PID
Dependencies: Debounced FPointer QEI TextLCD keypad mbed
main.cpp@0:5f9a6e0aa3b0, 2014-06-13 (annotated)
- Committer:
- Jepalacioh
- Date:
- Fri Jun 13 18:52:55 2014 +0000
- Revision:
- 0:5f9a6e0aa3b0
PID
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Jepalacioh | 0:5f9a6e0aa3b0 | 1 | #include "mbed.h" |
Jepalacioh | 0:5f9a6e0aa3b0 | 2 | #include "TextLCD.h" |
Jepalacioh | 0:5f9a6e0aa3b0 | 3 | #include "QEI.h" |
Jepalacioh | 0:5f9a6e0aa3b0 | 4 | #include "DebouncedIn.h" |
Jepalacioh | 0:5f9a6e0aa3b0 | 5 | |
Jepalacioh | 0:5f9a6e0aa3b0 | 6 | PwmOut Pwm1(PTA5);//Definicion de las Salidas. |
Jepalacioh | 0:5f9a6e0aa3b0 | 7 | PwmOut Pwm2(PTD4);//Definicion de las Salidas.D |
Jepalacioh | 0:5f9a6e0aa3b0 | 8 | DigitalOut led(LED1); |
Jepalacioh | 0:5f9a6e0aa3b0 | 9 | DigitalOut led2(LED2); |
Jepalacioh | 0:5f9a6e0aa3b0 | 10 | DigitalOut led3(LED3); |
Jepalacioh | 0:5f9a6e0aa3b0 | 11 | DebouncedIn button3(PTC16); |
Jepalacioh | 0:5f9a6e0aa3b0 | 12 | DebouncedIn button4(PTC17); |
Jepalacioh | 0:5f9a6e0aa3b0 | 13 | |
Jepalacioh | 0:5f9a6e0aa3b0 | 14 | QEI wheel (PTD5, PTD0, NC, 24); |
Jepalacioh | 0:5f9a6e0aa3b0 | 15 | AnalogIn y(PTB1); |
Jepalacioh | 0:5f9a6e0aa3b0 | 16 | TextLCD lcd(PTB10, PTB11, PTE2, PTE3, PTE4, PTE5); // rs, e, d4-d7 |
Jepalacioh | 0:5f9a6e0aa3b0 | 17 | |
Jepalacioh | 0:5f9a6e0aa3b0 | 18 | int C4=0x0C; // quito cursor bajo |
Jepalacioh | 0:5f9a6e0aa3b0 | 19 | |
Jepalacioh | 0:5f9a6e0aa3b0 | 20 | float PI,PIant; |
Jepalacioh | 0:5f9a6e0aa3b0 | 21 | float medd; |
Jepalacioh | 0:5f9a6e0aa3b0 | 22 | float sal; |
Jepalacioh | 0:5f9a6e0aa3b0 | 23 | int i; // indice de la variable |
Jepalacioh | 0:5f9a6e0aa3b0 | 24 | int j; //variable controla cambio 4 posiciones |
Jepalacioh | 0:5f9a6e0aa3b0 | 25 | float kp=60, ki=0.26, kd=0, Sp,sp,Set,T; |
Jepalacioh | 0:5f9a6e0aa3b0 | 26 | float Delta1=60,Delta2=30,Delta3=60,Delta22,Delta33; |
Jepalacioh | 0:5f9a6e0aa3b0 | 27 | float yr, ap, ai, ad, err, med, err_v, cycle, pid,pid2; |
Jepalacioh | 0:5f9a6e0aa3b0 | 28 | float pidn; |
Jepalacioh | 0:5f9a6e0aa3b0 | 29 | |
Jepalacioh | 0:5f9a6e0aa3b0 | 30 | float f=1; //Frecuencia del PWM |
Jepalacioh | 0:5f9a6e0aa3b0 | 31 | float pp=1/f; //Perioo del PWM |
Jepalacioh | 0:5f9a6e0aa3b0 | 32 | |
Jepalacioh | 0:5f9a6e0aa3b0 | 33 | |
Jepalacioh | 0:5f9a6e0aa3b0 | 34 | Timer t; |
Jepalacioh | 0:5f9a6e0aa3b0 | 35 | |
Jepalacioh | 0:5f9a6e0aa3b0 | 36 | |
Jepalacioh | 0:5f9a6e0aa3b0 | 37 | int b=0; |
Jepalacioh | 0:5f9a6e0aa3b0 | 38 | float Tamb; |
Jepalacioh | 0:5f9a6e0aa3b0 | 39 | int Cont=0; |
Jepalacioh | 0:5f9a6e0aa3b0 | 40 | |
Jepalacioh | 0:5f9a6e0aa3b0 | 41 | int Fs=10; |
Jepalacioh | 0:5f9a6e0aa3b0 | 42 | float Ts=0.1; |
Jepalacioh | 0:5f9a6e0aa3b0 | 43 | float inte=0; |
Jepalacioh | 0:5f9a6e0aa3b0 | 44 | float intek; |
Jepalacioh | 0:5f9a6e0aa3b0 | 45 | |
Jepalacioh | 0:5f9a6e0aa3b0 | 46 | |
Jepalacioh | 0:5f9a6e0aa3b0 | 47 | int main() |
Jepalacioh | 0:5f9a6e0aa3b0 | 48 | { |
Jepalacioh | 0:5f9a6e0aa3b0 | 49 | ///Inicializando parametros//////////////////////////////////// |
Jepalacioh | 0:5f9a6e0aa3b0 | 50 | |
Jepalacioh | 0:5f9a6e0aa3b0 | 51 | led=1; |
Jepalacioh | 0:5f9a6e0aa3b0 | 52 | led2=0; |
Jepalacioh | 0:5f9a6e0aa3b0 | 53 | medd=3.1*100*y.read(); |
Jepalacioh | 0:5f9a6e0aa3b0 | 54 | sp=medd; |
Jepalacioh | 0:5f9a6e0aa3b0 | 55 | Sp=sp; |
Jepalacioh | 0:5f9a6e0aa3b0 | 56 | Set=sp; |
Jepalacioh | 0:5f9a6e0aa3b0 | 57 | PIant=0; |
Jepalacioh | 0:5f9a6e0aa3b0 | 58 | |
Jepalacioh | 0:5f9a6e0aa3b0 | 59 | |
Jepalacioh | 0:5f9a6e0aa3b0 | 60 | lcd.cls(); |
Jepalacioh | 0:5f9a6e0aa3b0 | 61 | //Valores Constantes, que se deben inicializar. |
Jepalacioh | 0:5f9a6e0aa3b0 | 62 | lcd.locate(0,0); |
Jepalacioh | 0:5f9a6e0aa3b0 | 63 | lcd.printf("Sp:%.1f",Set); |
Jepalacioh | 0:5f9a6e0aa3b0 | 64 | lcd.locate(8,0); |
Jepalacioh | 0:5f9a6e0aa3b0 | 65 | lcd.printf("T1:%.1f",Delta1); |
Jepalacioh | 0:5f9a6e0aa3b0 | 66 | lcd.locate(0,1); |
Jepalacioh | 0:5f9a6e0aa3b0 | 67 | lcd.printf("T2:%.1f",Delta2); |
Jepalacioh | 0:5f9a6e0aa3b0 | 68 | lcd.locate(8,1); |
Jepalacioh | 0:5f9a6e0aa3b0 | 69 | lcd.printf("T3:%.1f",Delta3); |
Jepalacioh | 0:5f9a6e0aa3b0 | 70 | |
Jepalacioh | 0:5f9a6e0aa3b0 | 71 | ///////////////////////////////////////////////////////////// |
Jepalacioh | 0:5f9a6e0aa3b0 | 72 | |
Jepalacioh | 0:5f9a6e0aa3b0 | 73 | // Pedir y modificar datos//////////////////////////////////// |
Jepalacioh | 0:5f9a6e0aa3b0 | 74 | |
Jepalacioh | 0:5f9a6e0aa3b0 | 75 | while(1) |
Jepalacioh | 0:5f9a6e0aa3b0 | 76 | { |
Jepalacioh | 0:5f9a6e0aa3b0 | 77 | led3 =1; |
Jepalacioh | 0:5f9a6e0aa3b0 | 78 | if (button3.falling()) |
Jepalacioh | 0:5f9a6e0aa3b0 | 79 | { //INCREMENTA POSICION DEL MENU CON BOTON 3 (Switche encoder) |
Jepalacioh | 0:5f9a6e0aa3b0 | 80 | led3 =!led3; |
Jepalacioh | 0:5f9a6e0aa3b0 | 81 | ++j; |
Jepalacioh | 0:5f9a6e0aa3b0 | 82 | } |
Jepalacioh | 0:5f9a6e0aa3b0 | 83 | |
Jepalacioh | 0:5f9a6e0aa3b0 | 84 | if(j==0) |
Jepalacioh | 0:5f9a6e0aa3b0 | 85 | { |
Jepalacioh | 0:5f9a6e0aa3b0 | 86 | Set=Set+wheel.getPulses(); |
Jepalacioh | 0:5f9a6e0aa3b0 | 87 | wheel.reset(); |
Jepalacioh | 0:5f9a6e0aa3b0 | 88 | if (Set>999) |
Jepalacioh | 0:5f9a6e0aa3b0 | 89 | { |
Jepalacioh | 0:5f9a6e0aa3b0 | 90 | Set=999; |
Jepalacioh | 0:5f9a6e0aa3b0 | 91 | } |
Jepalacioh | 0:5f9a6e0aa3b0 | 92 | if (Set<0) |
Jepalacioh | 0:5f9a6e0aa3b0 | 93 | { |
Jepalacioh | 0:5f9a6e0aa3b0 | 94 | Set=0; |
Jepalacioh | 0:5f9a6e0aa3b0 | 95 | } |
Jepalacioh | 0:5f9a6e0aa3b0 | 96 | lcd.locate(3,0); |
Jepalacioh | 0:5f9a6e0aa3b0 | 97 | lcd.printf(" ",Set); |
Jepalacioh | 0:5f9a6e0aa3b0 | 98 | lcd.locate(3,0); |
Jepalacioh | 0:5f9a6e0aa3b0 | 99 | lcd.printf("%.1f",Set); |
Jepalacioh | 0:5f9a6e0aa3b0 | 100 | wait(0.2); |
Jepalacioh | 0:5f9a6e0aa3b0 | 101 | |
Jepalacioh | 0:5f9a6e0aa3b0 | 102 | if(button3.falling()) |
Jepalacioh | 0:5f9a6e0aa3b0 | 103 | { |
Jepalacioh | 0:5f9a6e0aa3b0 | 104 | j=1; |
Jepalacioh | 0:5f9a6e0aa3b0 | 105 | led3=0; |
Jepalacioh | 0:5f9a6e0aa3b0 | 106 | wait(0.3); |
Jepalacioh | 0:5f9a6e0aa3b0 | 107 | wheel.reset(); |
Jepalacioh | 0:5f9a6e0aa3b0 | 108 | } |
Jepalacioh | 0:5f9a6e0aa3b0 | 109 | |
Jepalacioh | 0:5f9a6e0aa3b0 | 110 | } |
Jepalacioh | 0:5f9a6e0aa3b0 | 111 | if(j==1) |
Jepalacioh | 0:5f9a6e0aa3b0 | 112 | { |
Jepalacioh | 0:5f9a6e0aa3b0 | 113 | Delta1=Delta1+wheel.getPulses(); |
Jepalacioh | 0:5f9a6e0aa3b0 | 114 | wheel.reset(); |
Jepalacioh | 0:5f9a6e0aa3b0 | 115 | if (Delta1>12000) |
Jepalacioh | 0:5f9a6e0aa3b0 | 116 | { |
Jepalacioh | 0:5f9a6e0aa3b0 | 117 | Delta1=12000; |
Jepalacioh | 0:5f9a6e0aa3b0 | 118 | } |
Jepalacioh | 0:5f9a6e0aa3b0 | 119 | if (Delta1<0) |
Jepalacioh | 0:5f9a6e0aa3b0 | 120 | { |
Jepalacioh | 0:5f9a6e0aa3b0 | 121 | Delta1=0; |
Jepalacioh | 0:5f9a6e0aa3b0 | 122 | } |
Jepalacioh | 0:5f9a6e0aa3b0 | 123 | lcd.locate(11,0); |
Jepalacioh | 0:5f9a6e0aa3b0 | 124 | lcd.printf(" "); |
Jepalacioh | 0:5f9a6e0aa3b0 | 125 | lcd.locate(11,0); |
Jepalacioh | 0:5f9a6e0aa3b0 | 126 | lcd.printf("%.1f",Delta1); |
Jepalacioh | 0:5f9a6e0aa3b0 | 127 | wait(0.2); |
Jepalacioh | 0:5f9a6e0aa3b0 | 128 | |
Jepalacioh | 0:5f9a6e0aa3b0 | 129 | if(button3.falling()) |
Jepalacioh | 0:5f9a6e0aa3b0 | 130 | { |
Jepalacioh | 0:5f9a6e0aa3b0 | 131 | j=2; |
Jepalacioh | 0:5f9a6e0aa3b0 | 132 | led3=0; |
Jepalacioh | 0:5f9a6e0aa3b0 | 133 | wait(0.3); |
Jepalacioh | 0:5f9a6e0aa3b0 | 134 | wheel.reset(); |
Jepalacioh | 0:5f9a6e0aa3b0 | 135 | } |
Jepalacioh | 0:5f9a6e0aa3b0 | 136 | } |
Jepalacioh | 0:5f9a6e0aa3b0 | 137 | if(j==2) |
Jepalacioh | 0:5f9a6e0aa3b0 | 138 | { |
Jepalacioh | 0:5f9a6e0aa3b0 | 139 | Delta2=Delta2+wheel.getPulses(); |
Jepalacioh | 0:5f9a6e0aa3b0 | 140 | wheel.reset(); |
Jepalacioh | 0:5f9a6e0aa3b0 | 141 | if (Delta2>12000) |
Jepalacioh | 0:5f9a6e0aa3b0 | 142 | { |
Jepalacioh | 0:5f9a6e0aa3b0 | 143 | Delta2=12000; |
Jepalacioh | 0:5f9a6e0aa3b0 | 144 | } |
Jepalacioh | 0:5f9a6e0aa3b0 | 145 | if (Delta2<0) |
Jepalacioh | 0:5f9a6e0aa3b0 | 146 | { |
Jepalacioh | 0:5f9a6e0aa3b0 | 147 | Delta2=0; |
Jepalacioh | 0:5f9a6e0aa3b0 | 148 | } |
Jepalacioh | 0:5f9a6e0aa3b0 | 149 | lcd.locate(3,1); |
Jepalacioh | 0:5f9a6e0aa3b0 | 150 | lcd.printf(" "); |
Jepalacioh | 0:5f9a6e0aa3b0 | 151 | lcd.locate(3,1); |
Jepalacioh | 0:5f9a6e0aa3b0 | 152 | lcd.printf("%.1f",Delta2); |
Jepalacioh | 0:5f9a6e0aa3b0 | 153 | wait(0.2); |
Jepalacioh | 0:5f9a6e0aa3b0 | 154 | |
Jepalacioh | 0:5f9a6e0aa3b0 | 155 | if(button3.falling()) |
Jepalacioh | 0:5f9a6e0aa3b0 | 156 | { |
Jepalacioh | 0:5f9a6e0aa3b0 | 157 | j=3; |
Jepalacioh | 0:5f9a6e0aa3b0 | 158 | led3=0; |
Jepalacioh | 0:5f9a6e0aa3b0 | 159 | wait(0.3); |
Jepalacioh | 0:5f9a6e0aa3b0 | 160 | wheel.reset(); |
Jepalacioh | 0:5f9a6e0aa3b0 | 161 | } |
Jepalacioh | 0:5f9a6e0aa3b0 | 162 | } |
Jepalacioh | 0:5f9a6e0aa3b0 | 163 | |
Jepalacioh | 0:5f9a6e0aa3b0 | 164 | if(j==3) |
Jepalacioh | 0:5f9a6e0aa3b0 | 165 | { |
Jepalacioh | 0:5f9a6e0aa3b0 | 166 | Delta3=Delta3+wheel.getPulses(); |
Jepalacioh | 0:5f9a6e0aa3b0 | 167 | wheel.reset(); |
Jepalacioh | 0:5f9a6e0aa3b0 | 168 | if (Delta3>12000) |
Jepalacioh | 0:5f9a6e0aa3b0 | 169 | { |
Jepalacioh | 0:5f9a6e0aa3b0 | 170 | Delta3=12000; |
Jepalacioh | 0:5f9a6e0aa3b0 | 171 | } |
Jepalacioh | 0:5f9a6e0aa3b0 | 172 | if (Delta3<0) |
Jepalacioh | 0:5f9a6e0aa3b0 | 173 | { |
Jepalacioh | 0:5f9a6e0aa3b0 | 174 | Delta3=0; |
Jepalacioh | 0:5f9a6e0aa3b0 | 175 | } |
Jepalacioh | 0:5f9a6e0aa3b0 | 176 | lcd.locate(11,1); |
Jepalacioh | 0:5f9a6e0aa3b0 | 177 | lcd.printf(" "); |
Jepalacioh | 0:5f9a6e0aa3b0 | 178 | lcd.locate(11,1); |
Jepalacioh | 0:5f9a6e0aa3b0 | 179 | lcd.printf("%.1f",Delta3); |
Jepalacioh | 0:5f9a6e0aa3b0 | 180 | wait(0.2); |
Jepalacioh | 0:5f9a6e0aa3b0 | 181 | |
Jepalacioh | 0:5f9a6e0aa3b0 | 182 | if(button3.falling()) |
Jepalacioh | 0:5f9a6e0aa3b0 | 183 | { |
Jepalacioh | 0:5f9a6e0aa3b0 | 184 | j=0; |
Jepalacioh | 0:5f9a6e0aa3b0 | 185 | led3=0; |
Jepalacioh | 0:5f9a6e0aa3b0 | 186 | wait(0.3); |
Jepalacioh | 0:5f9a6e0aa3b0 | 187 | wheel.reset(); |
Jepalacioh | 0:5f9a6e0aa3b0 | 188 | } |
Jepalacioh | 0:5f9a6e0aa3b0 | 189 | } |
Jepalacioh | 0:5f9a6e0aa3b0 | 190 | |
Jepalacioh | 0:5f9a6e0aa3b0 | 191 | if(j==4) |
Jepalacioh | 0:5f9a6e0aa3b0 | 192 | { |
Jepalacioh | 0:5f9a6e0aa3b0 | 193 | j=0; |
Jepalacioh | 0:5f9a6e0aa3b0 | 194 | } |
Jepalacioh | 0:5f9a6e0aa3b0 | 195 | |
Jepalacioh | 0:5f9a6e0aa3b0 | 196 | if(!button4) |
Jepalacioh | 0:5f9a6e0aa3b0 | 197 | { |
Jepalacioh | 0:5f9a6e0aa3b0 | 198 | break; |
Jepalacioh | 0:5f9a6e0aa3b0 | 199 | } |
Jepalacioh | 0:5f9a6e0aa3b0 | 200 | } |
Jepalacioh | 0:5f9a6e0aa3b0 | 201 | |
Jepalacioh | 0:5f9a6e0aa3b0 | 202 | ////////////////////////////////////////////////////////////// |
Jepalacioh | 0:5f9a6e0aa3b0 | 203 | |
Jepalacioh | 0:5f9a6e0aa3b0 | 204 | |
Jepalacioh | 0:5f9a6e0aa3b0 | 205 | |
Jepalacioh | 0:5f9a6e0aa3b0 | 206 | ////////////Inicializando PID//////////////////////////////// |
Jepalacioh | 0:5f9a6e0aa3b0 | 207 | |
Jepalacioh | 0:5f9a6e0aa3b0 | 208 | lcd.cls(); //borra la pantalla |
Jepalacioh | 0:5f9a6e0aa3b0 | 209 | lcd.printf(" GUARDAMOS \nVALORES |m|"); |
Jepalacioh | 0:5f9a6e0aa3b0 | 210 | wait(2); |
Jepalacioh | 0:5f9a6e0aa3b0 | 211 | |
Jepalacioh | 0:5f9a6e0aa3b0 | 212 | Delta22=Delta2+Delta1; |
Jepalacioh | 0:5f9a6e0aa3b0 | 213 | Delta33=Delta3+Delta2+Delta1; |
Jepalacioh | 0:5f9a6e0aa3b0 | 214 | |
Jepalacioh | 0:5f9a6e0aa3b0 | 215 | T=0; |
Jepalacioh | 0:5f9a6e0aa3b0 | 216 | medd=3.1*100*y.read(); |
Jepalacioh | 0:5f9a6e0aa3b0 | 217 | lcd.cls(); |
Jepalacioh | 0:5f9a6e0aa3b0 | 218 | lcd.locate(0,0); |
Jepalacioh | 0:5f9a6e0aa3b0 | 219 | lcd.printf("Sp:%.1f",Sp); |
Jepalacioh | 0:5f9a6e0aa3b0 | 220 | lcd.locate(0,1); |
Jepalacioh | 0:5f9a6e0aa3b0 | 221 | lcd.printf("T=%.1f",Cont); |
Jepalacioh | 0:5f9a6e0aa3b0 | 222 | //lcd.locate(8,0); |
Jepalacioh | 0:5f9a6e0aa3b0 | 223 | //lcd.printf("Er:%.1f",err); |
Jepalacioh | 0:5f9a6e0aa3b0 | 224 | lcd.locate(8,0); |
Jepalacioh | 0:5f9a6e0aa3b0 | 225 | lcd.printf("T%.1f",medd); |
Jepalacioh | 0:5f9a6e0aa3b0 | 226 | lcd.locate(8,1); |
Jepalacioh | 0:5f9a6e0aa3b0 | 227 | lcd.printf("u:%.1f",PI); |
Jepalacioh | 0:5f9a6e0aa3b0 | 228 | wait(2); |
Jepalacioh | 0:5f9a6e0aa3b0 | 229 | |
Jepalacioh | 0:5f9a6e0aa3b0 | 230 | if (b==0) |
Jepalacioh | 0:5f9a6e0aa3b0 | 231 | { |
Jepalacioh | 0:5f9a6e0aa3b0 | 232 | t.start(); |
Jepalacioh | 0:5f9a6e0aa3b0 | 233 | b=1; |
Jepalacioh | 0:5f9a6e0aa3b0 | 234 | } |
Jepalacioh | 0:5f9a6e0aa3b0 | 235 | |
Jepalacioh | 0:5f9a6e0aa3b0 | 236 | Tamb=3.1*100*y.read(); |
Jepalacioh | 0:5f9a6e0aa3b0 | 237 | ///////////////////////////////////////////////////////////// |
Jepalacioh | 0:5f9a6e0aa3b0 | 238 | |
Jepalacioh | 0:5f9a6e0aa3b0 | 239 | while(1) |
Jepalacioh | 0:5f9a6e0aa3b0 | 240 | { |
Jepalacioh | 0:5f9a6e0aa3b0 | 241 | ///////////////////////////Perfil Sp///////////////////////// |
Jepalacioh | 0:5f9a6e0aa3b0 | 242 | |
Jepalacioh | 0:5f9a6e0aa3b0 | 243 | //Funcion Rampa |
Jepalacioh | 0:5f9a6e0aa3b0 | 244 | if(t<=Delta1) |
Jepalacioh | 0:5f9a6e0aa3b0 | 245 | { |
Jepalacioh | 0:5f9a6e0aa3b0 | 246 | Sp=((Set-Tamb)/(Delta1))*t + Tamb; |
Jepalacioh | 0:5f9a6e0aa3b0 | 247 | } |
Jepalacioh | 0:5f9a6e0aa3b0 | 248 | if((t>Delta1)&&(t<=Delta22)) |
Jepalacioh | 0:5f9a6e0aa3b0 | 249 | { |
Jepalacioh | 0:5f9a6e0aa3b0 | 250 | Sp=Set; |
Jepalacioh | 0:5f9a6e0aa3b0 | 251 | } |
Jepalacioh | 0:5f9a6e0aa3b0 | 252 | if((t>Delta22)&&(t<=Delta33)) |
Jepalacioh | 0:5f9a6e0aa3b0 | 253 | { |
Jepalacioh | 0:5f9a6e0aa3b0 | 254 | |
Jepalacioh | 0:5f9a6e0aa3b0 | 255 | Sp=((Tamb - Set)/(Delta3))*(t-Delta33) + Tamb; |
Jepalacioh | 0:5f9a6e0aa3b0 | 256 | |
Jepalacioh | 0:5f9a6e0aa3b0 | 257 | } |
Jepalacioh | 0:5f9a6e0aa3b0 | 258 | |
Jepalacioh | 0:5f9a6e0aa3b0 | 259 | if(t >= Cont) |
Jepalacioh | 0:5f9a6e0aa3b0 | 260 | { |
Jepalacioh | 0:5f9a6e0aa3b0 | 261 | Cont=Cont+1; |
Jepalacioh | 0:5f9a6e0aa3b0 | 262 | medd=3.1*100*y.read(); |
Jepalacioh | 0:5f9a6e0aa3b0 | 263 | err = (Sp-medd); |
Jepalacioh | 0:5f9a6e0aa3b0 | 264 | inte=inte+err; |
Jepalacioh | 0:5f9a6e0aa3b0 | 265 | PI=(kp*err+ ki*inte); |
Jepalacioh | 0:5f9a6e0aa3b0 | 266 | pid=PI/100; |
Jepalacioh | 0:5f9a6e0aa3b0 | 267 | pid2=1-pid; |
Jepalacioh | 0:5f9a6e0aa3b0 | 268 | if(PI>100) |
Jepalacioh | 0:5f9a6e0aa3b0 | 269 | { |
Jepalacioh | 0:5f9a6e0aa3b0 | 270 | PI=100; |
Jepalacioh | 0:5f9a6e0aa3b0 | 271 | } |
Jepalacioh | 0:5f9a6e0aa3b0 | 272 | if(PI<0) |
Jepalacioh | 0:5f9a6e0aa3b0 | 273 | { |
Jepalacioh | 0:5f9a6e0aa3b0 | 274 | PI=0; |
Jepalacioh | 0:5f9a6e0aa3b0 | 275 | } |
Jepalacioh | 0:5f9a6e0aa3b0 | 276 | |
Jepalacioh | 0:5f9a6e0aa3b0 | 277 | Pwm1.period(1); |
Jepalacioh | 0:5f9a6e0aa3b0 | 278 | Pwm1.write(pid); |
Jepalacioh | 0:5f9a6e0aa3b0 | 279 | Pwm2.period(1); |
Jepalacioh | 0:5f9a6e0aa3b0 | 280 | Pwm2.write(pid2); |
Jepalacioh | 0:5f9a6e0aa3b0 | 281 | |
Jepalacioh | 0:5f9a6e0aa3b0 | 282 | |
Jepalacioh | 0:5f9a6e0aa3b0 | 283 | lcd.cls(); |
Jepalacioh | 0:5f9a6e0aa3b0 | 284 | lcd.locate(0,0); |
Jepalacioh | 0:5f9a6e0aa3b0 | 285 | lcd.printf("Sp=%.1f",Sp); |
Jepalacioh | 0:5f9a6e0aa3b0 | 286 | lcd.locate(0,1); |
Jepalacioh | 0:5f9a6e0aa3b0 | 287 | lcd.printf("T=%d",Cont); |
Jepalacioh | 0:5f9a6e0aa3b0 | 288 | lcd.locate(8,0); |
Jepalacioh | 0:5f9a6e0aa3b0 | 289 | lcd.printf("T:%.1f",medd); |
Jepalacioh | 0:5f9a6e0aa3b0 | 290 | lcd.locate(8,1); |
Jepalacioh | 0:5f9a6e0aa3b0 | 291 | lcd.printf("u:%.1f",PI); |
Jepalacioh | 0:5f9a6e0aa3b0 | 292 | |
Jepalacioh | 0:5f9a6e0aa3b0 | 293 | } |
Jepalacioh | 0:5f9a6e0aa3b0 | 294 | |
Jepalacioh | 0:5f9a6e0aa3b0 | 295 | |
Jepalacioh | 0:5f9a6e0aa3b0 | 296 | |
Jepalacioh | 0:5f9a6e0aa3b0 | 297 | |
Jepalacioh | 0:5f9a6e0aa3b0 | 298 | ///////////////////////////////////////////////////////////// |
Jepalacioh | 0:5f9a6e0aa3b0 | 299 | } |
Jepalacioh | 0:5f9a6e0aa3b0 | 300 | } |