Encoder_LCD_sensori.ino

#include <Wire.h>
#include <LiquidCrystal_I2C.h>
#include <SensorDriverb.h>
#include <PID_v1.h>

// pin relè SSR
#define MR_PWM   13
#define MR_EN    12

// pin encoder
#define encoderPin1 2
#define encoderPin2 3

#define SENSORS_LEN 2 //numero di sensori 2
#define LENVALUES 2 //ogni sensore misura T e H

unsigned long starTime;
unsigned long Time;
const unsigned long period = 1000;
double Hambientale[SENSORS_LEN];  //alloco valori H e T
double Tambientale[SENSORS_LEN];

//encoder
volatile int lastEncoded = 0;
volatile long encoderValue = 0;
long lastencoderValue = 0; 
int lastMSB = 0;
int lastLSB = 0;
int Tset;

//pad riscaldante
bool printed = true;
double Tambient;
double Hambient;

//pid
 double Setpoint=23; // T desiderata
 double Input=0; // Tambient
 double Output=0; // PWMpad
 double Kp=35; //32
 double Ki=0.5; //0.01
 double Kd=0;

 PID myPID(&Input, &Output, &Setpoint, Kp, Ki, Kd, DIRECT);
 
 LiquidCrystal_I2C lcd(0x27, 20, 4);
 
//inizializzo display
void init_lcd() { 
    lcd.init();
    lcd.backlight();   
    lcd.clear();
    lcd.setCursor(0,0);
    lcd.print("PWMpad: ");
}

// funzione chiamata da interrupts encoder
void updateEncoder(){
  int MSB = digitalRead(encoderPin1); //MSB = most significant bit
  int LSB = digitalRead(encoderPin2); //LSB = least significant bit
 
  int encoded = (MSB << 1) |LSB; //converting the 2 pin value to single number
  int sum  = (lastEncoded << 2) | encoded; //adding it to the previous encoded value
 
  if(sum == 0b1101 || sum == 0b0100 || sum == 0b0010 || sum == 0b1011) encoderValue --;
  if(sum == 0b1110 || sum == 0b0111 || sum == 0b0001 || sum == 0b1000) encoderValue ++;
 
  lastEncoded = encoded; //store this value for next time   
}


struct sensor_t 
{
  char driver[5];         // driver name
  char type[5];         // driver name
  int address;            // i2c address
} sensors[SENSORS_LEN];
SensorDriver* sd[SENSORS_LEN]; // sensorDriver* pointer variable


void SensorConfiguration (){
   
  strcpy(sensors[0].driver,"I2C");  //scrivo nella prima struct (sensors[0]) info sensore 1
  strcpy(sensors[0].type,"HIH");
  sensors[0].address=0x28; // sensore bianco
 
  strcpy(sensors[1].driver,"I2C"); //scrivo nella seconda struct (sensors[1]) info sensore 2
  strcpy(sensors[1].type,"HIH");
  sensors[1].address=0x29; // sensore rosso

  for (int i = 0; i < SENSORS_LEN; i++) {
   sd[i]=SensorDriver::create(sensors[i].driver,sensors[i].type);
   if (sd[i] == NULL){
      Serial.print(sensors[i].driver);
      Serial.println(": driver not created !");
    }else{
      sd[i]->setup(sensors[i].driver,sensors[i].address);
    }
  } 
   
}

void SensorReady (){ 
  
  long unsigned int waittime,maxwaittime=0;

  // prepare sensors to measure
  for (int i = 0; i < SENSORS_LEN; i++) {
    if (!sd[i] == NULL){
      if (sd[i]->prepare(waittime) == SD_SUCCESS){
//        Serial.print(sensors[i].driver);
//        Serial.print(" : ");
//        Serial.print(sensors[i].type);
//        Serial.println(" : Prepare OK");
        maxwaittime=max(maxwaittime,waittime);
      }else{
//       Serial.print(sensors[i].driver);
//       Serial.print(" : ");
//       Serial.print(sensors[i].type);
//       Serial.println(" : Prepare failed !");
      }
    }
  }

  //wait sensors to go ready
  Serial.print("# wait sensors for ms:");  Serial.println(maxwaittime);
  delay(maxwaittime);  // 500 for tmp and 250 for adt and 2500 for davis
  
}
 
void setup() {

  starTime= millis(); //start counting the time
  init_lcd();
  SensorConfiguration();
  
  Serial.begin(115200);
  Wire.begin();
  
  pinMode(encoderPin1, INPUT_PULLUP); // encoder
  pinMode(encoderPin2, INPUT_PULLUP);
  pinMode(MR_PWM,OUTPUT); //relè
  pinMode(MR_EN,OUTPUT);
  digitalWrite(MR_EN, HIGH);
  
  myPID.SetMode(AUTOMATIC);
 
  attachInterrupt(0, updateEncoder, FALLING);
  attachInterrupt(1, updateEncoder, FALLING);
}
 
void loop(){ 

  Tset=23+encoderValue/2;
  
  //Serial.print("Tsettata: ");
  //Serial.println(Tset);
  
  lcd.setCursor(0,3);
  lcd.print("T set "); 
  lcd.setCursor(6,3);
  lcd.print(Tset);

  SensorReady();

  for (int i = 0; i < SENSORS_LEN; i++) {
    Serial.println("  ");
    Serial.print("numero sensore: ");
    Serial.println(i+1);
    if (!sd[i] == NULL){
      long values[LENVALUES]; // get integers value
      size_t lenvalues=LENVALUES;
      
      if (sd[i]->get(values,lenvalues) == SD_SUCCESS){
        
        Hambientale[i] = (values[0]); // umidità
//        
//        Serial.print("Umidità:  ");
//        Serial.print(Hambientale[i]);
//        Serial.println();
        
        lcd.setCursor (9,i+1);
        lcd.print("H");
        lcd.setCursor(10,i+1);
        lcd.print(i+1);
        lcd.setCursor (12,i+1);
        lcd.print(Hambientale[i]);

        Tambientale[i] = (float(values[1])/100.)-273.15; // trasformazione temperatura 
        
//        Serial.print("Temperatura:  ");
//        Serial.print(cacca);
//        Serial.println();
        
        lcd.setCursor (0,i+1);
        lcd.print("T");
        lcd.setCursor(1,i+1);
        lcd.print(i+1);
        lcd.setCursor (3,i+1);
        lcd.print(Tambientale[i]);
    
        Time = millis();  //get the current "time" (actually the number of milliseconds since the program started)
        if (Time - starTime >= period)  //test whether the period has elapsed
        {
          starTime = Time;  //IMPORTANT to save the start time of the current LED state.
        }
        
      }else{
      Serial.println("Error");
      }
    }
  }
  
  Input = (Tambientale[0]+ Tambientale[1])/2;
  lcd.setCursor(9,3);
  lcd.print("Ta ");
  lcd.setCursor(13,3);
  lcd.print(int(Input));  
  Setpoint=Tset;
  myPID.Compute();
  lcd.setCursor(10,0);
  lcd.print(Output);
  analogWrite(MR_PWM, Output);
  lcd.setCursor(12,3);
  lcd.print(Input);   
  
}