Magnet Levitation with Arduino

Magnet levitation toy using Arduino. Cheap and easy to make!

Mar 11, 2018

•

174551 views

•

213 respects

Components and supplies

Power supply 12V 1A

Jumper wires (generic)

Resistor 1k ohm

Arduino Nano R3

Electromagnet 12v 25mm diameter.

Pushbutton switch 12mm

Linear Hall Effect Sensor 49E

Darlington High Power Transistor

Breadboard (generic)

1N4007 – High Voltage, High Current Rated Diode

Apps and platforms

Arduino IDE

Project description

Code

Levitator.ino

arduino

Code for Magnet Levitation toy with Arduino. Easy(No PID)

1//=========================================================|
2//     Ekobots  Innovation Ltda - www.ekobots.com.br        |
3//        Juan Sirgado y Antico  - www.jsya.com.br          |
4//---------------------------------------------------------|
5//        Program Magnetic Levitator - 2016/02/06          |
6//               All  rights reserved 2016                  |
7//=========================================================|
8int  anaPin = 1;   // Arduino Analogic Pin 1;
9int digPin = 5;   // Arduino Digital  Pin 5;
10int subPin = 7;   // Arduino Digital  Pin 7;
11int addPin = 8;   //  Arduino Digital  Pin 8;
12//
13int     anaVal = 0;   // Analogic Read(Hall Sensor)  Value;
14boolean digVal = 0;   // Digital Write(Electromagnet) Value;
15//
16int  levVal = 228;   // Levitation Poit Value;
17int dlyVal = 250;   // Delay Value  Micro Seconds;
18//---------------------------------------------------------|
19void  setup()
20{
21   // Levitator initialization Begin; 
22   Serial.begin(57600);
23   Serial.println("Levitator by JSyA");
24   Serial.println("Starting...");
25   // Digital Pins Work Mode Setup;
26   pinMode(digPin, OUTPUT);
27   pinMode(subPin,  INPUT_PULLUP);
28   pinMode(addPin, INPUT_PULLUP);
29   // Levitator initialization  End; 
30   Serial.println("Started.");
31}
32//---------------------------------------------------------|
33void  loop() 
34{
35   // Hall Sensor Read (Magnetic Field Intensity);
36   anaVal  = analogRead(anaPin);
37   // Increase The Value Of Levitation Point;
38   if  (digitalRead(addPin) == LOW) 
39   {
40      levVal++;
41      value_log();
42      delay(250);
43   }
44   // Decrease The Value Of Levitation Point;
45   if  (digitalRead(subPin) == LOW) 
46   {
47      levVal--;
48      value_log();
49      delay(250);
50   }
51   // Check the Levitation Point;
52   if (anaVal  < levVal) 
53   {
54      digVal = LOW;
55   }
56   else // if (anaVal > levVal)  
57   {
58      digVal = HIGH;
59   }
60   //
61   // Turn ON/OFF The Electromagnet;
62   // With Base on Sensor Value and the Levitation Point;
63   digitalWrite(digPin,  digVal);
64   delayMicroseconds(dlyVal);
65}
66//---------------------------------------------------------|
67void  value_log()
68// Analogic/Digital/Levitation Values Print;
69{
70   // Show the  Hall Sensor Value;
71   Serial.print("anaVal=[");
72   Serial.print(anaVal);  
73   Serial.print("]-");
74   // Show the Electromagnet state On=1/Off=0;
75   Serial.print("digVal=[");
76   Serial.print(digVal);
77   Serial.print("]-");
78   // Show the Levitation Point Value;
79   Serial.print("levVal=[");
80   Serial.print(levVal);
81   Serial.println("];");
82}
83//=========================================================|
84

//=========================================================|
//     Ekobots  Innovation Ltda - www.ekobots.com.br        |
//        Juan Sirgado y Antico  - www.jsya.com.br          |
//---------------------------------------------------------|
//        Program Magnetic Levitator - 2016/02/06          |
//               All  rights reserved 2016                  |
//=========================================================|
int  anaPin = 1;   // Arduino Analogic Pin 1;
int digPin = 5;   // Arduino Digital  Pin 5;
int subPin = 7;   // Arduino Digital  Pin 7;
int addPin = 8;   //  Arduino Digital  Pin 8;
//
int     anaVal = 0;   // Analogic Read(Hall Sensor)  Value;
boolean digVal = 0;   // Digital Write(Electromagnet) Value;
//
int  levVal = 228;   // Levitation Poit Value;
int dlyVal = 250;   // Delay Value  Micro Seconds;
//---------------------------------------------------------|
void  setup()
{
   // Levitator initialization Begin; 
   Serial.begin(57600);
   Serial.println("Levitator by JSyA");
   Serial.println("Starting...");
   // Digital Pins Work Mode Setup;
   pinMode(digPin, OUTPUT);
   pinMode(subPin,  INPUT_PULLUP);
   pinMode(addPin, INPUT_PULLUP);
   // Levitator initialization  End; 
   Serial.println("Started.");
}
//---------------------------------------------------------|
void  loop() 
{
   // Hall Sensor Read (Magnetic Field Intensity);
   anaVal  = analogRead(anaPin);
   // Increase The Value Of Levitation Point;
   if  (digitalRead(addPin) == LOW) 
   {
      levVal++;
      value_log();
      delay(250);
   }
   // Decrease The Value Of Levitation Point;
   if  (digitalRead(subPin) == LOW) 
   {
      levVal--;
      value_log();
      delay(250);
   }
   // Check the Levitation Point;
   if (anaVal  < levVal) 
   {
      digVal = LOW;
   }
   else // if (anaVal > levVal)  
   {
      digVal = HIGH;
   }
   //
   // Turn ON/OFF The Electromagnet;
   // With Base on Sensor Value and the Levitation Point;
   digitalWrite(digPin,  digVal);
   delayMicroseconds(dlyVal);
}
//---------------------------------------------------------|
void  value_log()
// Analogic/Digital/Levitation Values Print;
{
   // Show the  Hall Sensor Value;
   Serial.print("anaVal=[");
   Serial.print(anaVal);  
   Serial.print("]-");
   // Show the Electromagnet state On=1/Off=0;
   Serial.print("digVal=[");
   Serial.print(digVal);
   Serial.print("]-");
   // Show the Levitation Point Value;
   Serial.print("levVal=[");
   Serial.print(levVal);
   Serial.println("];");
}
//=========================================================|

Levitator_PID.ino

arduino

Code for Magnet Levitation toy with Arduino. Hard(PID version)

1//=========================================================|
2//     Ekobots  Innovation Ltda - www.ekobots.com.br        |
3//        Juan Sirgado y Antico  - www.jsya.com.br          |
4//---------------------------------------------------------|
5//      Program Magnetic Levitator PID - 2016/10/06        |
6//               All  rights reserved 2016                  |
7//=========================================================|
8int  anaPin = 1;   // Arduino Analogic Pin 1
9int digPin = 5;   // Arduino Digital  Pin 5
10int subPin = 7;   // Arduino Digital  Pin 7
11int addPin = 8;   // Arduino  Digital  Pin 8
12//
13int anaVal = 0;   // Analogic Valie
14int digVal = 0;   //  Digital Value
15//
16int levVal = 262; // Levitation Value
17int dlyVal = 10;  // Delay Value
18//
19float timVal = 0; // Time Value
20//---------------------------------------------------------|
21//  PID Values
22float setpoint = 0;
23float measured_value = 0;
24float output =  0;
25float integral = 0;
26float derivative = 0;
27float error = 0;
28float  previous_error = 0;
29float dt = 0.1;
30float Kp = 1.0;
31float Ki = 0.1;
32float  Kd = 0.01;
33//---------------------------------------------------------|
34void  setup()
35{
36   // Levitator initialization Begin; 
37   Serial.begin(57600);
38   Serial.println("Levitator by JSyA");
39   Serial.println("Starting...");
40   // Digital Pins Work Mode Setup;
41   pinMode(digPin, OUTPUT);
42   pinMode(addPin,  INPUT_PULLUP);
43   pinMode(subPin, INPUT_PULLUP);
44   //
45   timVal = millis();
46   setpoint = levVal;
47   // Levitator initialization End; 
48   Serial.println("Started.");
49}
50//---------------------------------------------------------|
51void  loop() // PID
52{
53   // Hall Sensor Read (Magnetic Field Intensity);
54   anaVal  = analogRead(anaPin);
55   // PID calculations
56   measured_value = anaVal;
57   error = setpoint - measured_value;
58   integral = integral + error * dt;
59   derivative = (error - previous_error) / dt;
60   output = (-Kp * error) + (-Ki  * integral) + (-Kd * derivative);
61   previous_error = error;
62   // Final value  setup
63   digVal += output;
64   // Check the value for levitation point;
65   if (digVal < 0) digVal=0;
66   if (digVal > 255) digVal=255;
67   // Increase/Decrease  the value for Electromagnet;
68   // With Base on Sensor Value and the Levitation  Point;
69   analogWrite(digPin, digVal);
70   // Show log values for debug;
71//   if((millis()-timVal) > 500)
72//   {
73//      value_log();
74//      timVal  = millis();
75//   }
76   // Increase The Value Of Levitation Point;
77   if  (digitalRead(addPin) == LOW) 
78   {
79      setpoint++;
80      value_log();
81      delay(250);
82   }
83   if (digitalRead(subPin) == LOW) 
84   {
85      setpoint--;
86      value_log();
87      delay(250);
88   }
89   // Time between electromagnet  state changes;
90   delayMicroseconds(dlyVal);
91}
92//---------------------------------------------------------|
93void  value_log()
94// Analogic/Digital/Levitation Values Print;
95{
96   // Show the  Hall Sensor Value;
97   Serial.print("anaVal=[");
98   Serial.print(anaVal);  
99   Serial.print("]-");
100   // Show the Electromagnet state On=1/Off=0;
101   Serial.print("digVal=[");
102   Serial.print(digVal);
103   Serial.print("]-");
104   // Show the Levitation Point Value;
105   Serial.print("setpoint=[");
106   Serial.print(setpoint);
107   Serial.println("];");
108}
109//=========================================================|
110

//=========================================================|
//     Ekobots  Innovation Ltda - www.ekobots.com.br        |
//        Juan Sirgado y Antico  - www.jsya.com.br          |
//---------------------------------------------------------|
//      Program Magnetic Levitator PID - 2016/10/06        |
//               All  rights reserved 2016                  |
//=========================================================|
int  anaPin = 1;   // Arduino Analogic Pin 1
int digPin = 5;   // Arduino Digital  Pin 5
int subPin = 7;   // Arduino Digital  Pin 7
int addPin = 8;   // Arduino  Digital  Pin 8
//
int anaVal = 0;   // Analogic Valie
int digVal = 0;   //  Digital Value
//
int levVal = 262; // Levitation Value
int dlyVal = 10;  // Delay Value
//
float timVal = 0; // Time Value
//---------------------------------------------------------|
//  PID Values
float setpoint = 0;
float measured_value = 0;
float output =  0;
float integral = 0;
float derivative = 0;
float error = 0;
float  previous_error = 0;
float dt = 0.1;
float Kp = 1.0;
float Ki = 0.1;
float  Kd = 0.01;
//---------------------------------------------------------|
void  setup()
{
   // Levitator initialization Begin; 
   Serial.begin(57600);
   Serial.println("Levitator by JSyA");
   Serial.println("Starting...");
   // Digital Pins Work Mode Setup;
   pinMode(digPin, OUTPUT);
   pinMode(addPin,  INPUT_PULLUP);
   pinMode(subPin, INPUT_PULLUP);
   //
   timVal = millis();
   setpoint = levVal;
   // Levitator initialization End; 
   Serial.println("Started.");
}
//---------------------------------------------------------|
void  loop() // PID
{
   // Hall Sensor Read (Magnetic Field Intensity);
   anaVal  = analogRead(anaPin);
   // PID calculations
   measured_value = anaVal;
   error = setpoint - measured_value;
   integral = integral + error * dt;
   derivative = (error - previous_error) / dt;
   output = (-Kp * error) + (-Ki  * integral) + (-Kd * derivative);
   previous_error = error;
   // Final value  setup
   digVal += output;
   // Check the value for levitation point;
   if (digVal < 0) digVal=0;
   if (digVal > 255) digVal=255;
   // Increase/Decrease  the value for Electromagnet;
   // With Base on Sensor Value and the Levitation  Point;
   analogWrite(digPin, digVal);
   // Show log values for debug;
//   if((millis()-timVal) > 500)
//   {
//      value_log();
//      timVal  = millis();
//   }
   // Increase The Value Of Levitation Point;
   if  (digitalRead(addPin) == LOW) 
   {
      setpoint++;
      value_log();
      delay(250);
   }
   if (digitalRead(subPin) == LOW) 
   {
      setpoint--;
      value_log();
      delay(250);
   }
   // Time between electromagnet  state changes;
   delayMicroseconds(dlyVal);
}
//---------------------------------------------------------|
void  value_log()
// Analogic/Digital/Levitation Values Print;
{
   // Show the  Hall Sensor Value;
   Serial.print("anaVal=[");
   Serial.print(anaVal);  
   Serial.print("]-");
   // Show the Electromagnet state On=1/Off=0;
   Serial.print("digVal=[");
   Serial.print(digVal);
   Serial.print("]-");
   // Show the Levitation Point Value;
   Serial.print("setpoint=[");
   Serial.print(setpoint);
   Serial.println("];");
}
//=========================================================|

Levitator.ino

arduino

Code for Magnet Levitation toy with Arduino. Easy(No PID)

1//=========================================================|
2//     Ekobots
3  Innovation Ltda - www.ekobots.com.br        |
4//        Juan Sirgado y Antico
5  - www.jsya.com.br          |
6//---------------------------------------------------------|
7//
8        Program Magnetic Levitator - 2016/02/06          |
9//               All
10  rights reserved 2016                  |
11//=========================================================|
12int
13  anaPin = 1;   // Arduino Analogic Pin 1;
14int digPin = 5;   // Arduino Digital
15  Pin 5;
16int subPin = 7;   // Arduino Digital  Pin 7;
17int addPin = 8;   //
18  Arduino Digital  Pin 8;
19//
20int     anaVal = 0;   // Analogic Read(Hall Sensor)
21  Value;
22boolean digVal = 0;   // Digital Write(Electromagnet) Value;
23//
24int
25  levVal = 228;   // Levitation Poit Value;
26int dlyVal = 250;   // Delay Value
27  Micro Seconds;
28//---------------------------------------------------------|
29void
30  setup()
31{
32   // Levitator initialization Begin; 
33   Serial.begin(57600);
34
35   Serial.println("Levitator by JSyA");
36   Serial.println("Starting...");
37
38   // Digital Pins Work Mode Setup;
39   pinMode(digPin, OUTPUT);
40   pinMode(subPin,
41  INPUT_PULLUP);
42   pinMode(addPin, INPUT_PULLUP);
43   // Levitator initialization
44  End; 
45   Serial.println("Started.");
46}
47//---------------------------------------------------------|
48void
49  loop() 
50{
51   // Hall Sensor Read (Magnetic Field Intensity);
52   anaVal
53  = analogRead(anaPin);
54   // Increase The Value Of Levitation Point;
55   if
56  (digitalRead(addPin) == LOW) 
57   {
58      levVal++;
59      value_log();
60
61      delay(250);
62   }
63   // Decrease The Value Of Levitation Point;
64   if
65  (digitalRead(subPin) == LOW) 
66   {
67      levVal--;
68      value_log();
69
70      delay(250);
71   }
72   // Check the Levitation Point;
73   if (anaVal
74  < levVal) 
75   {
76      digVal = LOW;
77   }
78   else // if (anaVal > levVal)
79  
80   {
81      digVal = HIGH;
82   }
83   //
84   // Turn ON/OFF The Electromagnet;
85
86   // With Base on Sensor Value and the Levitation Point;
87   digitalWrite(digPin,
88  digVal);
89   delayMicroseconds(dlyVal);
90}
91//---------------------------------------------------------|
92void
93  value_log()
94// Analogic/Digital/Levitation Values Print;
95{
96   // Show the
97  Hall Sensor Value;
98   Serial.print("anaVal=[");
99   Serial.print(anaVal);
100  
101   Serial.print("]-");
102   // Show the Electromagnet state On=1/Off=0;
103
104   Serial.print("digVal=[");
105   Serial.print(digVal);
106   Serial.print("]-");
107
108   // Show the Levitation Point Value;
109   Serial.print("levVal=[");
110   Serial.print(levVal);
111
112   Serial.println("];");
113}
114//=========================================================|
115

//=========================================================|
//     Ekobots
  Innovation Ltda - www.ekobots.com.br        |
//        Juan Sirgado y Antico
  - www.jsya.com.br          |
//---------------------------------------------------------|
//
        Program Magnetic Levitator - 2016/02/06          |
//               All
  rights reserved 2016                  |
//=========================================================|
int
  anaPin = 1;   // Arduino Analogic Pin 1;
int digPin = 5;   // Arduino Digital
  Pin 5;
int subPin = 7;   // Arduino Digital  Pin 7;
int addPin = 8;   //
  Arduino Digital  Pin 8;
//
int     anaVal = 0;   // Analogic Read(Hall Sensor)
  Value;
boolean digVal = 0;   // Digital Write(Electromagnet) Value;
//
int
  levVal = 228;   // Levitation Poit Value;
int dlyVal = 250;   // Delay Value
  Micro Seconds;
//---------------------------------------------------------|
void
  setup()
{
   // Levitator initialization Begin; 
   Serial.begin(57600);

   Serial.println("Levitator by JSyA");
   Serial.println("Starting...");

   // Digital Pins Work Mode Setup;
   pinMode(digPin, OUTPUT);
   pinMode(subPin,
  INPUT_PULLUP);
   pinMode(addPin, INPUT_PULLUP);
   // Levitator initialization
  End; 
   Serial.println("Started.");
}
//---------------------------------------------------------|
void
  loop() 
{
   // Hall Sensor Read (Magnetic Field Intensity);
   anaVal
  = analogRead(anaPin);
   // Increase The Value Of Levitation Point;
   if
  (digitalRead(addPin) == LOW) 
   {
      levVal++;
      value_log();

      delay(250);
   }
   // Decrease The Value Of Levitation Point;
   if
  (digitalRead(subPin) == LOW) 
   {
      levVal--;
      value_log();

      delay(250);
   }
   // Check the Levitation Point;
   if (anaVal
  < levVal) 
   {
      digVal = LOW;
   }
   else // if (anaVal > levVal)
  
   {
      digVal = HIGH;
   }
   //
   // Turn ON/OFF The Electromagnet;

   // With Base on Sensor Value and the Levitation Point;
   digitalWrite(digPin,
  digVal);
   delayMicroseconds(dlyVal);
}
//---------------------------------------------------------|
void
  value_log()
// Analogic/Digital/Levitation Values Print;
{
   // Show the
  Hall Sensor Value;
   Serial.print("anaVal=[");
   Serial.print(anaVal);
  
   Serial.print("]-");
   // Show the Electromagnet state On=1/Off=0;

   Serial.print("digVal=[");
   Serial.print(digVal);
   Serial.print("]-");

   // Show the Levitation Point Value;
   Serial.print("levVal=[");
   Serial.print(levVal);

   Serial.println("];");
}
//=========================================================|

Levitator_PID.ino

arduino

Code for Magnet Levitation toy with Arduino. Hard(PID version)

1//=========================================================|
2//     Ekobots
3  Innovation Ltda - www.ekobots.com.br        |
4//        Juan Sirgado y Antico
5  - www.jsya.com.br          |
6//---------------------------------------------------------|
7//
8      Program Magnetic Levitator PID - 2016/10/06        |
9//               All
10  rights reserved 2016                  |
11//=========================================================|
12int
13  anaPin = 1;   // Arduino Analogic Pin 1
14int digPin = 5;   // Arduino Digital
15  Pin 5
16int subPin = 7;   // Arduino Digital  Pin 7
17int addPin = 8;   // Arduino
18  Digital  Pin 8
19//
20int anaVal = 0;   // Analogic Valie
21int digVal = 0;   //
22  Digital Value
23//
24int levVal = 262; // Levitation Value
25int dlyVal = 10;
26  // Delay Value
27//
28float timVal = 0; // Time Value
29//---------------------------------------------------------|
30//
31  PID Values
32float setpoint = 0;
33float measured_value = 0;
34float output =
35  0;
36float integral = 0;
37float derivative = 0;
38float error = 0;
39float
40  previous_error = 0;
41float dt = 0.1;
42float Kp = 1.0;
43float Ki = 0.1;
44float
45  Kd = 0.01;
46//---------------------------------------------------------|
47void
48  setup()
49{
50   // Levitator initialization Begin; 
51   Serial.begin(57600);
52
53   Serial.println("Levitator by JSyA");
54   Serial.println("Starting...");
55
56   // Digital Pins Work Mode Setup;
57   pinMode(digPin, OUTPUT);
58   pinMode(addPin,
59  INPUT_PULLUP);
60   pinMode(subPin, INPUT_PULLUP);
61   //
62   timVal = millis();
63
64   setpoint = levVal;
65   // Levitator initialization End; 
66   Serial.println("Started.");
67}
68//---------------------------------------------------------|
69void
70  loop() // PID
71{
72   // Hall Sensor Read (Magnetic Field Intensity);
73   anaVal
74  = analogRead(anaPin);
75   // PID calculations
76   measured_value = anaVal;
77
78   error = setpoint - measured_value;
79   integral = integral + error * dt;
80
81   derivative = (error - previous_error) / dt;
82   output = (-Kp * error) + (-Ki
83  * integral) + (-Kd * derivative);
84   previous_error = error;
85   // Final value
86  setup
87   digVal += output;
88   // Check the value for levitation point;
89
90   if (digVal < 0) digVal=0;
91   if (digVal > 255) digVal=255;
92   // Increase/Decrease
93  the value for Electromagnet;
94   // With Base on Sensor Value and the Levitation
95  Point;
96   analogWrite(digPin, digVal);
97   // Show log values for debug;
98//
99   if((millis()-timVal) > 500)
100//   {
101//      value_log();
102//      timVal
103  = millis();
104//   }
105   // Increase The Value Of Levitation Point;
106   if
107  (digitalRead(addPin) == LOW) 
108   {
109      setpoint++;
110      value_log();
111
112      delay(250);
113   }
114   if (digitalRead(subPin) == LOW) 
115   {
116      setpoint--;
117
118      value_log();
119      delay(250);
120   }
121   // Time between electromagnet
122  state changes;
123   delayMicroseconds(dlyVal);
124}
125//---------------------------------------------------------|
126void
127  value_log()
128// Analogic/Digital/Levitation Values Print;
129{
130   // Show the
131  Hall Sensor Value;
132   Serial.print("anaVal=[");
133   Serial.print(anaVal);
134  
135   Serial.print("]-");
136   // Show the Electromagnet state On=1/Off=0;
137
138   Serial.print("digVal=[");
139   Serial.print(digVal);
140   Serial.print("]-");
141
142   // Show the Levitation Point Value;
143   Serial.print("setpoint=[");
144   Serial.print(setpoint);
145
146   Serial.println("];");
147}
148//=========================================================|
149

//=========================================================|
//     Ekobots
  Innovation Ltda - www.ekobots.com.br        |
//        Juan Sirgado y Antico
  - www.jsya.com.br          |
//---------------------------------------------------------|
//
      Program Magnetic Levitator PID - 2016/10/06        |
//               All
  rights reserved 2016                  |
//=========================================================|
int
  anaPin = 1;   // Arduino Analogic Pin 1
int digPin = 5;   // Arduino Digital
  Pin 5
int subPin = 7;   // Arduino Digital  Pin 7
int addPin = 8;   // Arduino
  Digital  Pin 8
//
int anaVal = 0;   // Analogic Valie
int digVal = 0;   //
  Digital Value
//
int levVal = 262; // Levitation Value
int dlyVal = 10;
  // Delay Value
//
float timVal = 0; // Time Value
//---------------------------------------------------------|
//
  PID Values
float setpoint = 0;
float measured_value = 0;
float output =
  0;
float integral = 0;
float derivative = 0;
float error = 0;
float
  previous_error = 0;
float dt = 0.1;
float Kp = 1.0;
float Ki = 0.1;
float
  Kd = 0.01;
//---------------------------------------------------------|
void
  setup()
{
   // Levitator initialization Begin; 
   Serial.begin(57600);

   Serial.println("Levitator by JSyA");
   Serial.println("Starting...");

   // Digital Pins Work Mode Setup;
   pinMode(digPin, OUTPUT);
   pinMode(addPin,
  INPUT_PULLUP);
   pinMode(subPin, INPUT_PULLUP);
   //
   timVal = millis();

   setpoint = levVal;
   // Levitator initialization End; 
   Serial.println("Started.");
}
//---------------------------------------------------------|
void
  loop() // PID
{
   // Hall Sensor Read (Magnetic Field Intensity);
   anaVal
  = analogRead(anaPin);
   // PID calculations
   measured_value = anaVal;

   error = setpoint - measured_value;
   integral = integral + error * dt;

   derivative = (error - previous_error) / dt;
   output = (-Kp * error) + (-Ki
  * integral) + (-Kd * derivative);
   previous_error = error;
   // Final value
  setup
   digVal += output;
   // Check the value for levitation point;

   if (digVal < 0) digVal=0;
   if (digVal > 255) digVal=255;
   // Increase/Decrease
  the value for Electromagnet;
   // With Base on Sensor Value and the Levitation
  Point;
   analogWrite(digPin, digVal);
   // Show log values for debug;
//
   if((millis()-timVal) > 500)
//   {
//      value_log();
//      timVal
  = millis();
//   }
   // Increase The Value Of Levitation Point;
   if
  (digitalRead(addPin) == LOW) 
   {
      setpoint++;
      value_log();

      delay(250);
   }
   if (digitalRead(subPin) == LOW) 
   {
      setpoint--;

      value_log();
      delay(250);
   }
   // Time between electromagnet
  state changes;
   delayMicroseconds(dlyVal);
}
//---------------------------------------------------------|
void
  value_log()
// Analogic/Digital/Levitation Values Print;
{
   // Show the
  Hall Sensor Value;
   Serial.print("anaVal=[");
   Serial.print(anaVal);
  
   Serial.print("]-");
   // Show the Electromagnet state On=1/Off=0;

   Serial.print("digVal=[");
   Serial.print(digVal);
   Serial.print("]-");

   // Show the Levitation Point Value;
   Serial.print("setpoint=[");
   Serial.print(setpoint);

   Serial.println("];");
}
//=========================================================|

Downloadable files

Board Schematic

Fritzing IDE

Board Schematic

Comments

Only logged in users can leave comments

jsirgado

0 Followers

•

0 Projects

Intro

213