File content as of revision 7:52b459308d55:

#include "mbed.h"
#include "keypad.h"
#include "TextLCD.h"
#include "stdlib.h"
#include "QEI.h"

/******************* IO ********************/
DigitalOut E_1(D8,0);         // Control de electrovalvula 1
DigitalOut E_2(D9,0);         // Control de electrovalvula 2
DigitalOut E_3(D10,0);         // Control de electrovalvula 3
DigitalOut E_4(D12,0);         // Control de electrovalvula 4
QEI encoder(PD_6,PD_5,NC,4576,QEI::X2_ENCODING);
PwmOut motor_plus(PB_8);
PwmOut motor_cero(PB_9);        // Variables para el motor


/******************* INTERRUPCIONES ********************/
Timeout t;
InterruptIn button(USER_BUTTON);    // Cancelar operación

/*******************VARIABLES********************/
int tempUser1 = 5;                  // Tiempo tope de electrocoagulacion
int tempUser2 = 5;                  // Tiempo tope de reposo de la vinaza
int tempUser3 = 5;                  // Tiempo tope de vaciado del agua en el tanque 2
int tempUser4 = 5;                  // Tiempo tope de vaciado de residuos en el tanque 2
int pwm = 50.0f;                       // Duty cycle del motor
int tiempoLlenado = 5;              // Tiempo de llenado del tanque 1

int a = 0;
int b = 0;
int c = 0;
int running = 0;
int finished = 0;
int canceled = 0;
int campo = 1;

float y; //vel
float pwm_pas=50;   
float e=0;
float r=1.0f;
float e_pas=0;

/******************** TECLADO Y LCD ***********************/
Serial pc(USBTX, USBRX); //rs, e,d4,d5,d6,d7
TextLCD lcd(PC_8,PC_9,PC_10,PC_11,PC_12,PD_2);
Keypad keypad(D3, D2, D1, D0, D7, D6, D5, D4);

/********************* FUNCIONES **************************/

void printLCD()
{
    while(1) {
        lcd.cls();
        lcd.locate(0,0);
        lcd.printf("t1=%d",tempUser1);
        lcd.locate(6,0);
        lcd.printf("t2=%d",tempUser2);
        lcd.locate(0,1);
        lcd.printf("t3=%d",tempUser3);
        lcd.locate(6,1);
        lcd.printf("t4=%d",tempUser4);
        lcd.locate(12,0);
        lcd.printf("PWM");
        lcd.locate(12,1);
        lcd.printf("%d",pwm);
        wait_ms(150);
        switch(campo) {
            case  1:
                lcd.locate(0,0);
                lcd.printf("t1=   ",tempUser1);
                break;
            case  2:
                lcd.locate(6,0);
                lcd.printf("t2=   ",tempUser2);
                break;
            case  3:
                lcd.locate(0,1);
                lcd.printf("t3=   ",tempUser3);
                break;
            case  4:
                lcd.locate(6,1);
                lcd.printf("t4=   ",tempUser4);
                break;
            case  5:
                lcd.locate(12,1);
                lcd.printf("   ");
            default:
                ;
                break;
        }
        wait_ms(150);
    }
}

int getNum()
{
    while(1) {
        char key = keypad.getKey();
        switch(key) {
            case '0':
                return 0;
            case '1':
                return 1;
            case '2':
                return 2;
            case '3':
                return 3;
            case '4':
                return 4;
            case '5':
                return 5;
            case '6':
                return 6;
            case '7':
                return 7;
            case '8':
                return 8;
            case '9':
                return 9;
            case 'A':
                campo++;
                if(campo==6) campo=1;
                return -1;
            //case 'B': return -2;
            //case 'C': return -3;
            case 'D':
                return -4;
            default:
                ;
                break;
        }
        wait_ms(100);
    }
}

/*********************** MAIN ***************************/

void init()
{
    E_1 = 0;
    E_2 = 0;
    E_3 = 0;
    E_4 = 0;
    keypad.enablePullUp();
    wait(1);
    lcd.locate(0,0);
    lcd.printf("  Control para\n");
    lcd.locate(0,1);
    lcd.printf("electrocoagular\n");
    wait(1.5);
    
    return;
}

void setUserTimes()
{
    while(1) {
setvalue:
        a = 100*getNum();
        wait_ms(200);
        if(a==-1)goto setvalue;
        if(a==-4)break;
        b = 10*getNum();
        wait_ms(200);
        if(b==-1)goto setvalue;
        if(b==-4)break;
        c = getNum();
        wait_ms(200);
        if(c==-1)goto setvalue;
        if(c==-4)break;

        switch(campo) {
            case 1:
                tempUser1=a+b+c;
                break;
            case 2:
                tempUser2=a+b+c;
                break;
            case 3:
                tempUser3=a+b+c;
                break;
            case 4:
                tempUser4=a+b+c;
                break;
            case 5:
                pwm=a+b+c;
                break;
            default:
                ;
                break;
        }
        wait_ms(200);
    }
    return;
}

void vaciadoSolido()
{
    E_4 = 0;
    finished = 1;
}

void vaciadoLiquido()
{
    E_3 = 0;
    E_4 = 1;
    t.attach(&vaciadoSolido, tempUser4);
}

void reposo()
{
    E_3 = 1;
    t.attach(&vaciadoLiquido, tempUser3);
}

void vaciado1()
{
    E_2 = 0;
    t.attach(&reposo, tempUser2);
    motor_plus.write(0.0f);
}

void electro()
{
    motor_plus.write((float)pwm/100);
    motor_cero.write(0.0f);
    E_2 = 1;
    t.attach(&vaciado1, tiempoLlenado);
}

void tiempoValvula1()
{
    E_1 = 0;
    //motor_plus.write( pwm/100);
    t.attach(&electro, tempUser1);
    
    
            y = encoder.getSumangle();
            e=r-y;
            pwm=(1.639*e)-(1.341*e_pas)+(pwm_pas);
            pwm_pas=pwm;
            e_pas=e;
            motor_plus.write((float)pwm*0.01f);
    
    
    
}

void cancel_op()
{
    canceled = 1;
    t.detach();
}

int main()
{
    
    motor_plus.period(0.015f);
    motor_cero.write(0.0f);

    button.rise(&cancel_op);
    while(1) {
        if(running==0) {
            running = 1;
            init();
            Thread lcdprint;
            lcdprint.start(printLCD);
            


            campo = 1;
            setUserTimes();

            campo = 0;
            finished = 0;
            canceled = 0;
            E_1 = 1;

            t.attach(&tiempoValvula1, tiempoLlenado);

        }
        if(finished == 1) {
            lcd.cls();
            lcd.locate(0,0);
            lcd.printf("Finalizado\n");
            running = 0;
            wait(2);
        }
        if(canceled == 1) {
            lcd.cls();
            lcd.locate(0,0);
            lcd.printf("Operacion\n");
            lcd.locate(0,1);
            lcd.printf("cancelada\n");
            running = 0;
            wait(2);
        }
    }
}