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Cambio de parametros PID con tres pulsadores (incremental, decremental y cambio) con sonido
Dependencies: Debounced TextLCD mbed
Fork of pid_teclas by
main.cpp@0:9aa80672eb3d, 2013-10-16 (annotated)
- Committer:
- lcorralesc1
- Date:
- Wed Oct 16 17:10:11 2013 +0000
- Revision:
- 0:9aa80672eb3d
- Child:
- 1:ab52c079267a
kfjvgjkfnvjfdng
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
lcorralesc1 | 0:9aa80672eb3d | 1 | #include "mbed.h" |
lcorralesc1 | 0:9aa80672eb3d | 2 | #include "DebouncedIn.h" |
lcorralesc1 | 0:9aa80672eb3d | 3 | #include "TextLCD.h" |
lcorralesc1 | 0:9aa80672eb3d | 4 | |
lcorralesc1 | 0:9aa80672eb3d | 5 | AnalogIn Vin(PTC2); |
lcorralesc1 | 0:9aa80672eb3d | 6 | TextLCD lcd(PTB10, PTB11, PTE2, PTE3, PTE4, PTE5); // rs, e, d4-d7 |
lcorralesc1 | 0:9aa80672eb3d | 7 | |
lcorralesc1 | 0:9aa80672eb3d | 8 | DigitalOut led1(LED1); |
lcorralesc1 | 0:9aa80672eb3d | 9 | DigitalOut led2(LED2); |
lcorralesc1 | 0:9aa80672eb3d | 10 | DigitalOut led3(LED3); |
lcorralesc1 | 0:9aa80672eb3d | 11 | DebouncedIn button1(PTC12); |
lcorralesc1 | 0:9aa80672eb3d | 12 | DebouncedIn button2(PTC13); |
lcorralesc1 | 0:9aa80672eb3d | 13 | DebouncedIn button3(PTC16); |
lcorralesc1 | 0:9aa80672eb3d | 14 | |
lcorralesc1 | 0:9aa80672eb3d | 15 | int C1=0x0F; |
lcorralesc1 | 0:9aa80672eb3d | 16 | int sp=0,kp=0,kd=0,ki=0,p=1; |
lcorralesc1 | 0:9aa80672eb3d | 17 | int main() |
lcorralesc1 | 0:9aa80672eb3d | 18 | { |
lcorralesc1 | 0:9aa80672eb3d | 19 | lcd.cls(); |
lcorralesc1 | 0:9aa80672eb3d | 20 | lcd.writeCommand(C1);//escribimos un comando segun el manual del modulo LCD |
lcorralesc1 | 0:9aa80672eb3d | 21 | lcd.locate(8,0); |
lcorralesc1 | 0:9aa80672eb3d | 22 | lcd.printf("kp=%d", kp); |
lcorralesc1 | 0:9aa80672eb3d | 23 | lcd.locate(0,1); |
lcorralesc1 | 0:9aa80672eb3d | 24 | lcd.printf("Ki=%d", ki); |
lcorralesc1 | 0:9aa80672eb3d | 25 | lcd.locate(8,1); |
lcorralesc1 | 0:9aa80672eb3d | 26 | lcd.printf("Kd=%d", kd); |
lcorralesc1 | 0:9aa80672eb3d | 27 | lcd.locate(0,0); |
lcorralesc1 | 0:9aa80672eb3d | 28 | lcd.printf("Sp=%d", sp); |
lcorralesc1 | 0:9aa80672eb3d | 29 | |
lcorralesc1 | 0:9aa80672eb3d | 30 | while(1) |
lcorralesc1 | 0:9aa80672eb3d | 31 | { |
lcorralesc1 | 0:9aa80672eb3d | 32 | if (button1.falling()) |
lcorralesc1 | 0:9aa80672eb3d | 33 | { |
lcorralesc1 | 0:9aa80672eb3d | 34 | led1 =!led1; |
lcorralesc1 | 0:9aa80672eb3d | 35 | if (p==1) |
lcorralesc1 | 0:9aa80672eb3d | 36 | { |
lcorralesc1 | 0:9aa80672eb3d | 37 | ++sp; |
lcorralesc1 | 0:9aa80672eb3d | 38 | lcd.locate(3,0); |
lcorralesc1 | 0:9aa80672eb3d | 39 | lcd.printf(" "); |
lcorralesc1 | 0:9aa80672eb3d | 40 | lcd.locate(3,0); |
lcorralesc1 | 0:9aa80672eb3d | 41 | lcd.printf("%d", sp); |
lcorralesc1 | 0:9aa80672eb3d | 42 | } |
lcorralesc1 | 0:9aa80672eb3d | 43 | else if (p==2) |
lcorralesc1 | 0:9aa80672eb3d | 44 | { |
lcorralesc1 | 0:9aa80672eb3d | 45 | ++kp; |
lcorralesc1 | 0:9aa80672eb3d | 46 | lcd.locate(11,0); |
lcorralesc1 | 0:9aa80672eb3d | 47 | lcd.printf(" "); |
lcorralesc1 | 0:9aa80672eb3d | 48 | lcd.locate(11,0); |
lcorralesc1 | 0:9aa80672eb3d | 49 | lcd.printf("%d", kp); |
lcorralesc1 | 0:9aa80672eb3d | 50 | } |
lcorralesc1 | 0:9aa80672eb3d | 51 | else if (p==3) |
lcorralesc1 | 0:9aa80672eb3d | 52 | { |
lcorralesc1 | 0:9aa80672eb3d | 53 | ++ki; |
lcorralesc1 | 0:9aa80672eb3d | 54 | lcd.locate(3,1); |
lcorralesc1 | 0:9aa80672eb3d | 55 | lcd.printf(" "); |
lcorralesc1 | 0:9aa80672eb3d | 56 | lcd.locate(3,1); |
lcorralesc1 | 0:9aa80672eb3d | 57 | lcd.printf("%d", ki); |
lcorralesc1 | 0:9aa80672eb3d | 58 | } |
lcorralesc1 | 0:9aa80672eb3d | 59 | else if (p==4) |
lcorralesc1 | 0:9aa80672eb3d | 60 | { |
lcorralesc1 | 0:9aa80672eb3d | 61 | ++kd; |
lcorralesc1 | 0:9aa80672eb3d | 62 | lcd.locate(11,1); |
lcorralesc1 | 0:9aa80672eb3d | 63 | lcd.printf(" "); |
lcorralesc1 | 0:9aa80672eb3d | 64 | lcd.locate(11,1); |
lcorralesc1 | 0:9aa80672eb3d | 65 | lcd.printf("%d", kd); |
lcorralesc1 | 0:9aa80672eb3d | 66 | } |
lcorralesc1 | 0:9aa80672eb3d | 67 | } |
lcorralesc1 | 0:9aa80672eb3d | 68 | if (button2.falling()) |
lcorralesc1 | 0:9aa80672eb3d | 69 | { |
lcorralesc1 | 0:9aa80672eb3d | 70 | led2 =!led2; |
lcorralesc1 | 0:9aa80672eb3d | 71 | if (p==1) |
lcorralesc1 | 0:9aa80672eb3d | 72 | { |
lcorralesc1 | 0:9aa80672eb3d | 73 | if (sp==0) // no mostrar nada |
lcorralesc1 | 0:9aa80672eb3d | 74 | { |
lcorralesc1 | 0:9aa80672eb3d | 75 | } |
lcorralesc1 | 0:9aa80672eb3d | 76 | else |
lcorralesc1 | 0:9aa80672eb3d | 77 | { |
lcorralesc1 | 0:9aa80672eb3d | 78 | --sp; |
lcorralesc1 | 0:9aa80672eb3d | 79 | lcd.locate(3,0); |
lcorralesc1 | 0:9aa80672eb3d | 80 | lcd.printf(" "); |
lcorralesc1 | 0:9aa80672eb3d | 81 | lcd.locate(3,0); |
lcorralesc1 | 0:9aa80672eb3d | 82 | lcd.printf("%d", sp); |
lcorralesc1 | 0:9aa80672eb3d | 83 | } |
lcorralesc1 | 0:9aa80672eb3d | 84 | } |
lcorralesc1 | 0:9aa80672eb3d | 85 | if (p==2) |
lcorralesc1 | 0:9aa80672eb3d | 86 | { |
lcorralesc1 | 0:9aa80672eb3d | 87 | if (kp==0) // no mostrar nada |
lcorralesc1 | 0:9aa80672eb3d | 88 | { |
lcorralesc1 | 0:9aa80672eb3d | 89 | } |
lcorralesc1 | 0:9aa80672eb3d | 90 | else |
lcorralesc1 | 0:9aa80672eb3d | 91 | { |
lcorralesc1 | 0:9aa80672eb3d | 92 | --kp; |
lcorralesc1 | 0:9aa80672eb3d | 93 | lcd.locate(11,0); |
lcorralesc1 | 0:9aa80672eb3d | 94 | lcd.printf(" "); |
lcorralesc1 | 0:9aa80672eb3d | 95 | lcd.locate(11,0); |
lcorralesc1 | 0:9aa80672eb3d | 96 | lcd.printf("%d", kp); |
lcorralesc1 | 0:9aa80672eb3d | 97 | } |
lcorralesc1 | 0:9aa80672eb3d | 98 | } |
lcorralesc1 | 0:9aa80672eb3d | 99 | if (p==3) |
lcorralesc1 | 0:9aa80672eb3d | 100 | { |
lcorralesc1 | 0:9aa80672eb3d | 101 | if (ki==0) // no mostrar nada |
lcorralesc1 | 0:9aa80672eb3d | 102 | { |
lcorralesc1 | 0:9aa80672eb3d | 103 | } |
lcorralesc1 | 0:9aa80672eb3d | 104 | else |
lcorralesc1 | 0:9aa80672eb3d | 105 | { |
lcorralesc1 | 0:9aa80672eb3d | 106 | --ki; |
lcorralesc1 | 0:9aa80672eb3d | 107 | lcd.locate(3,1); |
lcorralesc1 | 0:9aa80672eb3d | 108 | lcd.printf(" "); |
lcorralesc1 | 0:9aa80672eb3d | 109 | lcd.locate(3,1); |
lcorralesc1 | 0:9aa80672eb3d | 110 | lcd.printf("%d", ki); |
lcorralesc1 | 0:9aa80672eb3d | 111 | } |
lcorralesc1 | 0:9aa80672eb3d | 112 | } |
lcorralesc1 | 0:9aa80672eb3d | 113 | if (p==4) |
lcorralesc1 | 0:9aa80672eb3d | 114 | { |
lcorralesc1 | 0:9aa80672eb3d | 115 | if (kd==0) // no mostrar nada |
lcorralesc1 | 0:9aa80672eb3d | 116 | { |
lcorralesc1 | 0:9aa80672eb3d | 117 | } |
lcorralesc1 | 0:9aa80672eb3d | 118 | else |
lcorralesc1 | 0:9aa80672eb3d | 119 | { |
lcorralesc1 | 0:9aa80672eb3d | 120 | --kd; |
lcorralesc1 | 0:9aa80672eb3d | 121 | lcd.locate(11,1); |
lcorralesc1 | 0:9aa80672eb3d | 122 | lcd.printf(" "); |
lcorralesc1 | 0:9aa80672eb3d | 123 | lcd.locate(11,1); |
lcorralesc1 | 0:9aa80672eb3d | 124 | lcd.printf("%d", kd); |
lcorralesc1 | 0:9aa80672eb3d | 125 | } |
lcorralesc1 | 0:9aa80672eb3d | 126 | } |
lcorralesc1 | 0:9aa80672eb3d | 127 | } |
lcorralesc1 | 0:9aa80672eb3d | 128 | if (button3.falling()) |
lcorralesc1 | 0:9aa80672eb3d | 129 | { |
lcorralesc1 | 0:9aa80672eb3d | 130 | led3 =!led3; |
lcorralesc1 | 0:9aa80672eb3d | 131 | if (p==1) |
lcorralesc1 | 0:9aa80672eb3d | 132 | { |
lcorralesc1 | 0:9aa80672eb3d | 133 | ++p; |
lcorralesc1 | 0:9aa80672eb3d | 134 | lcd.locate(11,0); |
lcorralesc1 | 0:9aa80672eb3d | 135 | lcd.printf("%d", kp); |
lcorralesc1 | 0:9aa80672eb3d | 136 | |
lcorralesc1 | 0:9aa80672eb3d | 137 | |
lcorralesc1 | 0:9aa80672eb3d | 138 | } |
lcorralesc1 | 0:9aa80672eb3d | 139 | else if (p==2) |
lcorralesc1 | 0:9aa80672eb3d | 140 | { |
lcorralesc1 | 0:9aa80672eb3d | 141 | ++p; |
lcorralesc1 | 0:9aa80672eb3d | 142 | lcd.locate(3,1); |
lcorralesc1 | 0:9aa80672eb3d | 143 | lcd.printf("%d", ki); |
lcorralesc1 | 0:9aa80672eb3d | 144 | lcd.locate(3,1); |
lcorralesc1 | 0:9aa80672eb3d | 145 | |
lcorralesc1 | 0:9aa80672eb3d | 146 | } |
lcorralesc1 | 0:9aa80672eb3d | 147 | else if (p==3) |
lcorralesc1 | 0:9aa80672eb3d | 148 | { |
lcorralesc1 | 0:9aa80672eb3d | 149 | ++p; |
lcorralesc1 | 0:9aa80672eb3d | 150 | lcd.locate(11,1); |
lcorralesc1 | 0:9aa80672eb3d | 151 | lcd.printf("%d", kd); |
lcorralesc1 | 0:9aa80672eb3d | 152 | |
lcorralesc1 | 0:9aa80672eb3d | 153 | |
lcorralesc1 | 0:9aa80672eb3d | 154 | } |
lcorralesc1 | 0:9aa80672eb3d | 155 | else if (p==4) |
lcorralesc1 | 0:9aa80672eb3d | 156 | { |
lcorralesc1 | 0:9aa80672eb3d | 157 | p=1; |
lcorralesc1 | 0:9aa80672eb3d | 158 | lcd.locate(3,0); |
lcorralesc1 | 0:9aa80672eb3d | 159 | lcd.printf("%d", sp); |
lcorralesc1 | 0:9aa80672eb3d | 160 | |
lcorralesc1 | 0:9aa80672eb3d | 161 | |
lcorralesc1 | 0:9aa80672eb3d | 162 | } |
lcorralesc1 | 0:9aa80672eb3d | 163 | } |
lcorralesc1 | 0:9aa80672eb3d | 164 | } |
lcorralesc1 | 0:9aa80672eb3d | 165 | } |