PID
Dependencies: Debounced FPointer QEI TextLCD keypad mbed
main.cpp@0:413ccc1d18e1, 2014-06-13 (annotated)
- Committer:
- Jesse
- Date:
- Fri Jun 13 16:49:12 2014 +0000
- Revision:
- 0:413ccc1d18e1
- Child:
- 1:7394ade42a1d
PID
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Jesse | 0:413ccc1d18e1 | 1 | #include "mbed.h" |
Jesse | 0:413ccc1d18e1 | 2 | #include "TextLCD.h" |
Jesse | 0:413ccc1d18e1 | 3 | #include "QEI.h" |
Jesse | 0:413ccc1d18e1 | 4 | #include "DebouncedIn.h" |
Jesse | 0:413ccc1d18e1 | 5 | |
Jesse | 0:413ccc1d18e1 | 6 | PwmOut Pwm1(PTA5);//Definicion de las Salidas. |
Jesse | 0:413ccc1d18e1 | 7 | PwmOut Pwm2(PTD4);//Definicion de las Salidas.D |
Jesse | 0:413ccc1d18e1 | 8 | DigitalOut led(LED1); |
Jesse | 0:413ccc1d18e1 | 9 | DigitalOut led2(LED2); |
Jesse | 0:413ccc1d18e1 | 10 | DigitalOut led3(LED3); |
Jesse | 0:413ccc1d18e1 | 11 | DebouncedIn button3(PTC16); |
Jesse | 0:413ccc1d18e1 | 12 | DebouncedIn button4(PTC17); |
Jesse | 0:413ccc1d18e1 | 13 | |
Jesse | 0:413ccc1d18e1 | 14 | Serial pc(USBTX, USBRX, "pc"); |
Jesse | 0:413ccc1d18e1 | 15 | QEI wheel (PTD5, PTD0, NC, 24); |
Jesse | 0:413ccc1d18e1 | 16 | AnalogIn y(PTB1); |
Jesse | 0:413ccc1d18e1 | 17 | AnalogOut u(PTE30); |
Jesse | 0:413ccc1d18e1 | 18 | TextLCD lcd(PTB10, PTB11, PTE2, PTE3, PTE4, PTE5); // rs, e, d4-d7 |
Jesse | 0:413ccc1d18e1 | 19 | |
Jesse | 0:413ccc1d18e1 | 20 | int C4=0x0C; // quito cursor bajo |
Jesse | 0:413ccc1d18e1 | 21 | |
Jesse | 0:413ccc1d18e1 | 22 | float PI,PIant; |
Jesse | 0:413ccc1d18e1 | 23 | float medd; |
Jesse | 0:413ccc1d18e1 | 24 | float sal; |
Jesse | 0:413ccc1d18e1 | 25 | int i; // indice de la variable |
Jesse | 0:413ccc1d18e1 | 26 | int j; //variable controla cambio 4 posiciones |
Jesse | 0:413ccc1d18e1 | 27 | float kp=60, ki=0.26, kd=0, Sp,sp,Set=28,T; |
Jesse | 0:413ccc1d18e1 | 28 | float Delta1=0,Delta2=0,Delta3=0,Delta22,Delta33; |
Jesse | 0:413ccc1d18e1 | 29 | float yr, ap, ai, ad, err, med, err_v, cycle, pid,pid2; |
Jesse | 0:413ccc1d18e1 | 30 | int b=0; |
Jesse | 0:413ccc1d18e1 | 31 | float pidn; |
Jesse | 0:413ccc1d18e1 | 32 | |
Jesse | 0:413ccc1d18e1 | 33 | float f=100; //Frecuencia del PWM |
Jesse | 0:413ccc1d18e1 | 34 | float pp=1/f; //Perioo del PWM |
Jesse | 0:413ccc1d18e1 | 35 | Timer t; |
Jesse | 0:413ccc1d18e1 | 36 | |
Jesse | 0:413ccc1d18e1 | 37 | int Fs=10; |
Jesse | 0:413ccc1d18e1 | 38 | float Ts=0.1; |
Jesse | 0:413ccc1d18e1 | 39 | float inte; |
Jesse | 0:413ccc1d18e1 | 40 | float intek; |
Jesse | 0:413ccc1d18e1 | 41 | |
Jesse | 0:413ccc1d18e1 | 42 | |
Jesse | 0:413ccc1d18e1 | 43 | int PWMmodule1(float pp,float Dd) |
Jesse | 0:413ccc1d18e1 | 44 | { |
Jesse | 0:413ccc1d18e1 | 45 | Pwm1.period(pp); |
Jesse | 0:413ccc1d18e1 | 46 | Pwm1.write(Dd); |
Jesse | 0:413ccc1d18e1 | 47 | wait(0.01); |
Jesse | 0:413ccc1d18e1 | 48 | } |
Jesse | 0:413ccc1d18e1 | 49 | |
Jesse | 0:413ccc1d18e1 | 50 | int PWMmodule2(float pp,float Dd) |
Jesse | 0:413ccc1d18e1 | 51 | { |
Jesse | 0:413ccc1d18e1 | 52 | Pwm2.period(pp); |
Jesse | 0:413ccc1d18e1 | 53 | Pwm2.write(Dd); |
Jesse | 0:413ccc1d18e1 | 54 | wait(0.01); |
Jesse | 0:413ccc1d18e1 | 55 | } |
Jesse | 0:413ccc1d18e1 | 56 | int main() |
Jesse | 0:413ccc1d18e1 | 57 | { |
Jesse | 0:413ccc1d18e1 | 58 | |
Jesse | 0:413ccc1d18e1 | 59 | led=1; |
Jesse | 0:413ccc1d18e1 | 60 | led2=0; |
Jesse | 0:413ccc1d18e1 | 61 | medd=3.705503686*100*y.read(); |
Jesse | 0:413ccc1d18e1 | 62 | sp=medd; |
Jesse | 0:413ccc1d18e1 | 63 | Sp=sp; |
Jesse | 0:413ccc1d18e1 | 64 | inte=Set-medd; |
Jesse | 0:413ccc1d18e1 | 65 | PIant=0; |
Jesse | 0:413ccc1d18e1 | 66 | lcd.cls(); |
Jesse | 0:413ccc1d18e1 | 67 | //Valores Constantes, que se deben inicializar. |
Jesse | 0:413ccc1d18e1 | 68 | lcd.locate(0,0); |
Jesse | 0:413ccc1d18e1 | 69 | lcd.printf("Sp:%.1f",Set); |
Jesse | 0:413ccc1d18e1 | 70 | lcd.locate(8,0); |
Jesse | 0:413ccc1d18e1 | 71 | lcd.printf("T1:%.1f",Delta1); |
Jesse | 0:413ccc1d18e1 | 72 | lcd.locate(0,1); |
Jesse | 0:413ccc1d18e1 | 73 | lcd.printf("T2:%.1f",Delta2); |
Jesse | 0:413ccc1d18e1 | 74 | lcd.locate(8,1); |
Jesse | 0:413ccc1d18e1 | 75 | lcd.printf("T3:%.1f",Delta3); |
Jesse | 0:413ccc1d18e1 | 76 | |
Jesse | 0:413ccc1d18e1 | 77 | while(1) |
Jesse | 0:413ccc1d18e1 | 78 | { |
Jesse | 0:413ccc1d18e1 | 79 | led3 =1; |
Jesse | 0:413ccc1d18e1 | 80 | if (button3.falling()) |
Jesse | 0:413ccc1d18e1 | 81 | { //INCREMENTA POSICION DEL MENU CON BOTON 3 (Switche encoder) |
Jesse | 0:413ccc1d18e1 | 82 | led3 =!led3; |
Jesse | 0:413ccc1d18e1 | 83 | ++j; |
Jesse | 0:413ccc1d18e1 | 84 | } |
Jesse | 0:413ccc1d18e1 | 85 | |
Jesse | 0:413ccc1d18e1 | 86 | if(j==0) |
Jesse | 0:413ccc1d18e1 | 87 | { |
Jesse | 0:413ccc1d18e1 | 88 | Set=Set+wheel.getPulses(); |
Jesse | 0:413ccc1d18e1 | 89 | wheel.reset(); |
Jesse | 0:413ccc1d18e1 | 90 | if (Set>999) |
Jesse | 0:413ccc1d18e1 | 91 | { |
Jesse | 0:413ccc1d18e1 | 92 | Set=999; |
Jesse | 0:413ccc1d18e1 | 93 | } |
Jesse | 0:413ccc1d18e1 | 94 | if (Set<0) |
Jesse | 0:413ccc1d18e1 | 95 | { |
Jesse | 0:413ccc1d18e1 | 96 | Set=0; |
Jesse | 0:413ccc1d18e1 | 97 | } |
Jesse | 0:413ccc1d18e1 | 98 | lcd.locate(3,0); |
Jesse | 0:413ccc1d18e1 | 99 | lcd.printf(" ",Set); |
Jesse | 0:413ccc1d18e1 | 100 | lcd.locate(3,0); |
Jesse | 0:413ccc1d18e1 | 101 | lcd.printf("%.1f",Set); |
Jesse | 0:413ccc1d18e1 | 102 | wait(0.2); |
Jesse | 0:413ccc1d18e1 | 103 | |
Jesse | 0:413ccc1d18e1 | 104 | if(button3.falling()) |
Jesse | 0:413ccc1d18e1 | 105 | { |
Jesse | 0:413ccc1d18e1 | 106 | j=1; |
Jesse | 0:413ccc1d18e1 | 107 | led3=0; |
Jesse | 0:413ccc1d18e1 | 108 | wait(0.3); |
Jesse | 0:413ccc1d18e1 | 109 | wheel.reset(); |
Jesse | 0:413ccc1d18e1 | 110 | } |
Jesse | 0:413ccc1d18e1 | 111 | |
Jesse | 0:413ccc1d18e1 | 112 | } |
Jesse | 0:413ccc1d18e1 | 113 | if(j==1) |
Jesse | 0:413ccc1d18e1 | 114 | { |
Jesse | 0:413ccc1d18e1 | 115 | Delta1=Delta1+wheel.getPulses(); |
Jesse | 0:413ccc1d18e1 | 116 | wheel.reset(); |
Jesse | 0:413ccc1d18e1 | 117 | if (Delta1>12000) |
Jesse | 0:413ccc1d18e1 | 118 | { |
Jesse | 0:413ccc1d18e1 | 119 | Delta1=12000; |
Jesse | 0:413ccc1d18e1 | 120 | } |
Jesse | 0:413ccc1d18e1 | 121 | if (Delta1<0) |
Jesse | 0:413ccc1d18e1 | 122 | { |
Jesse | 0:413ccc1d18e1 | 123 | Delta1=0; |
Jesse | 0:413ccc1d18e1 | 124 | } |
Jesse | 0:413ccc1d18e1 | 125 | lcd.locate(11,0); |
Jesse | 0:413ccc1d18e1 | 126 | lcd.printf(" "); |
Jesse | 0:413ccc1d18e1 | 127 | lcd.locate(11,0); |
Jesse | 0:413ccc1d18e1 | 128 | lcd.printf("%.1f",Delta1); |
Jesse | 0:413ccc1d18e1 | 129 | wait(0.2); |
Jesse | 0:413ccc1d18e1 | 130 | |
Jesse | 0:413ccc1d18e1 | 131 | if(button3.falling()) |
Jesse | 0:413ccc1d18e1 | 132 | { |
Jesse | 0:413ccc1d18e1 | 133 | j=2; |
Jesse | 0:413ccc1d18e1 | 134 | led3=0; |
Jesse | 0:413ccc1d18e1 | 135 | wait(0.3); |
Jesse | 0:413ccc1d18e1 | 136 | wheel.reset(); |
Jesse | 0:413ccc1d18e1 | 137 | } |
Jesse | 0:413ccc1d18e1 | 138 | } |
Jesse | 0:413ccc1d18e1 | 139 | if(j==2) |
Jesse | 0:413ccc1d18e1 | 140 | { |
Jesse | 0:413ccc1d18e1 | 141 | Delta2=Delta2+wheel.getPulses(); |
Jesse | 0:413ccc1d18e1 | 142 | wheel.reset(); |
Jesse | 0:413ccc1d18e1 | 143 | if (Delta2>12000) |
Jesse | 0:413ccc1d18e1 | 144 | { |
Jesse | 0:413ccc1d18e1 | 145 | Delta2=12000; |
Jesse | 0:413ccc1d18e1 | 146 | } |
Jesse | 0:413ccc1d18e1 | 147 | if (Delta2<0) |
Jesse | 0:413ccc1d18e1 | 148 | { |
Jesse | 0:413ccc1d18e1 | 149 | Delta2=0; |
Jesse | 0:413ccc1d18e1 | 150 | } |
Jesse | 0:413ccc1d18e1 | 151 | lcd.locate(3,1); |
Jesse | 0:413ccc1d18e1 | 152 | lcd.printf(" "); |
Jesse | 0:413ccc1d18e1 | 153 | lcd.locate(3,1); |
Jesse | 0:413ccc1d18e1 | 154 | lcd.printf("%.1f",Delta2); |
Jesse | 0:413ccc1d18e1 | 155 | wait(0.2); |
Jesse | 0:413ccc1d18e1 | 156 | |
Jesse | 0:413ccc1d18e1 | 157 | if(button3.falling()) |
Jesse | 0:413ccc1d18e1 | 158 | { |
Jesse | 0:413ccc1d18e1 | 159 | j=3; |
Jesse | 0:413ccc1d18e1 | 160 | led3=0; |
Jesse | 0:413ccc1d18e1 | 161 | wait(0.3); |
Jesse | 0:413ccc1d18e1 | 162 | wheel.reset(); |
Jesse | 0:413ccc1d18e1 | 163 | } |
Jesse | 0:413ccc1d18e1 | 164 | } |
Jesse | 0:413ccc1d18e1 | 165 | |
Jesse | 0:413ccc1d18e1 | 166 | if(j==3) |
Jesse | 0:413ccc1d18e1 | 167 | { |
Jesse | 0:413ccc1d18e1 | 168 | Delta3=Delta3+wheel.getPulses(); |
Jesse | 0:413ccc1d18e1 | 169 | wheel.reset(); |
Jesse | 0:413ccc1d18e1 | 170 | if (Delta3>12000) |
Jesse | 0:413ccc1d18e1 | 171 | { |
Jesse | 0:413ccc1d18e1 | 172 | Delta3=12000; |
Jesse | 0:413ccc1d18e1 | 173 | } |
Jesse | 0:413ccc1d18e1 | 174 | if (Delta3<0) |
Jesse | 0:413ccc1d18e1 | 175 | { |
Jesse | 0:413ccc1d18e1 | 176 | Delta3=0; |
Jesse | 0:413ccc1d18e1 | 177 | } |
Jesse | 0:413ccc1d18e1 | 178 | lcd.locate(11,1); |
Jesse | 0:413ccc1d18e1 | 179 | lcd.printf(" "); |
Jesse | 0:413ccc1d18e1 | 180 | lcd.locate(11,1); |
Jesse | 0:413ccc1d18e1 | 181 | lcd.printf("%.1f",Delta3); |
Jesse | 0:413ccc1d18e1 | 182 | wait(0.2); |
Jesse | 0:413ccc1d18e1 | 183 | |
Jesse | 0:413ccc1d18e1 | 184 | if(button3.falling()) |
Jesse | 0:413ccc1d18e1 | 185 | { |
Jesse | 0:413ccc1d18e1 | 186 | j=0; |
Jesse | 0:413ccc1d18e1 | 187 | led3=0; |
Jesse | 0:413ccc1d18e1 | 188 | wait(0.3); |
Jesse | 0:413ccc1d18e1 | 189 | wheel.reset(); |
Jesse | 0:413ccc1d18e1 | 190 | } |
Jesse | 0:413ccc1d18e1 | 191 | } |
Jesse | 0:413ccc1d18e1 | 192 | |
Jesse | 0:413ccc1d18e1 | 193 | if(j==4) |
Jesse | 0:413ccc1d18e1 | 194 | { |
Jesse | 0:413ccc1d18e1 | 195 | j=0; |
Jesse | 0:413ccc1d18e1 | 196 | } |
Jesse | 0:413ccc1d18e1 | 197 | |
Jesse | 0:413ccc1d18e1 | 198 | if(!button4) |
Jesse | 0:413ccc1d18e1 | 199 | { |
Jesse | 0:413ccc1d18e1 | 200 | break; |
Jesse | 0:413ccc1d18e1 | 201 | } |
Jesse | 0:413ccc1d18e1 | 202 | } |
Jesse | 0:413ccc1d18e1 | 203 | //%%Cierro While-------------------------------------------- |
Jesse | 0:413ccc1d18e1 | 204 | lcd.writeCommand(C4); |
Jesse | 0:413ccc1d18e1 | 205 | lcd.cls(); //borra la pantalla |
Jesse | 0:413ccc1d18e1 | 206 | lcd.printf(" GUARDAMOS \nVALORES |m|"); |
Jesse | 0:413ccc1d18e1 | 207 | wait(2); |
Jesse | 0:413ccc1d18e1 | 208 | |
Jesse | 0:413ccc1d18e1 | 209 | Delta22=Delta2+Delta1; |
Jesse | 0:413ccc1d18e1 | 210 | Delta33=Delta3+Delta2+Delta1; |
Jesse | 0:413ccc1d18e1 | 211 | |
Jesse | 0:413ccc1d18e1 | 212 | medd=3.4503686*100*y.read(); |
Jesse | 0:413ccc1d18e1 | 213 | lcd.cls(); |
Jesse | 0:413ccc1d18e1 | 214 | lcd.locate(0,0); |
Jesse | 0:413ccc1d18e1 | 215 | lcd.printf("Sp:%.1f",Sp); |
Jesse | 0:413ccc1d18e1 | 216 | lcd.locate(0,1); |
Jesse | 0:413ccc1d18e1 | 217 | lcd.printf("Ts=%.1f",T); |
Jesse | 0:413ccc1d18e1 | 218 | //lcd.locate(8,0); |
Jesse | 0:413ccc1d18e1 | 219 | //lcd.printf("Er:%.1f",err); |
Jesse | 0:413ccc1d18e1 | 220 | lcd.locate(8,0); |
Jesse | 0:413ccc1d18e1 | 221 | lcd.printf("T%.1f",medd); |
Jesse | 0:413ccc1d18e1 | 222 | lcd.locate(8,1); |
Jesse | 0:413ccc1d18e1 | 223 | lcd.printf("u:%.1f",PI); |
Jesse | 0:413ccc1d18e1 | 224 | wait(2); |
Jesse | 0:413ccc1d18e1 | 225 | |
Jesse | 0:413ccc1d18e1 | 226 | while(1) |
Jesse | 0:413ccc1d18e1 | 227 | { |
Jesse | 0:413ccc1d18e1 | 228 | |
Jesse | 0:413ccc1d18e1 | 229 | medd=3.45503686*100*y.read(); |
Jesse | 0:413ccc1d18e1 | 230 | err = (Sp-medd); |
Jesse | 0:413ccc1d18e1 | 231 | inte=inte+err*Ts; |
Jesse | 0:413ccc1d18e1 | 232 | PI=(kp*err+ ki*inte); |
Jesse | 0:413ccc1d18e1 | 233 | pid=PI/100; |
Jesse | 0:413ccc1d18e1 | 234 | pid2=1-pid; |
Jesse | 0:413ccc1d18e1 | 235 | if(PI>100) |
Jesse | 0:413ccc1d18e1 | 236 | { |
Jesse | 0:413ccc1d18e1 | 237 | PI=100; |
Jesse | 0:413ccc1d18e1 | 238 | } |
Jesse | 0:413ccc1d18e1 | 239 | if(PI<0) |
Jesse | 0:413ccc1d18e1 | 240 | { |
Jesse | 0:413ccc1d18e1 | 241 | PI=0; |
Jesse | 0:413ccc1d18e1 | 242 | } |
Jesse | 0:413ccc1d18e1 | 243 | |
Jesse | 0:413ccc1d18e1 | 244 | |
Jesse | 0:413ccc1d18e1 | 245 | |
Jesse | 0:413ccc1d18e1 | 246 | |
Jesse | 0:413ccc1d18e1 | 247 | |
Jesse | 0:413ccc1d18e1 | 248 | //Funcion Rampa |
Jesse | 0:413ccc1d18e1 | 249 | if(T<=Delta1) |
Jesse | 0:413ccc1d18e1 | 250 | { |
Jesse | 0:413ccc1d18e1 | 251 | lcd.cls(); |
Jesse | 0:413ccc1d18e1 | 252 | lcd.locate(0,0); |
Jesse | 0:413ccc1d18e1 | 253 | Sp=Sp+(((Set-sp)/Delta1))*Ts; |
Jesse | 0:413ccc1d18e1 | 254 | lcd.printf("Sp=%.1f",Sp); |
Jesse | 0:413ccc1d18e1 | 255 | lcd.locate(0,1); |
Jesse | 0:413ccc1d18e1 | 256 | lcd.printf("Ts=%.1f",T); |
Jesse | 0:413ccc1d18e1 | 257 | lcd.locate(8,0); |
Jesse | 0:413ccc1d18e1 | 258 | lcd.printf("Er:%.1f",medd); |
Jesse | 0:413ccc1d18e1 | 259 | lcd.locate(8,1); |
Jesse | 0:413ccc1d18e1 | 260 | lcd.printf("u:%.1f",PI); |
Jesse | 0:413ccc1d18e1 | 261 | PWMmodule1(pp,pid); |
Jesse | 0:413ccc1d18e1 | 262 | PWMmodule2(pp,pid2); |
Jesse | 0:413ccc1d18e1 | 263 | |
Jesse | 0:413ccc1d18e1 | 264 | } |
Jesse | 0:413ccc1d18e1 | 265 | if((T>Delta1)&&(T<=Delta22)) |
Jesse | 0:413ccc1d18e1 | 266 | { |
Jesse | 0:413ccc1d18e1 | 267 | Sp=Sp; |
Jesse | 0:413ccc1d18e1 | 268 | lcd.cls(); |
Jesse | 0:413ccc1d18e1 | 269 | lcd.printf("Sp=%.1f",Sp); |
Jesse | 0:413ccc1d18e1 | 270 | lcd.locate(0,1); |
Jesse | 0:413ccc1d18e1 | 271 | lcd.printf("Ts=%.1f",T); |
Jesse | 0:413ccc1d18e1 | 272 | lcd.locate(8,0); |
Jesse | 0:413ccc1d18e1 | 273 | lcd.printf("Er:%.1f",medd); |
Jesse | 0:413ccc1d18e1 | 274 | lcd.locate(8,1); |
Jesse | 0:413ccc1d18e1 | 275 | lcd.printf("u:%.1f",PI); |
Jesse | 0:413ccc1d18e1 | 276 | PWMmodule1(pp,pid); |
Jesse | 0:413ccc1d18e1 | 277 | PWMmodule2(pp,pid2); |
Jesse | 0:413ccc1d18e1 | 278 | } |
Jesse | 0:413ccc1d18e1 | 279 | if((T>Delta22)&&(T<=Delta33)) |
Jesse | 0:413ccc1d18e1 | 280 | { |
Jesse | 0:413ccc1d18e1 | 281 | lcd.cls(); |
Jesse | 0:413ccc1d18e1 | 282 | lcd.printf("Sp=%.1f",Sp); |
Jesse | 0:413ccc1d18e1 | 283 | lcd.locate(0,1); |
Jesse | 0:413ccc1d18e1 | 284 | Sp=Sp-(((Set-sp)/Delta3))*Ts; |
Jesse | 0:413ccc1d18e1 | 285 | lcd.printf("Ts=%.1f",T); |
Jesse | 0:413ccc1d18e1 | 286 | lcd.locate(8,0); |
Jesse | 0:413ccc1d18e1 | 287 | lcd.printf("Er:%.1f",medd); |
Jesse | 0:413ccc1d18e1 | 288 | lcd.locate(8,1); |
Jesse | 0:413ccc1d18e1 | 289 | lcd.printf("u:%.1f",PI); |
Jesse | 0:413ccc1d18e1 | 290 | PWMmodule1(pp,pid); |
Jesse | 0:413ccc1d18e1 | 291 | PWMmodule2(pp,pid2); |
Jesse | 0:413ccc1d18e1 | 292 | |
Jesse | 0:413ccc1d18e1 | 293 | //pid=1-(PI/100); |
Jesse | 0:413ccc1d18e1 | 294 | led=1; |
Jesse | 0:413ccc1d18e1 | 295 | led2=0; |
Jesse | 0:413ccc1d18e1 | 296 | /*PWMmodule2(pp,pid); |
Jesse | 0:413ccc1d18e1 | 297 | PWMmodule1(pp,0);*/ |
Jesse | 0:413ccc1d18e1 | 298 | |
Jesse | 0:413ccc1d18e1 | 299 | } |
Jesse | 0:413ccc1d18e1 | 300 | //Fin de funcion rampa. |
Jesse | 0:413ccc1d18e1 | 301 | |
Jesse | 0:413ccc1d18e1 | 302 | //Inicio del PID |
Jesse | 0:413ccc1d18e1 | 303 | |
Jesse | 0:413ccc1d18e1 | 304 | /* |
Jesse | 0:413ccc1d18e1 | 305 | if (PI>=PIant) { |
Jesse | 0:413ccc1d18e1 | 306 | pid=PI/100; |
Jesse | 0:413ccc1d18e1 | 307 | led=0; |
Jesse | 0:413ccc1d18e1 | 308 | led2=1; |
Jesse | 0:413ccc1d18e1 | 309 | PWMmodule1(pp,pid); |
Jesse | 0:413ccc1d18e1 | 310 | PWMmodule2(pp,0); |
Jesse | 0:413ccc1d18e1 | 311 | } |
Jesse | 0:413ccc1d18e1 | 312 | |
Jesse | 0:413ccc1d18e1 | 313 | if (PI<PIant) |
Jesse | 0:413ccc1d18e1 | 314 | { |
Jesse | 0:413ccc1d18e1 | 315 | pid2=1-(PI/100); |
Jesse | 0:413ccc1d18e1 | 316 | led=1; |
Jesse | 0:413ccc1d18e1 | 317 | led2=0; |
Jesse | 0:413ccc1d18e1 | 318 | PWMmodule2(pp,pid2); |
Jesse | 0:413ccc1d18e1 | 319 | PWMmodule1(pp,0); |
Jesse | 0:413ccc1d18e1 | 320 | } |
Jesse | 0:413ccc1d18e1 | 321 | */ |
Jesse | 0:413ccc1d18e1 | 322 | PIant=PI; |
Jesse | 0:413ccc1d18e1 | 323 | |
Jesse | 0:413ccc1d18e1 | 324 | lcd.locate(8,0); |
Jesse | 0:413ccc1d18e1 | 325 | lcd.printf("Er:%.1f",medd); |
Jesse | 0:413ccc1d18e1 | 326 | lcd.locate(8,1); |
Jesse | 0:413ccc1d18e1 | 327 | lcd.printf("u:%.1f",PI); |
Jesse | 0:413ccc1d18e1 | 328 | |
Jesse | 0:413ccc1d18e1 | 329 | //Fin del PID |
Jesse | 0:413ccc1d18e1 | 330 | /*lcd.cls(); |
Jesse | 0:413ccc1d18e1 | 331 | lcd.locate(0,0); |
Jesse | 0:413ccc1d18e1 | 332 | lcd.printf("T:%d",medd); |
Jesse | 0:413ccc1d18e1 | 333 | lcd.locate(0,1); |
Jesse | 0:413ccc1d18e1 | 334 | lcd.printf("u:%.2f",PI); |
Jesse | 0:413ccc1d18e1 | 335 | lcd.locate(5,0); |
Jesse | 0:413ccc1d18e1 | 336 | lcd.printf(":%.2f",inte); |
Jesse | 0:413ccc1d18e1 | 337 | */ |
Jesse | 0:413ccc1d18e1 | 338 | T=T+Ts; |
Jesse | 0:413ccc1d18e1 | 339 | } |
Jesse | 0:413ccc1d18e1 | 340 | |
Jesse | 0:413ccc1d18e1 | 341 | |
Jesse | 0:413ccc1d18e1 | 342 | |
Jesse | 0:413ccc1d18e1 | 343 | } |