122-28176 Parallax Inc, 122-28176 Datasheet - Page 269

• Manufacturer Part Number: 122-28176
• Description: GUIDE STUDENT PROCESS CONTROL
• Manufacturer: Parallax Inc

Specifications of 122-28176

• Accessory Type: Manual
• Product: Microcontroller Accessories
• Lead Free Status / RoHS Status: Contains lead / RoHS non-compliant
• For Use With/related Products: Propeller Education (PE) Kit
• Lead Free Status / RoHS Status: Lead free / RoHS Compliant, Contains lead / RoHS non-compliant

CalcError:
RETURN
CalcProp:
RETURN
CalcInteg:
RETURN
CalcDeriv:
RETURN
CalcTotal:
RETURN
MarkProp:
RETURN
MarkInteg:
RETURN
Error = PhotoVal - SetPoint
Prop = Error
IntegSample = Error * Samples
SignBit = IntegSample.BIT15
IntegSample = ABS(IntegSample)/4
IF SignBit = 1 THEN IntegSample = IntegSample * -1
Integ = Integ + IntegSample
SignBit = Integ.BIT15
Integ = ABS(Integ) MAX 25000
IF SignBit = 1 THEN Integ = Integ * -1
DEBUG "!O txtLE=", SDEC LastError,CR
ErrorChange = Error - LastError
SignBit = ErrorChange.BIT15
Deriv = ABS(ErrorChange)/Samples * 4
IF SignBit = 1 THEN Deriv = Deriv * -1
LastError = Error
Total = Prop + Integ + Deriv
SignBit = Total.BIT15
Total = ABS(Total) MAX 25000
IF SignBit = 1 THEN Total = Total * -1
DEBUG "!DMOD 9",CR,
DEBUG "!DMOD 9",CR,
"!LINE (PTIME),(AINVAL0),(PTIME),(AINVAL1),(Green)",CR,
"!DMOD 13",CR
"!FREC (DATAVAL1),(AINVAL0),(PTIME),(AINVAL1),(Yellow)",CR,
"!RECT ,,,,(Green)",CR,
"!DMOD 13",CR
' Mark propotional evaluation as line from setpoint to actual
' Mark integral evaluation as rectangles
' Calculate error
' Calculate proportional output
' Calculate integral output
' Sample is error x time (samples) Edt
' save sign for math
' approx 1/4 sec per sample -
' convert to seconds
' Sum sample to current value
' Save sign of integ, 1 = negative
' Limit maximum to 25000
' Re-apply sign
' Calculate derivative output
' Update SP with last error
' Calculate dE
' Save sign, 1 = negative
' Divide by dt
' Re-apply sign
' Save Last error for this eval
' Calculate total output
' Sum all for total
' Save sign of total, 1 = negative
' Limit maximum to 30000
' Re-apply sign
' re-apply sign