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PID Values for Thorlabs BDC Servo #54

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PID Values for Thorlabs BDC Servo #54

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50 changes: 49 additions & 1 deletion ThorlabsBDCServo/ThorlabsBDCServo.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -44,6 +44,8 @@
#include <iostream>
#include <qdebug.h>

#include "../DataObject/dataobj.h"

QList<QByteArray> ThorlabsBDCServo::openedDevices = QList<QByteArray>();
int ThorlabsBDCServo::numberOfKinesisSimulatorConnections = 0;

Expand Down Expand Up @@ -251,6 +253,13 @@ ThorlabsBDCServo::ThorlabsBDCServo() :
1,
m_async,
tr("asynchronous (1) or synchronous (0) mode").toLatin1().data()));
m_params.insert(
"DCPID",
ito::Param(
"DCPID",
ito::ParamBase::DObjPtr,
nullptr,
tr("Parameters of the motor's PID loop for each axis ((P,I,D, IntLim, EnableBitmask), (P,I,D, IntLim, EnableBitmask), ..). (Adjust if motor oscillates or does not reach setpoint").toLatin1().data()));

m_currentPos.fill(0.0, 1);
m_currentStatus.fill(0, 1);
Expand Down Expand Up @@ -518,7 +527,20 @@ ito::RetVal ThorlabsBDCServo::init(

m_params["backlash"].setMeta(
new ito::DoubleArrayMeta(0.0, 5.0, 0.0, m_numChannels, m_numChannels));


ito::DataObject PIDValues(m_numChannels, 5, ito::tInt16);
for (int i = 0; i < m_numChannels; ++i)
{
MOT_DC_PIDParameters PID_params;
BDC_GetDCPIDParams(m_serialNo, &PID_params, m_channelIndices[i]);
PIDValues.at<ito::int16>(i, 0) = PID_params.proportionalGain;
PIDValues.at<ito::int16>(i, 1) = PID_params.integralGain;
PIDValues.at<ito::int16>(i, 2) = PID_params.differentialGain;
PIDValues.at<ito::int16>(i, 3) = PID_params.integralLimit;
PIDValues.at<ito::int16>(i, 4) = PID_params.parameterFilter;
}
m_params["DCPID"].setVal<ito::DataObject*>(&PIDValues);

m_params["firmwareVersion"].setVal<int>(
(int)BDC_GetFirmwareVersion(m_serialNo, m_channelIndices[0]));

Expand Down Expand Up @@ -833,6 +855,32 @@ ito::RetVal ThorlabsBDCServo::setParam(
retValue += getStatus(status, NULL);
}
}
else if (key == "DCPID")
{
ito::DataObject* new_DCPID = val->getVal<ito::DataObject*>();
for (int i = 0; i < m_numChannels; ++i)
{
MOT_DC_PIDParameters pid_params;
pid_params.proportionalGain = new_DCPID->at<ito::int16>(i, 0);
pid_params.integralGain= new_DCPID->at<ito::int16>(i, 1);
pid_params.differentialGain = new_DCPID->at<ito::int16>(i, 2);
pid_params.integralLimit = new_DCPID->at<ito::int16>(i, 3);
pid_params.parameterFilter = new_DCPID->at<ito::int16>(i, 4);
retValue += checkError(
BDC_SetDCPIDParams(m_serialNo, &pid_params, m_channelIndices[i]),
"set PID values");
}
if (!retValue.containsError())
{
it->copyValueFrom(&(*val));
}
else
{
Sleep(160);
QSharedPointer<QVector<int>> status(new QVector<int>(m_numChannels, 0));
retValue += getStatus(status, NULL);
}
}
//---------------------------
else
{
Expand Down