The PiPid project is a C++ framework / GUI app to control physical processes. As this is a personnal project, it is more focused for a specific usage, a propeller attached to a rotating arm, see here for an example video.
This project requires :
- A Raspberry Pi (duh)
- WiringPi library (installed by default)
- Qt 5
- A system you have to control (duh²)
To instal the project, run the bootstrap.sh script from the cloned repo, then cd into build
and run make.
PiPid comes with a substantial amount of abstraction, allowing it to work on many devices.
Samplers represent the inputs of the system. This layer of abstraction allows the developper to adapt them to their specific application : sensors, simulated values, etc. Simply inherit the master class sampler.
As an example, the EncoderCounter represents an interface for a circular relative incremental encoder (IVO G314 - but this can probably be used with another coding wheel).
An Output object represents a controllable quantity that can be controlled. The example is a PWM-based ESC motor driver (similar to a servomotor).
The hearth of this library. For now, only a "basic" 1-dimensional PID is implemented.
- Develop your own sampler & output for your system
- Connect them to the PID (see
test/simple_pid.cppfor an example)
PLEASE exercise caution with your system, a bad configuration of the PID may cause damages to your system depending on what you're controlling (a high-speed propeller in my case, which could possibly cut off a finger). Do not hold me responsible for any harm / damages caused by PiPid!
A few small python tools are located in tools for a quick check-up of I/O devices. It is encouraged to try testing your output before hooking them up to the PID, first with a simple script then through a unit test of your C++ Class ;).