andres castaño
Programa Final
Dependencies: mbed PID motoresDC
Revision 0:27f6b9086106, committed 2020-11-27
- Comitter:
- 20172573073
- Date:
- Fri Nov 27 23:41:33 2020 +0000
- Commit message:
- Programa;
Changed in this revision
diff -r 000000000000 -r 27f6b9086106 PID.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/PID.lib Fri Nov 27 23:41:33 2020 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/aberk/code/PID/#6e12a3e5af19
diff -r 000000000000 -r 27f6b9086106 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Fri Nov 27 23:41:33 2020 +0000
@@ -0,0 +1,223 @@
+#include "mbed.h"
+#include "PID.h"
+#include "motoresDC.h"
+#include "rtos.h"
+
+InterruptIn PIN_in(D2);
+DigitalOut r1(D3);
+DigitalOut r2(D4);
+MotoresDC carro(PTE31,D3, D4, D9, D12, D13);
+Timer t;
+Serial pc(USBTX, USBRX);
+Thread thread1;
+Thread thread2;
+Thread thread3;
+Thread thread4;
+
+Semaphore one_slot(1);
+Mutex mutex1;
+
+volatile uint8_t n;
+float timeold;
+unsigned int N;
+int x=0,z=0,q=0,dato=-1,dato1,dato2,dato3,dato4,dato5,dato6,dato7,dato8;
+float v,h,dkp,dki,dkd,dset,N1;
+float kp=2.0,ki=5.0,kd=1.0;
+
+PID mypid(kp,ki,kd,0.01);
+void enco()
+{
+ one_slot.release();
+ one_slot.wait();
+ n++;
+ one_slot.release();
+}
+void interrupcion_serial(void)
+{
+ one_slot.release();
+ one_slot.wait();
+ dato=pc.getc();
+ if(z==8) {
+ z=0;
+ }
+ one_slot.release();
+
+}
+void motor()
+{
+ while(1) {
+ if(q==8) {
+
+ if (t.read_ms() - timeold >= 1000) {
+
+ N = ( n * 60 ) / (( t.read_ms() - timeold )/ 1000 * 20 );
+ n = 0;
+ timeold = t.read_ms();
+ //v = N * 3.1416 * 24 * 60 / 1000000;
+ N1=(float(N)*(3.3))/120.0;
+
+ //Thread::wait(1000);
+
+ }
+
+ }
+ }
+}
+void piD (){
+ while(1){
+ one_slot.release();
+ one_slot.wait();
+ mypid.setSetPoint(dset);
+ mypid.setTunings(dkp,dki,dkd);
+ mypid.setProcessValue(float(N));
+ h=mypid.compute();
+ carro.motorIzq(h);
+ one_slot.release();
+ }
+ }
+void serial()
+{
+ while(1) {
+ if(q==8) {
+
+ one_slot.release();
+ one_slot.wait();
+ //pc.printf("kp: %f ki: %f kd: %f set: %f ",dkp,dki,dkd,dset);
+ //pc.printf("RPM: %d km/h: %f ",N,v);
+ // pc.printf("RPM: %d N1: %f ",N,N1);
+ //pc.printf("PWM: %f setPont: %f \n\r",h,dset);
+ int N3=int(N*42);
+ pc.printf("%d\n",N3);
+ Thread::wait(300);
+ one_slot.release();
+
+ }
+ }
+}
+void conver()
+{
+ switch(dato) {
+ case '1':
+ x=1;
+ break;
+ case '2':
+ x=2;
+ break;
+ case '3':
+ x=3;
+ break;
+ case '4':
+
+ x=4;
+ break;
+ case '5':
+ x=5;
+ break;
+ case '6':
+ x=6;
+ break;
+ case '7':
+ x=7;
+ break;
+ case '8':
+ x=8;
+ break;
+ case '9':
+ x=9;
+ break;
+ case '0':
+ x=0;
+ break;
+ }
+
+}
+void inicial()
+{
+ while(1) {
+ if(z==0 && dato>0) {
+ conver();
+ dato1=x;
+ dato=-1;
+ // pc.printf("d1: %d \n\r",dato1);
+ z=1;
+ } else if (z==1 && dato>0) {
+ conver();
+ dato2=x;
+ dato=-1;
+ // pc.printf("d2: %d \n\r",dato2);
+ z=2;
+ dkp=float(dato1)+float(dato2*0.1);
+ // pc.printf("dkp: %f \n\r",dkp);
+ } else if (z==2 && dato>0) {
+ conver();
+ dato3=x;
+ dato=-1;
+ // pc.printf("d3: %d \n\r",dato3);
+ z=3;
+ } else if (z==3 && dato>0) {
+ conver();
+ dato4=x;
+ dato=-1;
+ // pc.printf("d4: %d \n\r",dato4);
+ z=4;
+ dki=float(dato3)+float(dato4*0.1);
+ // pc.printf("dki: %f \n\r",dki);
+
+ } else if (z==4 && dato>0) {
+ conver();
+ dato5=x;
+ dato=-1;
+ // pc.printf("d5: %d \n\r",dato5);
+ z=5;
+ } else if (z==5 && dato>0) {
+ conver();
+ dato6=x;
+ dato=-1;
+ // pc.printf("d6: %d \n\r",dato6);
+ z=6;
+ dkd=float(dato5)+float(dato6*0.1);
+ // pc.printf("dkd: %f \n\r",dkd);
+
+ } else if (z==6 && dato>0) {
+ conver();
+ dato7=x;
+ dato=-1;
+ // pc.printf("d7: %d \n\r",dato7);
+ z=7;
+ } else if (z==7 && dato>0) {
+ conver();
+ dato8=x;
+ dato=-1;
+ // pc.printf("d8: %d m: %d \n\r",dato8);
+ z=8;
+ q=8;
+ dset=float(dato7*10)+float(dato8);
+ // pc.printf("dset: %f \n\r",dset);
+ mypid.reset();
+
+ }
+
+
+ }
+}
+int main()
+{
+ pc.baud(9600);
+ PIN_in.mode(PullUp);
+ PIN_in.fall(&enco);
+ pc.attach(&interrupcion_serial);
+ thread1.start(motor);
+ thread2.start(serial);
+ thread3.start(inicial);
+ thread4.start(piD);
+ mypid.setOutputLimits(0.0,1.0);
+ mypid.setMode(1);
+ carro.frenarIzq();
+ carro.detenerIzq();
+ r1=1;
+ r2=0;
+ t.start();
+ thread4.join();
+
+
+}
\ No newline at end of file
diff -r 000000000000 -r 27f6b9086106 mbed-os.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-os.lib Fri Nov 27 23:41:33 2020 +0000 @@ -0,0 +1,1 @@ +https://github.com/ARMmbed/mbed-os/#c9e63f14085f5751ff5ead79a7c0382d50a813a2
diff -r 000000000000 -r 27f6b9086106 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Fri Nov 27 23:41:33 2020 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400 \ No newline at end of file
diff -r 000000000000 -r 27f6b9086106 motoresDC.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/motoresDC.lib Fri Nov 27 23:41:33 2020 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/tabris2015/code/motoresDC/#998fbdeb1ea4