Jesse Beltran
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
Revision 0:cdf4bcffb35a, committed 2014-04-03
- Comitter:
- Jesse
- Date:
- Thu Apr 03 20:19:31 2014 +0000
- Commit message:
- Tarea4_Encoder
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Debounced.lib Thu Apr 03 20:19:31 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/QEI.lib Thu Apr 03 20:19:31 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 Thu Apr 03 20:19:31 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/amarincan/code/TextLCD/#d692719a4c59
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Apr 03 20:19:31 2014 +0000
@@ -0,0 +1,159 @@
+//Jesse Mauricio Beltran
+//Michelle Maceas Henao
+
+
+#include "mbed.h"
+#include "DebouncedIn.h"
+#include "TextLCD.h"
+#include "QEI.h"
+
+
+QEI wheel (PTA16, PTA17, NC, 48);
+TextLCD lcd(PTB10, PTB11, PTE2, PTE3, PTE4, PTE5); // rs, e, d4-d7
+
+
+DebouncedIn Enco(PTC5);
+DebouncedIn button1(PTC10);
+DebouncedIn button2(PTC6);
+DebouncedIn button3(PTC11);
+PwmOut Pwm(PTA5);
+
+
+float pp=0.001;
+float Dd=0.1;
+int SP1=0,Sp=0,Kp1=0,Kp=0,Ki=0,Ki1=0,Kd=0,Kd1=0,v,m;
+int C1=0x0E; // solo muestra el curzor
+int i; // indice de la variable
+
+int PWMmodule(float pp,float Dd)
+{
+ Pwm.period(pp);
+ Pwm.write(Dd);
+ wait(0.2);
+ Pwm.write(0);
+ return 0;
+}
+
+int main()
+
+{
+ lcd.writeCommand(0x0E);
+ lcd.printf("Sp=0 Kp=0");
+ lcd.locate(0,1);
+ lcd.printf("Ki=0 Kd=0");
+ lcd.locate(2,0);
+ lcd.printf("=");
+
+ while(1)
+ {
+ m=wheel.getPulses();
+
+ if(m!=v) {
+
+ switch(i) {
+
+ case 0:
+ Kd1=Kd;
+
+ lcd.locate(2,0);
+ lcd.printf("= ");
+ lcd.locate(3,0);
+ lcd.printf("%d",Sp);
+ //Sp=m;
+ Sp=SP1+m;
+ if(Sp<0)
+ {
+ Sp=0;
+ wheel.reset();
+ m=0;
+ }
+ break;
+ case 1:
+ SP1=Sp;
+ lcd.locate(10,0);
+ lcd.printf("= ");
+ lcd.locate(11,0);
+ lcd.printf("%d",Kp);
+ //Kp=m;
+ Kp=Kp1+m;
+ if(Kp<0)
+ {
+ Kp=0;
+ wheel.reset();
+ m=0;
+ }
+ break;
+ case 2:
+ Kp1=Kp;
+ lcd.locate(2,1);
+ lcd.printf("= ");
+ lcd.locate(3,1);
+ lcd.printf("%d",Ki);
+ //Ki=m;
+ Ki=Ki1+m;
+ if(Ki<0)
+ {
+ Ki=0;
+ wheel.reset();
+ m=0;
+ }
+
+ break;
+ case 3:
+ Ki1=Ki;
+ lcd.locate(10,1);
+ lcd.printf("= ");
+ lcd.locate(11,1);
+ lcd.printf("%d",Kd);
+ Kd=Kd1+m;
+ if(Kd<0)
+ {
+ Kd=0;
+ wheel.reset();
+ m=0;
+ }
+
+ break;
+ }
+ v=m;
+ }
+
+
+ if(button3.falling() || Enco.falling())
+ {
+ PWMmodule(pp,Dd);
+ wait(0.2);
+ wheel.reset();
+ i++;
+ if(i>3)
+ {
+ i=0;
+ }
+ switch (i)
+ {
+ case 0:
+ lcd.locate(2,0);
+ lcd.printf("=");
+ break;
+ case 1:
+ lcd.locate(10,0);
+ lcd.printf("=");
+ break;
+ case 2:
+ lcd.locate(2,1);
+ lcd.printf("=");
+ break;
+ case 3:
+ lcd.locate(10,1);
+ lcd.printf("=");
+ break;
+
+
+ }
+ }
+ /*if(button3.falling())
+ {
+ PWMmodule(pp,Dd);
+ } */
+ }
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Thu Apr 03 20:19:31 2014 +0000 @@ -0,0 +1,1 @@ +http://world3.dev.mbed.org/users/mbed_official/code/mbed/builds/824293ae5e43 \ No newline at end of file