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- #include "labduino.h"
- #include <TimerThree.h>
- int temperatura;
- unsigned char Pwm_Set = 0;
- int kp = 0.6;
- int uchyb = 0;
- int temperatura_zadana = 60;
- int zaklocenie;
- void Timer3ISR() {
- static boolean output = HIGH;
- if (temperatura_zadana == 0) digitalWrite(LED1, 0);
- else digitalWrite(LED1, 1);
- if (!digitalRead(SW1) & temperatura_zadana >= 5) temperatura_zadana -= 5; // zmniejsz temp.
- if (temperatura_zadana == 65) digitalWrite(LED2, 0);
- else digitalWrite(LED2, 1);
- if (!digitalRead(SW2) & temperatura_zadana <= 60) temperatura_zadana += 5; // zmniejsz temp.
- if (digitalRead(SW3)) digitalWrite(LED3, 1);
- else { // dodaj zakłócenie
- digitalWrite(LED3, 0);
- zaklocenie = rand() % 10;
- Serial.print("Zaklocenie ma wartosc: ");
- Serial.println(zaklocenie);
- }
- uchyb = temperatura_zadana - temperatura;
- Pwm_Set += uchyb;
- analogWrite(M1_EN, Pwm_Set);
- analogWrite(M2_EN, - Pwm_Set);
- analogWrite(M3_EN, Pwm_Set);
- analogWrite(M4_EN, -Pwm_Set);
- }
- void setup() {
- labduinoSetup();
- sensors.begin();
- Timer3.initialize(100000);
- Timer3.attachInterrupt(Timer3ISR);
- Serial.begin(9600);
- if (!sensors.getAddress(sensor, 0)) Serial.println("Nie znaleziono chipu DS18B20");
- }
- void loop() {
- temperatura = analogRead(LM35);
- sensors.requestTemperatures();
- float tempC = sensors.getTempC(sensor);
- Serial.println(String(temperatura) + String(" ; ") + String(tempC));
- Serial.print("Temperatura zadana: ");
- Serial.println(temperatura_zadana);
- }
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