init commit

.gitmodules

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+[submodule "lib/Arduino-PID-Library"]
+	path = lib/Arduino-PID-Library
+	url = https://github.com/br3ttb/Arduino-PID-Library
+[submodule "lib/DMXSerial"]
+	path = lib/DMXSerial
+	url = https://github.com/mathertel/DMXSerial

lib/Arduino-PID-Library

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+Subproject commit 524a4268fc01e6ea397e7fc5b5d820741e9b662f

lib/DMXSerial

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+Subproject commit 46745295694eda720361a18b21ac3d5cba6d872f

lib/README

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+
+This directory is intended for project specific (private) libraries.
+PlatformIO will compile them to static libraries and link into executable file.
+
+The source code of each library should be placed in an own separate directory
+("lib/your_library_name/[here are source files]").
+
+For example, see a structure of the following two libraries `Foo` and `Bar`:
+
+|--lib
+|  |
+|  |--Bar
+|  |  |--docs
+|  |  |--examples
+|  |  |--src
+|  |     |- Bar.c
+|  |     |- Bar.h
+|  |  |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
+|  |
+|  |--Foo
+|  |  |- Foo.c
+|  |  |- Foo.h
+|  |
+|  |- README --> THIS FILE
+|
+|- platformio.ini
+|--src
+   |- main.c
+
+and a contents of `src/main.c`:
+```
+#include <Foo.h>
+#include <Bar.h>
+
+int main (void)
+{
+  ...
+}
+
+```
+
+PlatformIO Library Dependency Finder will find automatically dependent
+libraries scanning project source files.
+
+More information about PlatformIO Library Dependency Finder
+- https://docs.platformio.org/page/librarymanager/ldf.html

platformio.ini

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+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+[env:uno]
+platform = atmelavr
+board = uno
+framework = arduino
+lib_deps = DMXSerial

src/main.cpp

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+#include <Arduino.h>
+#include <DMXSerial.h>
+#include <PID_v1.h>
+
+
+// #define SENSOR_PIN A0
+#define RPWM_PIN 10
+#define LPWM_PIN 11
+#define L_EN_PIN 12
+#define R_EN_PIN 13
+#define ENCODER_A 2
+#define ENCODER_B 3
+
+const int DMX_CHANNEL = 1;
+
+double pidGain;
+double currentPosition = 0; 
+double targetPosition = 50;
+int positionDif = 0;
+double pidPwm = 0;
+
+
+PID pid(&currentPosition, &pidPwm, &targetPosition, 2, 5, 1, DIRECT);
+
+void updateEncoder() {
+  if (digitalRead(ENCODER_B) == LOW) {
+    currentPosition++; // CCW
+  } else {
+    currentPosition--; // CW
+  }
+}
+
+void setup() {
+    DMXSerial.init(DMXReceiver);
+    DMXSerial.write(DMX_CHANNEL, 0);
+
+    pinMode(RPWM_PIN, OUTPUT);
+    pinMode(LPWM_PIN, OUTPUT);
+    pinMode(L_EN_PIN, OUTPUT);
+    pinMode(L_EN_PIN, OUTPUT);
+    pinMode(ENCODER_A, INPUT_PULLUP);
+    pinMode(ENCODER_B, INPUT_PULLUP);
+
+    attachInterrupt(digitalPinToInterrupt(ENCODER_A), updateEncoder, RISING);
+
+    pid.SetMode(AUTOMATIC);
+    // pid.SetSampleTime(50);
+    pid.SetOutputLimits(-255, 255);
+
+
+    pinMode(5, OUTPUT);
+    pinMode(6, OUTPUT);
+}
+
+
+void loop() {
+    // Calculate how long no data bucket was received
+    if (DMXSerial.noDataSince() < 5000) {
+
+        // read recent DMX values and set pwm levels
+        // pidGain = 0.0001 + (0.002 * (DMXSerial.read(DMX_CHANNEL + 1) / 255));
+        // float kP = 10 * (DMXSerial.read(DMX_CHANNEL + 2) / 255);
+        // float kI = 10 * (DMXSerial.read(DMX_CHANNEL + 3) / 255);
+        // float kD = 10 * (DMXSerial.read(DMX_CHANNEL + 4) / 255);
+
+        // pid.SetTunings(kP, kI, kD);
+
+        targetPosition = (DMXSerial.read(DMX_CHANNEL) - 100) * 6; // 0-200. 100 is center, <100 is CW, >100 is CCW. 0 & 200 are 360 degrees
+
+        // PID
+        pid.Compute();
+
+        // positionDif = targetPosition - currentPosition;
+        // pidPwm += (positionDif - pidPwm) * pidGain;
+        // if (pidPwm > 255) pidPwm = 255;
+        // if (pidPwm < -255) pidPwm = -255;
+
+      if (abs(pidPwm > 150)) {
+        digitalWrite(R_EN_PIN, 1);
+        digitalWrite(L_EN_PIN, 1);
+          if (pidPwm > 0) {
+              analogWrite(RPWM_PIN, 0);
+              analogWrite(LPWM_PIN, pidPwm);
+
+              analogWrite(5, 0);
+              analogWrite(6, pidPwm);
+          } else {
+              analogWrite(LPWM_PIN, 0);
+              analogWrite(RPWM_PIN, -pidPwm);
+
+              analogWrite(6, 0);
+              analogWrite(5, -pidPwm);
+          }
+      } else {
+        digitalWrite(R_EN_PIN, 0);
+        digitalWrite(L_EN_PIN, 0);
+      }
+
+    } else {
+      digitalWrite(R_EN_PIN, 0);
+      digitalWrite(L_EN_PIN, 0);
+    }
+}