$" 2/ 1&6%2/3 to send data to packet input block in,2-%:2/8L HD" N3::3Q2/0 ,"/6, $D" K1:%" ,$3&"6 2/ 1 N:31$ K1&217:"

xyz to ,2-%:2/8)

*"&21:LQ&2$"444%/2$ix$f;q^+V;T?;j

QD"&"T

uint8_t means size is 1 byte, i.e. 8 bits

* means pointer

&xyz means address of xyz

4 means there are 4 bytes altogether to send

./$"&N1#2/0 Q2$D ,2-%:2/8


79/79

0 F," *"&21:L&"16 2/ 1&6%2/3 to read data sent from packet output

7:3#8 2/ ,2-%:2/8L HD" N3::3Q2/0 &"16, 1 ?M7+$" N:31$ 61$1 N&3-

,2-%:2/8 into a variable 6"N:

QD2:" 4s*"&21:L1K12:17:"4;; no

4442/$ix$f;4q6"N;;]A_; R *"&21:L&"164;j

QD2:" 4s*"&21:L1K12:17:"4;; no4442/$ix$f;4q6"N;;][_; R *"&21:L&"164;j

QD2:" 4s*"&21:L1K12:17:"4;; no

4442/$ix$f;4q6"N;;](_; R *"&21:L&"164;j

QD2:" 4s*"&21:L1K12:17:"4;; no

4442/$ix$f;4q6"N;;]c_; R *"&21:L&"164;j

Z3$" $D1$ $D"&" 1&" ? &"16, 43/" 7+$" 1$ 1 $2-";L 52&,$ 2/$3 6"N]A_T

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