Julian Palacio
PID
Dependencies: Debounced FPointer QEI TextLCD keypad mbed
Revision 0:5f9a6e0aa3b0, committed 2014-06-13
- Comitter:
- Jepalacioh
- Date:
- Fri Jun 13 18:52:55 2014 +0000
- Commit message:
- PID
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Debounced.lib Fri Jun 13 18:52:55 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/WarwickRacing/code/Debounced/#8992c13bbb9b
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/FPointer.lib Fri Jun 13 18:52:55 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/AjK/code/FPointer/#56e309e76c19
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/QEI.lib Fri Jun 13 18:52:55 2014 +0000 @@ -0,0 +1,1 @@ +https://mbed.org/users/aberk/code/QEI/#5c2ad81551aa
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/TextLCD.lib Fri Jun 13 18:52:55 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/lcorralesc1/code/TextLCD/#0e0132807662
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/keypad.lib Fri Jun 13 18:52:55 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/leorestrepo93/code/keypad/#e48ba5b4c497
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Fri Jun 13 18:52:55 2014 +0000
@@ -0,0 +1,300 @@
+#include "mbed.h"
+#include "TextLCD.h"
+#include "QEI.h"
+#include "DebouncedIn.h"
+
+PwmOut Pwm1(PTA5);//Definicion de las Salidas.
+PwmOut Pwm2(PTD4);//Definicion de las Salidas.D
+DigitalOut led(LED1);
+DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+DebouncedIn button3(PTC16);
+DebouncedIn button4(PTC17);
+
+QEI wheel (PTD5, PTD0, NC, 24);
+AnalogIn y(PTB1);
+TextLCD lcd(PTB10, PTB11, PTE2, PTE3, PTE4, PTE5); // rs, e, d4-d7
+
+int C4=0x0C; // quito cursor bajo
+
+float PI,PIant;
+float medd;
+float sal;
+int i; // indice de la variable
+int j; //variable controla cambio 4 posiciones
+float kp=60, ki=0.26, kd=0, Sp,sp,Set,T;
+float Delta1=60,Delta2=30,Delta3=60,Delta22,Delta33;
+float yr, ap, ai, ad, err, med, err_v, cycle, pid,pid2;
+float pidn;
+
+float f=1; //Frecuencia del PWM
+float pp=1/f; //Perioo del PWM
+
+
+Timer t;
+
+
+int b=0;
+float Tamb;
+int Cont=0;
+
+int Fs=10;
+float Ts=0.1;
+float inte=0;
+float intek;
+
+
+int main()
+{
+ ///Inicializando parametros////////////////////////////////////
+
+ led=1;
+ led2=0;
+ medd=3.1*100*y.read();
+ sp=medd;
+ Sp=sp;
+ Set=sp;
+ PIant=0;
+
+
+ lcd.cls();
+ //Valores Constantes, que se deben inicializar.
+ lcd.locate(0,0);
+ lcd.printf("Sp:%.1f",Set);
+ lcd.locate(8,0);
+ lcd.printf("T1:%.1f",Delta1);
+ lcd.locate(0,1);
+ lcd.printf("T2:%.1f",Delta2);
+ lcd.locate(8,1);
+ lcd.printf("T3:%.1f",Delta3);
+
+ /////////////////////////////////////////////////////////////
+
+ // Pedir y modificar datos////////////////////////////////////
+
+ while(1)
+ {
+ led3 =1;
+ if (button3.falling())
+ { //INCREMENTA POSICION DEL MENU CON BOTON 3 (Switche encoder)
+ led3 =!led3;
+ ++j;
+ }
+
+ if(j==0)
+ {
+ Set=Set+wheel.getPulses();
+ wheel.reset();
+ if (Set>999)
+ {
+ Set=999;
+ }
+ if (Set<0)
+ {
+ Set=0;
+ }
+ lcd.locate(3,0);
+ lcd.printf(" ",Set);
+ lcd.locate(3,0);
+ lcd.printf("%.1f",Set);
+ wait(0.2);
+
+ if(button3.falling())
+ {
+ j=1;
+ led3=0;
+ wait(0.3);
+ wheel.reset();
+ }
+
+ }
+ if(j==1)
+ {
+ Delta1=Delta1+wheel.getPulses();
+ wheel.reset();
+ if (Delta1>12000)
+ {
+ Delta1=12000;
+ }
+ if (Delta1<0)
+ {
+ Delta1=0;
+ }
+ lcd.locate(11,0);
+ lcd.printf(" ");
+ lcd.locate(11,0);
+ lcd.printf("%.1f",Delta1);
+ wait(0.2);
+
+ if(button3.falling())
+ {
+ j=2;
+ led3=0;
+ wait(0.3);
+ wheel.reset();
+ }
+ }
+ if(j==2)
+ {
+ Delta2=Delta2+wheel.getPulses();
+ wheel.reset();
+ if (Delta2>12000)
+ {
+ Delta2=12000;
+ }
+ if (Delta2<0)
+ {
+ Delta2=0;
+ }
+ lcd.locate(3,1);
+ lcd.printf(" ");
+ lcd.locate(3,1);
+ lcd.printf("%.1f",Delta2);
+ wait(0.2);
+
+ if(button3.falling())
+ {
+ j=3;
+ led3=0;
+ wait(0.3);
+ wheel.reset();
+ }
+ }
+
+ if(j==3)
+ {
+ Delta3=Delta3+wheel.getPulses();
+ wheel.reset();
+ if (Delta3>12000)
+ {
+ Delta3=12000;
+ }
+ if (Delta3<0)
+ {
+ Delta3=0;
+ }
+ lcd.locate(11,1);
+ lcd.printf(" ");
+ lcd.locate(11,1);
+ lcd.printf("%.1f",Delta3);
+ wait(0.2);
+
+ if(button3.falling())
+ {
+ j=0;
+ led3=0;
+ wait(0.3);
+ wheel.reset();
+ }
+ }
+
+ if(j==4)
+ {
+ j=0;
+ }
+
+ if(!button4)
+ {
+ break;
+ }
+ }
+
+ //////////////////////////////////////////////////////////////
+
+
+
+ ////////////Inicializando PID////////////////////////////////
+
+ lcd.cls(); //borra la pantalla
+ lcd.printf(" GUARDAMOS \nVALORES |m|");
+ wait(2);
+
+ Delta22=Delta2+Delta1;
+ Delta33=Delta3+Delta2+Delta1;
+
+ T=0;
+ medd=3.1*100*y.read();
+ lcd.cls();
+ lcd.locate(0,0);
+ lcd.printf("Sp:%.1f",Sp);
+ lcd.locate(0,1);
+ lcd.printf("T=%.1f",Cont);
+ //lcd.locate(8,0);
+ //lcd.printf("Er:%.1f",err);
+ lcd.locate(8,0);
+ lcd.printf("T%.1f",medd);
+ lcd.locate(8,1);
+ lcd.printf("u:%.1f",PI);
+ wait(2);
+
+ if (b==0)
+ {
+ t.start();
+ b=1;
+ }
+
+ Tamb=3.1*100*y.read();
+ /////////////////////////////////////////////////////////////
+
+ while(1)
+ {
+ ///////////////////////////Perfil Sp/////////////////////////
+
+ //Funcion Rampa
+ if(t<=Delta1)
+ {
+ Sp=((Set-Tamb)/(Delta1))*t + Tamb;
+ }
+ if((t>Delta1)&&(t<=Delta22))
+ {
+ Sp=Set;
+ }
+ if((t>Delta22)&&(t<=Delta33))
+ {
+
+ Sp=((Tamb - Set)/(Delta3))*(t-Delta33) + Tamb;
+
+ }
+
+ if(t >= Cont)
+ {
+ Cont=Cont+1;
+ medd=3.1*100*y.read();
+ err = (Sp-medd);
+ inte=inte+err;
+ PI=(kp*err+ ki*inte);
+ pid=PI/100;
+ pid2=1-pid;
+ if(PI>100)
+ {
+ PI=100;
+ }
+ if(PI<0)
+ {
+ PI=0;
+ }
+
+ Pwm1.period(1);
+ Pwm1.write(pid);
+ Pwm2.period(1);
+ Pwm2.write(pid2);
+
+
+ lcd.cls();
+ lcd.locate(0,0);
+ lcd.printf("Sp=%.1f",Sp);
+ lcd.locate(0,1);
+ lcd.printf("T=%d",Cont);
+ lcd.locate(8,0);
+ lcd.printf("T:%.1f",medd);
+ lcd.locate(8,1);
+ lcd.printf("u:%.1f",PI);
+
+ }
+
+
+
+
+ /////////////////////////////////////////////////////////////
+ }
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Fri Jun 13 18:52:55 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/024bf7f99721 \ No newline at end of file