Revision 0:53194b344442, committed 2019-06-13

Comitter:

Giovani_Cardona

Date:

Thu Jun 13 21:20:06 2019 +0000

Commit message:

PID - Bluetooth

Changed in this revision

diff -r 000000000000 -r 53194b344442 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Jun 13 21:20:06 2019 +0000
@@ -0,0 +1,204 @@
+#include "mbed.h"
+#include "string.h"
+
+AnalogIn y(PTB3);//entrada analoga
+AnalogOut u(PTE30);//salida analoga OJO solo se le pueden drenar 1.5mA en circuitos use un Buffer
+//si se ignora esto se arruina la FRDMKL25Z
+//Serial HC06(USBTX, USBRX, "HC06");
+Serial HC06(PTE0,PTE1);
+
+char buffer[128];
+char c;
+int readptr = 0;
+int Kp, Ki, Kd, Sp;
+float pid,o,ai,ad,ap,med,err;
+float err_v;
+int checker1, checker2, checker3, checker4;
+
+int conv(){
+    readptr = 0;
+    while( (c = HC06.getc()) != '\n') {
+            buffer[readptr++] = c;
+    }
+    buffer[readptr++] = 0;
+    
+    //HC06.printf("buffer= %s\n\r ",buffer);  //imprime el bufer
+    //HC06.printf("buffer= %c  %c\n\r ",buffer[0],buffer[1]);//imprime el cero y el uno
+    
+    char *s1 = buffer;
+    int num = atoi(s1);
+    
+    //HC06.printf("Num: %d", num);
+    
+    return num;
+}
+
+void cleanBuffer(char *buffer, int count)  //esta funcion limpia el bufer
+{
+    for(int i=0; i < count; i++) {
+        buffer[i] = '\0';
+    }
+}
+
+int main(){
+    
+// Bluetooth
+    HC06.baud(9600);
+    HC06.printf("CONTROLADOR PID BLUETOOTH\n");
+
+// Interfaz para el HC06
+    HC06.printf("***********************************************\n");
+    HC06.printf("CONTROLADOR PID \n");
+    HC06.printf("***********************************************\n");
+    HC06.printf("* Menu para los parametros del controlador PID: \n\n");
+    HC06.printf("* Kp - Ingresar valor de la consotante proporcional \n");
+    HC06.printf("* Ki - Ingresar valor de la consotante integral \n");
+    HC06.printf("* Kd - Ingresar valor de la consotante derivativa \n");
+    HC06.printf("* Sp - Ingresar valor del Set-Point \n\n");
+        
+    while(1){
+        
+        // Analizamos lo que ingresa el usuario
+        while( (c = HC06.getc()) != '\n') {
+            buffer[readptr++] = c;
+        }
+        buffer[readptr++] = 0;
+        
+        //HC06.printf("buffer= %s\n\r ",buffer);  //imprime el bufer
+        //HC06.printf("buffer= %c  %c\n\r ",buffer[0],buffer[1]);//imprime el cero y el uno
+        
+        //////////////////////////////////////////
+        
+        if (strncmp(buffer, "Kp", 2) == 0) {
+            //Se lee el valor para Kp
+            cleanBuffer(buffer,5);
+            HC06.printf("Ingrese el valor para Kp: ");
+            Kp = conv();
+            checker1=1;
+        }
+        else if (strncmp(buffer, "Ki", 2) == 0) {
+            //Se lee el valor para Ki
+            cleanBuffer(buffer,5);
+            HC06.printf("Ingrese el valor para Ki: ");
+            Ki = conv();
+            checker2=1;
+        }
+        else if (strncmp(buffer, "Kd", 2) == 0) {
+            //Se lee el valor para Kd
+            cleanBuffer(buffer,5);
+            HC06.printf("Ingrese el valor para Kd: ");
+            Kd = conv();
+            checker3=1;
+        }
+        else if (strncmp(buffer, "Sp", 2) == 0) {
+            //Se lee el valor para Sp
+            cleanBuffer(buffer,5);
+            HC06.printf("Ingrese el valor para Sp: ");
+            Sp = conv();
+            if(Sp<=0){Sp=0;}
+            if(Sp > 999){Sp=999;}
+            checker4=1;
+        }
+        else {
+            HC06.printf("Syntax error \n");       
+        }
+        readptr = 0;
+        //buffer[0]='\0';
+        //buffer[1]='\0';
+        //buffer[2]='\0';
+        
+        if (checker1 == 1 && checker2 == 1 && checker3 == 1 && checker4 == 1 ){
+            HC06.printf("Parametros listos para iniciar \n");
+            HC06.printf("*************************************\n");
+            HC06.printf("Iniciar ahora (Si/No) \n");
+            
+            //Se lee la elección del usuario
+           while(1){
+                while( (c = HC06.getc()) != '\n') {
+                    buffer[readptr++] = c;
+                }
+                buffer[readptr++] = 0;
+                
+                if (strncmp(buffer, "Si", 2) == 0){
+                    HC06.printf("* Ingrese 'P' si desea cambiar el Set Ponit  \n\n");
+                    HC06.printf("Iniciando... \n\n");
+                    wait_ms(1000);
+                    break;
+                }  
+                else{
+                    HC06.printf("Iniciar ahora (Si/No) \n");
+                }
+            readptr = 0;
+            }
+            break;
+        }else{
+            HC06.printf("*************************************\n");
+            HC06.printf("Ingrese los valores restantes \n");
+            HC06.printf("*************************************\n");
+            }
+        HC06.printf("\n");
+    }
+    
+    // CICLO PRINCIPAL CONTROLADOR PID
+    
+    lop1:  
+        med = y.read()*999;
+        err = (Sp-med);  //se calcula el error
+        ap = Kp*err*0.01f;     //se calcula la accion proporcinal
+        ai =(Ki*err*0.01f)+ai;    //calculo de la integral del error
+        ad = Kd*(err-err_v)*0.01f; //calculo de la accion derivativa
+        pid = (ap+ai+ad);
+        // se verifica que pid sea positivo **************************************
+        if(pid<=0)
+        {
+            pid=0;
+        }
+
+        // se verifica que pid sea menor o igual al valor maximo *****************
+        if (pid > 999)
+        {
+            pid=999;
+        }
+        
+        //Normalizacion de la salida
+        // se actualizan las variables *******************************************
+        err_v = err;
+        o = pid/999;
+        u.write(o); //  se envia el valor pid a puerto analogico de salida (D/A) **************
+        
+        /*HC06.printf("SetPoint\tEntrada\t\tError\t\tSalida\n");
+        HC06.printf("%d\t\t%0.2f\t\t%0.2f\t\t%0.2f\n",Sp,med,err,pid);
+        HC06.printf("%0.2fV\t\t%0.2fV\t\t%0.2fV\t\t%0.2fV\n\n",((Sp*3.3)/1000),((med*3.3)/1000),((err*3.3)/1000),((pid*3.3)/1000));*/
+        
+        HC06.printf("SetPoint: %d       %0.2fV\n\r",Sp,((Sp*3.3)/1000));
+        HC06.printf("Entrada:  %0.2f    %0.2fV\n\r",med,((med*3.3)/1000));
+        HC06.printf("Error:    %0.2f    %0.2fV\n\r",err,((err*3.3)/1000));
+        HC06.printf("Salida:   %0.2f    %0.2fV\n\r",pid,((pid*3.3)/1000));
+        HC06.printf("\n\r");
+        
+        ////-----------------------Nuevo Setpoint-------------------------------------------
+        if(HC06.readable()){
+            if ((c = HC06.getc()) == 'P') {
+                buffer[readptr++] = c;
+            }
+            buffer[readptr++] = 0;
+            //HC06.printf("buffer= %s\n\r ",buffer);  //imprime el bufer
+            //HC06.printf("buffer= %c  %c\n\r ",buffer[0],buffer[1]);//imprime el cero y el uno
+        }
+        if (strncmp(buffer, "P", 1) == 0){
+            buffer[0]='\0';
+            HC06.printf("* Ingrese el nuevo SetPoint: ");
+            HC06.scanf("%d", &Sp);
+            if(Sp<=0){Sp=0;}
+            if(Sp > 999){Sp=999;}
+            HC06.printf("Iniciando... \n\n");
+            wait_ms(1000);
+        }  
+
+        readptr = 0;
+        /////------------------------------------------------------------------
+        
+        //  se repite el ciclo
+        wait_ms(500);
+        goto lop1;
+}

diff -r 000000000000 -r 53194b344442 mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Thu Jun 13 21:20:06 2019 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400
\ No newline at end of file