Julian Palacio / Mbed 2 deprecated Tarea2_Pulsadores_sonido

Cambio de parametros PID con tres pulsadores (incremental, decremental y cambio) con sonido

Dependencies:   Debounced TextLCD mbed

Fork of pid_teclas by Gustavo Ramirez

main.cpp@1:ab52c079267a, 2014-04-23 (annotated)

Committer:
Jepalacioh
Date:
Wed Apr 23 15:03:43 2014 +0000
Revision:
1:ab52c079267a
Parent:
0:9aa80672eb3d 
Tarea2 Procesadores UNAL semestre 2014-1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Jepalacioh 1:ab52c079267a 1 //Este programa se basó en el programa de tony63 teclas_PID
Jepalacioh 1:ab52c079267a 2
Jepalacioh 1:ab52c079267a 3
Jepalacioh 1:ab52c079267a 4 //Julian Esteban Palacio Hernandez
Jepalacioh 1:ab52c079267a 5 //Andres Mauricio Gomez Arevalo
Jepalacioh 1:ab52c079267a 6
lcorralesc1 0:9aa80672eb3d 7 #include "mbed.h"
lcorralesc1 0:9aa80672eb3d 8 #include "DebouncedIn.h"
lcorralesc1 0:9aa80672eb3d 9 #include "TextLCD.h"
lcorralesc1 0:9aa80672eb3d 10
lcorralesc1 0:9aa80672eb3d 11 AnalogIn Vin(PTC2);
lcorralesc1 0:9aa80672eb3d 12 TextLCD lcd(PTB10, PTB11, PTE2, PTE3, PTE4, PTE5); // rs, e, d4-d7
lcorralesc1 0:9aa80672eb3d 13
lcorralesc1 0:9aa80672eb3d 14 DigitalOut led1(LED1);
lcorralesc1 0:9aa80672eb3d 15 DigitalOut led2(LED2);
lcorralesc1 0:9aa80672eb3d 16 DigitalOut led3(LED3);
lcorralesc1 0:9aa80672eb3d 17 DebouncedIn button1(PTC12);
lcorralesc1 0:9aa80672eb3d 18 DebouncedIn button2(PTC13);
lcorralesc1 0:9aa80672eb3d 19 DebouncedIn button3(PTC16);
lcorralesc1 0:9aa80672eb3d 20
Jepalacioh 1:ab52c079267a 21 PwmOut Sonido(PTA5);
Jepalacioh 1:ab52c079267a 22
Jepalacioh 1:ab52c079267a 23
Jepalacioh 1:ab52c079267a 24 float periodo;
Jepalacioh 1:ab52c079267a 25 float Frecuencia=1000;
lcorralesc1 0:9aa80672eb3d 26 int C1=0x0F;
lcorralesc1 0:9aa80672eb3d 27 int sp=0,kp=0,kd=0,ki=0,p=1;
lcorralesc1 0:9aa80672eb3d 28 int main()
lcorralesc1 0:9aa80672eb3d 29 {
lcorralesc1 0:9aa80672eb3d 30 lcd.cls();
lcorralesc1 0:9aa80672eb3d 31 lcd.writeCommand(C1);//escribimos un comando segun el manual del modulo LCD
lcorralesc1 0:9aa80672eb3d 32 lcd.locate(8,0);
lcorralesc1 0:9aa80672eb3d 33 lcd.printf("kp=%d", kp);
lcorralesc1 0:9aa80672eb3d 34 lcd.locate(0,1);
lcorralesc1 0:9aa80672eb3d 35 lcd.printf("Ki=%d", ki);
lcorralesc1 0:9aa80672eb3d 36 lcd.locate(8,1);
lcorralesc1 0:9aa80672eb3d 37 lcd.printf("Kd=%d", kd);
lcorralesc1 0:9aa80672eb3d 38 lcd.locate(0,0);
lcorralesc1 0:9aa80672eb3d 39 lcd.printf("Sp=%d", sp);
lcorralesc1 0:9aa80672eb3d 40
lcorralesc1 0:9aa80672eb3d 41 while(1)
lcorralesc1 0:9aa80672eb3d 42 {
Jepalacioh 1:ab52c079267a 43
Jepalacioh 1:ab52c079267a 44 periodo=(1/Frecuencia);
Jepalacioh 1:ab52c079267a 45 Sonido.period(periodo);
Jepalacioh 1:ab52c079267a 46
Jepalacioh 1:ab52c079267a 47
lcorralesc1 0:9aa80672eb3d 48 if (button1.falling())
lcorralesc1 0:9aa80672eb3d 49 {
Jepalacioh 1:ab52c079267a 50
Jepalacioh 1:ab52c079267a 51 Sonido.write(0.5);
Jepalacioh 1:ab52c079267a 52 wait(0.1);
Jepalacioh 1:ab52c079267a 53 Sonido.write(0);
lcorralesc1 0:9aa80672eb3d 54 led1 =!led1;
lcorralesc1 0:9aa80672eb3d 55 if (p==1)
lcorralesc1 0:9aa80672eb3d 56 {
lcorralesc1 0:9aa80672eb3d 57 ++sp;
lcorralesc1 0:9aa80672eb3d 58 lcd.locate(3,0);
lcorralesc1 0:9aa80672eb3d 59 lcd.printf(" ");
lcorralesc1 0:9aa80672eb3d 60 lcd.locate(3,0);
lcorralesc1 0:9aa80672eb3d 61 lcd.printf("%d", sp);
lcorralesc1 0:9aa80672eb3d 62 }
lcorralesc1 0:9aa80672eb3d 63 else if (p==2)
lcorralesc1 0:9aa80672eb3d 64 {
lcorralesc1 0:9aa80672eb3d 65 ++kp;
lcorralesc1 0:9aa80672eb3d 66 lcd.locate(11,0);
lcorralesc1 0:9aa80672eb3d 67 lcd.printf(" ");
lcorralesc1 0:9aa80672eb3d 68 lcd.locate(11,0);
lcorralesc1 0:9aa80672eb3d 69 lcd.printf("%d", kp);
lcorralesc1 0:9aa80672eb3d 70 }
lcorralesc1 0:9aa80672eb3d 71 else if (p==3)
lcorralesc1 0:9aa80672eb3d 72 {
lcorralesc1 0:9aa80672eb3d 73 ++ki;
lcorralesc1 0:9aa80672eb3d 74 lcd.locate(3,1);
lcorralesc1 0:9aa80672eb3d 75 lcd.printf(" ");
lcorralesc1 0:9aa80672eb3d 76 lcd.locate(3,1);
lcorralesc1 0:9aa80672eb3d 77 lcd.printf("%d", ki);
lcorralesc1 0:9aa80672eb3d 78 }
lcorralesc1 0:9aa80672eb3d 79 else if (p==4)
lcorralesc1 0:9aa80672eb3d 80 {
lcorralesc1 0:9aa80672eb3d 81 ++kd;
lcorralesc1 0:9aa80672eb3d 82 lcd.locate(11,1);
lcorralesc1 0:9aa80672eb3d 83 lcd.printf(" ");
lcorralesc1 0:9aa80672eb3d 84 lcd.locate(11,1);
lcorralesc1 0:9aa80672eb3d 85 lcd.printf("%d", kd);
lcorralesc1 0:9aa80672eb3d 86 }
lcorralesc1 0:9aa80672eb3d 87 }
lcorralesc1 0:9aa80672eb3d 88 if (button2.falling())
lcorralesc1 0:9aa80672eb3d 89 {
Jepalacioh 1:ab52c079267a 90
Jepalacioh 1:ab52c079267a 91 Sonido.write(0.5);
Jepalacioh 1:ab52c079267a 92 wait(0.1);
Jepalacioh 1:ab52c079267a 93 Sonido.write(0);
lcorralesc1 0:9aa80672eb3d 94 led2 =!led2;
lcorralesc1 0:9aa80672eb3d 95 if (p==1)
lcorralesc1 0:9aa80672eb3d 96 {
lcorralesc1 0:9aa80672eb3d 97 if (sp==0) // no mostrar nada
lcorralesc1 0:9aa80672eb3d 98 {
lcorralesc1 0:9aa80672eb3d 99 }
lcorralesc1 0:9aa80672eb3d 100 else
lcorralesc1 0:9aa80672eb3d 101 {
lcorralesc1 0:9aa80672eb3d 102 --sp;
lcorralesc1 0:9aa80672eb3d 103 lcd.locate(3,0);
lcorralesc1 0:9aa80672eb3d 104 lcd.printf(" ");
lcorralesc1 0:9aa80672eb3d 105 lcd.locate(3,0);
lcorralesc1 0:9aa80672eb3d 106 lcd.printf("%d", sp);
lcorralesc1 0:9aa80672eb3d 107 }
lcorralesc1 0:9aa80672eb3d 108 }
lcorralesc1 0:9aa80672eb3d 109 if (p==2)
lcorralesc1 0:9aa80672eb3d 110 {
lcorralesc1 0:9aa80672eb3d 111 if (kp==0) // no mostrar nada
lcorralesc1 0:9aa80672eb3d 112 {
lcorralesc1 0:9aa80672eb3d 113 }
lcorralesc1 0:9aa80672eb3d 114 else
lcorralesc1 0:9aa80672eb3d 115 {
lcorralesc1 0:9aa80672eb3d 116 --kp;
lcorralesc1 0:9aa80672eb3d 117 lcd.locate(11,0);
lcorralesc1 0:9aa80672eb3d 118 lcd.printf(" ");
lcorralesc1 0:9aa80672eb3d 119 lcd.locate(11,0);
lcorralesc1 0:9aa80672eb3d 120 lcd.printf("%d", kp);
lcorralesc1 0:9aa80672eb3d 121 }
lcorralesc1 0:9aa80672eb3d 122 }
lcorralesc1 0:9aa80672eb3d 123 if (p==3)
lcorralesc1 0:9aa80672eb3d 124 {
lcorralesc1 0:9aa80672eb3d 125 if (ki==0) // no mostrar nada
lcorralesc1 0:9aa80672eb3d 126 {
lcorralesc1 0:9aa80672eb3d 127 }
lcorralesc1 0:9aa80672eb3d 128 else
lcorralesc1 0:9aa80672eb3d 129 {
lcorralesc1 0:9aa80672eb3d 130 --ki;
lcorralesc1 0:9aa80672eb3d 131 lcd.locate(3,1);
lcorralesc1 0:9aa80672eb3d 132 lcd.printf(" ");
lcorralesc1 0:9aa80672eb3d 133 lcd.locate(3,1);
lcorralesc1 0:9aa80672eb3d 134 lcd.printf("%d", ki);
lcorralesc1 0:9aa80672eb3d 135 }
lcorralesc1 0:9aa80672eb3d 136 }
lcorralesc1 0:9aa80672eb3d 137 if (p==4)
lcorralesc1 0:9aa80672eb3d 138 {
lcorralesc1 0:9aa80672eb3d 139 if (kd==0) // no mostrar nada
lcorralesc1 0:9aa80672eb3d 140 {
lcorralesc1 0:9aa80672eb3d 141 }
lcorralesc1 0:9aa80672eb3d 142 else
lcorralesc1 0:9aa80672eb3d 143 {
lcorralesc1 0:9aa80672eb3d 144 --kd;
lcorralesc1 0:9aa80672eb3d 145 lcd.locate(11,1);
lcorralesc1 0:9aa80672eb3d 146 lcd.printf(" ");
lcorralesc1 0:9aa80672eb3d 147 lcd.locate(11,1);
lcorralesc1 0:9aa80672eb3d 148 lcd.printf("%d", kd);
lcorralesc1 0:9aa80672eb3d 149 }
lcorralesc1 0:9aa80672eb3d 150 }
lcorralesc1 0:9aa80672eb3d 151 }
lcorralesc1 0:9aa80672eb3d 152 if (button3.falling())
lcorralesc1 0:9aa80672eb3d 153 {
Jepalacioh 1:ab52c079267a 154
Jepalacioh 1:ab52c079267a 155 Sonido.write(0.5);
Jepalacioh 1:ab52c079267a 156 wait(0.1);
Jepalacioh 1:ab52c079267a 157 Sonido.write(0);
lcorralesc1 0:9aa80672eb3d 158 led3 =!led3;
lcorralesc1 0:9aa80672eb3d 159 if (p==1)
lcorralesc1 0:9aa80672eb3d 160 {
lcorralesc1 0:9aa80672eb3d 161 ++p;
lcorralesc1 0:9aa80672eb3d 162 lcd.locate(11,0);
lcorralesc1 0:9aa80672eb3d 163 lcd.printf("%d", kp);
lcorralesc1 0:9aa80672eb3d 164
lcorralesc1 0:9aa80672eb3d 165
lcorralesc1 0:9aa80672eb3d 166 }
lcorralesc1 0:9aa80672eb3d 167 else if (p==2)
lcorralesc1 0:9aa80672eb3d 168 {
lcorralesc1 0:9aa80672eb3d 169 ++p;
lcorralesc1 0:9aa80672eb3d 170 lcd.locate(3,1);
lcorralesc1 0:9aa80672eb3d 171 lcd.printf("%d", ki);
lcorralesc1 0:9aa80672eb3d 172 lcd.locate(3,1);
lcorralesc1 0:9aa80672eb3d 173
lcorralesc1 0:9aa80672eb3d 174 }
lcorralesc1 0:9aa80672eb3d 175 else if (p==3)
lcorralesc1 0:9aa80672eb3d 176 {
lcorralesc1 0:9aa80672eb3d 177 ++p;
lcorralesc1 0:9aa80672eb3d 178 lcd.locate(11,1);
lcorralesc1 0:9aa80672eb3d 179 lcd.printf("%d", kd);
lcorralesc1 0:9aa80672eb3d 180
lcorralesc1 0:9aa80672eb3d 181
lcorralesc1 0:9aa80672eb3d 182 }
lcorralesc1 0:9aa80672eb3d 183 else if (p==4)
lcorralesc1 0:9aa80672eb3d 184 {
lcorralesc1 0:9aa80672eb3d 185 p=1;
lcorralesc1 0:9aa80672eb3d 186 lcd.locate(3,0);
lcorralesc1 0:9aa80672eb3d 187 lcd.printf("%d", sp);
lcorralesc1 0:9aa80672eb3d 188
lcorralesc1 0:9aa80672eb3d 189
lcorralesc1 0:9aa80672eb3d 190 }
lcorralesc1 0:9aa80672eb3d 191 }
lcorralesc1 0:9aa80672eb3d 192 }
lcorralesc1 0:9aa80672eb3d 193 }