the code below are $[$Placeholders$].$ These placeholders indicate where the desired code should be to accomplish PI control.Do the following.

Make your choice by completing the matching question below.

Once you have made your selection in the matching question you need to do the following as well.

Submit the code. You can add your code at the bottom of this test.,

Test your code by simulating it in SimulIDE and add a screenshot of the oscilloscope output and submit this as well at the bottom together with your code.

Code to be modified

const int analogInputPin $=$ A$0$; $//$ ADC input pin $($A$0)$

const int pwmOutputPin $=9$; $//$ PWM output pin $($OC$1$A$,$ pin $9$ on most Arduinos$)$

const float setpointVoltage $=1\mathrm{.}0$; $//$ Desired setpoint in volts

const float Kp $=1\mathrm{.}042$; $//$ Proportional gain

unsigned long previousMillis $=0$;

const long interval $=10$; $//$ Sampling interval in milliseconds $(10$ms$)$

void setup$()\{$

pinMode$($pwmOutputPin$,$ OUTPUT$)$; $//$ Set pin $9$ as output for PWM

$//$ Configure Timer$1$ for $10-$bit Fast PWM mode

TCCR$1$A $=(1<<$ WGM$11)|(1<<$ WGM$10)|(1<<$ COM$1$A$1)$;

TCCR$1$B $=(1<<$ WGM$12)|(1<<$ CS$11)$; $//$ Set prescaler to $8$

$\}$

void loop$()\{$

unsigned long currentMillis $=$ millis$()$;

if $($currentMillis $-$ previousMillis $>=$ interval$)\{$

previousMillis $=$ currentMillis;

int adcValue $=$ analogRead$($analogInputPin$)$; $//$ Read the ADC value

float setpoint $=($setpointVoltage $*1023\mathrm{.}0)/5\mathrm{.}0$;

float error $=$ setpoint $-$ adcValue; $//$ Calculate the error signal

$//$ Proportional control

float proportionalTerm $=$ Kp $*$ error;

$//[$Placeholder $1]$

$//[$Placeholder $2]$

$//[$Placeholder $3]$

$//$ Calculate control output

float controlOutput $=$ proportionalTerm $+[$Placeholder $4]$;

$//$ Constrain control output to valid $10-$bit PWM range

controlOutput $=$ constrain$($controlOutput$,0\mathrm{.}0,1023\mathrm{.}0)$;

OCR$1$A $=$ static$\_$cast$($controlOutput$)$; $//$ Set PWM output on pin $9($OC$1$A$)$

$\}$

$\}$

Question $45$

Prompt

$1$

$[$Placeholder $1]$

Answer

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Question $45$

Prompt

$2$

$[$Placeholder $2]$

Answer

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Question $45$

Prompt

$3$

$[$Placeholder $3]$

Answer

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Question $45$

Prompt

$4$

$[$Placeholder $4]$

Answer

Select match

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