Jesse Beltran / Mbed 2 deprecated Tarea4_Encoder

Con la variacion del encoder, nos moveremos a traves de los parametros del PID,luego al pulsarlo nos enviara una señal a un speaker.

Dependencies:   Debounced QEI TextLCD mbed

main.cpp@0:cdf4bcffb35a, 2014-04-03 (annotated)

Committer:
Jesse
Date:
Thu Apr 03 20:19:31 2014 +0000
Revision:
0:cdf4bcffb35a
Tarea4_Encoder

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Jesse 0:cdf4bcffb35a 1 //Jesse Mauricio Beltran
Jesse 0:cdf4bcffb35a 2 //Michelle Maceas Henao
Jesse 0:cdf4bcffb35a 3
Jesse 0:cdf4bcffb35a 4
Jesse 0:cdf4bcffb35a 5 #include "mbed.h"
Jesse 0:cdf4bcffb35a 6 #include "DebouncedIn.h"
Jesse 0:cdf4bcffb35a 7 #include "TextLCD.h"
Jesse 0:cdf4bcffb35a 8 #include "QEI.h"
Jesse 0:cdf4bcffb35a 9
Jesse 0:cdf4bcffb35a 10
Jesse 0:cdf4bcffb35a 11 QEI wheel (PTA16, PTA17, NC, 48);
Jesse 0:cdf4bcffb35a 12 TextLCD lcd(PTB10, PTB11, PTE2, PTE3, PTE4, PTE5); // rs, e, d4-d7
Jesse 0:cdf4bcffb35a 13
Jesse 0:cdf4bcffb35a 14
Jesse 0:cdf4bcffb35a 15 DebouncedIn Enco(PTC5);
Jesse 0:cdf4bcffb35a 16 DebouncedIn button1(PTC10);
Jesse 0:cdf4bcffb35a 17 DebouncedIn button2(PTC6);
Jesse 0:cdf4bcffb35a 18 DebouncedIn button3(PTC11);
Jesse 0:cdf4bcffb35a 19 PwmOut Pwm(PTA5);
Jesse 0:cdf4bcffb35a 20
Jesse 0:cdf4bcffb35a 21
Jesse 0:cdf4bcffb35a 22 float pp=0.001;
Jesse 0:cdf4bcffb35a 23 float Dd=0.1;
Jesse 0:cdf4bcffb35a 24 int SP1=0,Sp=0,Kp1=0,Kp=0,Ki=0,Ki1=0,Kd=0,Kd1=0,v,m;
Jesse 0:cdf4bcffb35a 25 int C1=0x0E; // solo muestra el curzor
Jesse 0:cdf4bcffb35a 26 int i; // indice de la variable
Jesse 0:cdf4bcffb35a 27
Jesse 0:cdf4bcffb35a 28 int PWMmodule(float pp,float Dd)
Jesse 0:cdf4bcffb35a 29 {
Jesse 0:cdf4bcffb35a 30 Pwm.period(pp);
Jesse 0:cdf4bcffb35a 31 Pwm.write(Dd);
Jesse 0:cdf4bcffb35a 32 wait(0.2);
Jesse 0:cdf4bcffb35a 33 Pwm.write(0);
Jesse 0:cdf4bcffb35a 34 return 0;
Jesse 0:cdf4bcffb35a 35 }
Jesse 0:cdf4bcffb35a 36
Jesse 0:cdf4bcffb35a 37 int main()
Jesse 0:cdf4bcffb35a 38
Jesse 0:cdf4bcffb35a 39 {
Jesse 0:cdf4bcffb35a 40 lcd.writeCommand(0x0E);
Jesse 0:cdf4bcffb35a 41 lcd.printf("Sp=0 Kp=0");
Jesse 0:cdf4bcffb35a 42 lcd.locate(0,1);
Jesse 0:cdf4bcffb35a 43 lcd.printf("Ki=0 Kd=0");
Jesse 0:cdf4bcffb35a 44 lcd.locate(2,0);
Jesse 0:cdf4bcffb35a 45 lcd.printf("=");
Jesse 0:cdf4bcffb35a 46
Jesse 0:cdf4bcffb35a 47 while(1)
Jesse 0:cdf4bcffb35a 48 {
Jesse 0:cdf4bcffb35a 49 m=wheel.getPulses();
Jesse 0:cdf4bcffb35a 50
Jesse 0:cdf4bcffb35a 51 if(m!=v) {
Jesse 0:cdf4bcffb35a 52
Jesse 0:cdf4bcffb35a 53 switch(i) {
Jesse 0:cdf4bcffb35a 54
Jesse 0:cdf4bcffb35a 55 case 0:
Jesse 0:cdf4bcffb35a 56 Kd1=Kd;
Jesse 0:cdf4bcffb35a 57
Jesse 0:cdf4bcffb35a 58 lcd.locate(2,0);
Jesse 0:cdf4bcffb35a 59 lcd.printf("= ");
Jesse 0:cdf4bcffb35a 60 lcd.locate(3,0);
Jesse 0:cdf4bcffb35a 61 lcd.printf("%d",Sp);
Jesse 0:cdf4bcffb35a 62 //Sp=m;
Jesse 0:cdf4bcffb35a 63 Sp=SP1+m;
Jesse 0:cdf4bcffb35a 64 if(Sp<0)
Jesse 0:cdf4bcffb35a 65 {
Jesse 0:cdf4bcffb35a 66 Sp=0;
Jesse 0:cdf4bcffb35a 67 wheel.reset();
Jesse 0:cdf4bcffb35a 68 m=0;
Jesse 0:cdf4bcffb35a 69 }
Jesse 0:cdf4bcffb35a 70 break;
Jesse 0:cdf4bcffb35a 71 case 1:
Jesse 0:cdf4bcffb35a 72 SP1=Sp;
Jesse 0:cdf4bcffb35a 73 lcd.locate(10,0);
Jesse 0:cdf4bcffb35a 74 lcd.printf("= ");
Jesse 0:cdf4bcffb35a 75 lcd.locate(11,0);
Jesse 0:cdf4bcffb35a 76 lcd.printf("%d",Kp);
Jesse 0:cdf4bcffb35a 77 //Kp=m;
Jesse 0:cdf4bcffb35a 78 Kp=Kp1+m;
Jesse 0:cdf4bcffb35a 79 if(Kp<0)
Jesse 0:cdf4bcffb35a 80 {
Jesse 0:cdf4bcffb35a 81 Kp=0;
Jesse 0:cdf4bcffb35a 82 wheel.reset();
Jesse 0:cdf4bcffb35a 83 m=0;
Jesse 0:cdf4bcffb35a 84 }
Jesse 0:cdf4bcffb35a 85 break;
Jesse 0:cdf4bcffb35a 86 case 2:
Jesse 0:cdf4bcffb35a 87 Kp1=Kp;
Jesse 0:cdf4bcffb35a 88 lcd.locate(2,1);
Jesse 0:cdf4bcffb35a 89 lcd.printf("= ");
Jesse 0:cdf4bcffb35a 90 lcd.locate(3,1);
Jesse 0:cdf4bcffb35a 91 lcd.printf("%d",Ki);
Jesse 0:cdf4bcffb35a 92 //Ki=m;
Jesse 0:cdf4bcffb35a 93 Ki=Ki1+m;
Jesse 0:cdf4bcffb35a 94 if(Ki<0)
Jesse 0:cdf4bcffb35a 95 {
Jesse 0:cdf4bcffb35a 96 Ki=0;
Jesse 0:cdf4bcffb35a 97 wheel.reset();
Jesse 0:cdf4bcffb35a 98 m=0;
Jesse 0:cdf4bcffb35a 99 }
Jesse 0:cdf4bcffb35a 100
Jesse 0:cdf4bcffb35a 101 break;
Jesse 0:cdf4bcffb35a 102 case 3:
Jesse 0:cdf4bcffb35a 103 Ki1=Ki;
Jesse 0:cdf4bcffb35a 104 lcd.locate(10,1);
Jesse 0:cdf4bcffb35a 105 lcd.printf("= ");
Jesse 0:cdf4bcffb35a 106 lcd.locate(11,1);
Jesse 0:cdf4bcffb35a 107 lcd.printf("%d",Kd);
Jesse 0:cdf4bcffb35a 108 Kd=Kd1+m;
Jesse 0:cdf4bcffb35a 109 if(Kd<0)
Jesse 0:cdf4bcffb35a 110 {
Jesse 0:cdf4bcffb35a 111 Kd=0;
Jesse 0:cdf4bcffb35a 112 wheel.reset();
Jesse 0:cdf4bcffb35a 113 m=0;
Jesse 0:cdf4bcffb35a 114 }
Jesse 0:cdf4bcffb35a 115
Jesse 0:cdf4bcffb35a 116 break;
Jesse 0:cdf4bcffb35a 117 }
Jesse 0:cdf4bcffb35a 118 v=m;
Jesse 0:cdf4bcffb35a 119 }
Jesse 0:cdf4bcffb35a 120
Jesse 0:cdf4bcffb35a 121
Jesse 0:cdf4bcffb35a 122 if(button3.falling() || Enco.falling())
Jesse 0:cdf4bcffb35a 123 {
Jesse 0:cdf4bcffb35a 124 PWMmodule(pp,Dd);
Jesse 0:cdf4bcffb35a 125 wait(0.2);
Jesse 0:cdf4bcffb35a 126 wheel.reset();
Jesse 0:cdf4bcffb35a 127 i++;
Jesse 0:cdf4bcffb35a 128 if(i>3)
Jesse 0:cdf4bcffb35a 129 {
Jesse 0:cdf4bcffb35a 130 i=0;
Jesse 0:cdf4bcffb35a 131 }
Jesse 0:cdf4bcffb35a 132 switch (i)
Jesse 0:cdf4bcffb35a 133 {
Jesse 0:cdf4bcffb35a 134 case 0:
Jesse 0:cdf4bcffb35a 135 lcd.locate(2,0);
Jesse 0:cdf4bcffb35a 136 lcd.printf("=");
Jesse 0:cdf4bcffb35a 137 break;
Jesse 0:cdf4bcffb35a 138 case 1:
Jesse 0:cdf4bcffb35a 139 lcd.locate(10,0);
Jesse 0:cdf4bcffb35a 140 lcd.printf("=");
Jesse 0:cdf4bcffb35a 141 break;
Jesse 0:cdf4bcffb35a 142 case 2:
Jesse 0:cdf4bcffb35a 143 lcd.locate(2,1);
Jesse 0:cdf4bcffb35a 144 lcd.printf("=");
Jesse 0:cdf4bcffb35a 145 break;
Jesse 0:cdf4bcffb35a 146 case 3:
Jesse 0:cdf4bcffb35a 147 lcd.locate(10,1);
Jesse 0:cdf4bcffb35a 148 lcd.printf("=");
Jesse 0:cdf4bcffb35a 149 break;
Jesse 0:cdf4bcffb35a 150
Jesse 0:cdf4bcffb35a 151
Jesse 0:cdf4bcffb35a 152 }
Jesse 0:cdf4bcffb35a 153 }
Jesse 0:cdf4bcffb35a 154 /*if(button3.falling())
Jesse 0:cdf4bcffb35a 155 {
Jesse 0:cdf4bcffb35a 156 PWMmodule(pp,Dd);
Jesse 0:cdf4bcffb35a 157 } */
Jesse 0:cdf4bcffb35a 158 }
Jesse 0:cdf4bcffb35a 159 }