having trouble in 16f877a pid dc motor

[tarkleigh]

My thesis topic is dc motor speed control with pid controller.I have to use pic16f877a for pid controller.I dont know how to do it can anyone help me about it ?

Code: Select all

signed int pals=0;
unsigned int kod=0;
int bb=0;
float Kp =3 , Ki=500 , Kd=0.207;
float Setpoint=0;
float ut=0;
float InputValue=0;
//
float error,up,ui=0.0,ui_=0.0,error_=0.0,ud,d_error=0;


void InitTimer0(){
  OPTION_REG	 = 0x87;
  TMR0		 = 2;
  INTCON	 = 0xA0;
}

void Interrupt(){
  if (TMR0IF_bit){
    TMR0IF_bit	 = 0;
    TMR0		 = 2;
    bb++;
    if(bb==16){
    bb=0;
    }
  }
}
void interrupt1()
{
 if(INTF_bit){
 if (PORTB.RB1==PORTB.RB0){
 pals++;
}
 INTEDG_bit=~INTEDG_bit;
 INTF_bit=0;
}
if (bb==16){
pals=0;

}
}
void main(){
trisb=0b11100111;
trisc=0x00;
portc=0;
porta=0;
TMR0IF_bit = 1;
pwm1_init(30000);
pwm1_set_duty(0);
pwm1_start();
INTCON=0B01000000;

INTF_bit=0;
INTEDG_bit=0;
INTE_bit=1;
GIE_bit=1;
while(1){
//
const float MinOutput=-255;
const float MaxOutput=255;
  if (bb==15){
 InputValue = (pals/24)*4000*60;
 bb=0;

}
Setpoint=100;
  error=setpoint-inputvalue;
    //oransal deger
      up = error * Kp ;
  //integral degerinin hesabi
  ui=ui_ + (ki*error);
  // türevsel deger
    d_error=error-error_;
       ud=kd*(d_error);
  // toplam hesabi
  ut=up+ui+ud;
  // cikisi min ve max da sinirla
  if (ut < MinOutput)
    ut = MinOutput;
  if (ut > MaxOutput)
    ut = MaxOutput;

    ui_=ui;
    error_=error;


//

pwm1_set_duty(ut);
}
}