Programa para colocar las constantes de un PID con encoder y controlar una planta

Dependencies:   DebounceIn TextLCD mbed

Files at this revision

API Documentation at this revision

Comitter:
GermanD
Date:
Fri Oct 23 20:45:49 2015 +0000
Commit message:
Programa para colocar las constantes de un controlador PID con un encoder y hacer el control

Changed in this revision

DebounceIn.lib Show annotated file Show diff for this revision Revisions of this file
TextLCD.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file
mbed.bld Show annotated file Show diff for this revision Revisions of this file
diff -r 000000000000 -r 65c8fa8a589b DebounceIn.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/DebounceIn.lib	Fri Oct 23 20:45:49 2015 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mr63/code/DebounceIn/#323110faffe5
diff -r 000000000000 -r 65c8fa8a589b TextLCD.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/TextLCD.lib	Fri Oct 23 20:45:49 2015 +0000
@@ -0,0 +1,1 @@
+http://developer.mbed.org/users/simon/code/TextLCD/#308d188a2d3a
diff -r 000000000000 -r 65c8fa8a589b main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Oct 23 20:45:49 2015 +0000
@@ -0,0 +1,211 @@
+#include "mbed.h"
+#include "DebouncedIn.h"
+#include "TextLCD.h"
+#include "QEI.h" 
+ 
+AnalogIn Vin(PTC2); // entrada analoga 
+AnalogOut Vout(PTE30); // salida analoga
+//voltaje de salida maximo= 3.3 V
+ 
+TextLCD lcd(PTB10, PTB11, PTE2, PTE3, PTE4, PTE5); // rs, e, d4-d7
+ 
+QEI wheel (PTD5, PTD0, NC, 150);
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+DebouncedIn botonEncoder(PTC5);
+DebouncedIn button4(PTC17); // pulsador par dar "enter"
+ 
+ 
+//int C1=0x0E; //  muestra el cursor
+int C2=0x18; // desplaza izquierda
+int C3=0x1A; // desplaza derecha
+int C4=0x0C; // quito cursor bajo
+int C1=0x0F;
+int sp=0,kp=0,kd=0,ki=0,p=1,bandera = 0;
+int i; // indice de la variable
+int j; //variable controla cambio 4 posiciones
+float err;
+float pwmset;
+float eInteg;
+float pGain;
+float ePrev ;
+float iGain;
+float dGain;
+float x;
+int main()
+{
+    lcd.cls();
+    lcd.writeCommand(C1);//escribimos un comando segun el manual del modulo LCD
+    lcd.locate(8,0);
+    lcd.printf("kp=%d",kp);
+    lcd.locate(0,1);
+    lcd.printf("Ki=%d", ki);
+    lcd.locate(8,1);
+    lcd.printf("Kd=%d", kd);
+    lcd.locate(0,0);
+    lcd.printf("Sp=%d", sp);
+ 
+ while(1) {
+    
+              led3 =1;
+           if (botonEncoder.falling()) {   //INCREMENTA POSICION DEL MENU CON EL SWITCH DEL ENCODER
+              led3 =!led3;              
+               ++j;
+               }    
+                                                
+           if (j==0){      
+               sp=sp+wheel.getPulses();
+               wheel.reset();
+                 if (sp>5){
+                       sp=5;
+                            } 
+                 if (sp<0){
+                       sp=0;
+                          }   
+               lcd.locate(3,0);
+               lcd.printf("     ",sp);
+               lcd.locate(3,0);
+               lcd.printf("%d",sp);
+               wait(0.2);
+               
+               if(botonEncoder.falling()){
+                 j=1;
+                 led3=0;
+                 wait(0.3);
+                 wheel.reset();   
+                                    }   
+                   
+                     }
+              
+           if (j==1) {
+               kp=kp+wheel.getPulses();
+               wheel.reset();
+                 if (kp>999){
+                     kp=999;
+                          }              
+                 if (kp<0){
+                     kp=0;
+                          }   
+               lcd.locate(11,0);
+               lcd.printf("     ");
+               lcd.locate(11,0);
+               lcd.printf("%d",kp);
+               wait(0.2);
+               
+               if(botonEncoder.falling()){
+                 j=2;
+                 led3=0;
+                 wait(0.3);
+                 wheel.reset();    
+                                    }
+                                           
+                      }
+              
+           if (j==2) {
+               ki=ki+wheel.getPulses();
+               wheel.reset();
+                 if (ki>999){
+                     ki=999;
+                          }              
+                 if (ki<0){
+                     ki=0;
+                          }   
+               lcd.locate(3,1);
+               lcd.printf("     ");
+               lcd.locate(3,1);
+               lcd.printf("%d",ki);
+               wait(0.2);
+               
+               if(botonEncoder.falling()){
+                 j=3;
+                 led3=0;
+                 wait(0.3);
+                 wheel.reset();
+                                    }
+                                    
+                     }
+                     
+           if (j==3) {
+               kd=kd+wheel.getPulses();
+               wheel.reset();
+                 if (kd>999){
+                     kd=999;
+                            }              
+                 if (kd<0){
+                     kd=0;
+                          }   
+               lcd.locate(11,1);
+               lcd.printf("     ");
+               lcd.locate(11,1);
+               lcd.printf("%d",kd);
+               wait(0.2);
+               
+               if(botonEncoder.falling()){
+                 j=0;
+                 led3=0;
+                 wait(0.3);
+                 wheel.reset();
+                                    }
+                                            
+                       } 
+            
+           if (j==4) {
+               j=0;
+                     }                          
+                     
+           if (!button4){
+           break;        //sale del bucle si pisan suiche4
+                        }                  
+              }          //cierro while(1)
+          
+    //enter
+    if(button4.falling())
+    {
+      lcd.cls(); // al undir el boton 4 se borra la pantalla
+   //for (int h=0;h<100;h++)
+   //Vout= Vout+0.01;
+     while(bandera==0)
+     {
+     wait(0.2);
+     x=Vout.read(); // lee el voltaje de salida que nuestra analoga pero en porcentaje
+ 
+     //}
+  //pid
+    
+    err = sp-x;         // Calcula el error 
+   pwmset = kp* err+ki * eInteg +kd* (err - ePrev);    // ecuacion para el PID
+   pwmset=(0.976801/5)*pwmset;            // como el voltaje calculado fue un porcentaje se realiza una conversion respectiva al valor de salida
+    Vout=pwmset;
+    eInteg =eInteg+ err;                  // integral 
+    ePrev = err;
+    lcd.locate(0,1);
+    lcd.printf("error=%f",err);
+    lcd.locate(1,0);
+    lcd.printf("salida=%f",x);
+    if (button4.falling())
+    { bandera=1;
+    lcd.cls();
+    p=1;
+     lcd.locate(8,0);
+    lcd.printf("kp=%d",kp);
+    lcd.locate(0,1);
+    lcd.printf("Ki=%d", ki);
+    lcd.locate(8,1);
+    lcd.printf("Kd=%d", kd);
+    lcd.locate(0,0);
+    lcd.printf("Sp=%d", sp);
+ 
+    }
+ 
+     
+   }
+  bandera = 0;
+      }
+      
+                            
+                    
+    }
+ 
+ 
+ 
diff -r 000000000000 -r 65c8fa8a589b mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Fri Oct 23 20:45:49 2015 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/34e6b704fe68
\ No newline at end of file