File content as of revision 1:7394ade42a1d:

#include "mbed.h"
#include "TextLCD.h"
#include "QEI.h" 
#include "DebouncedIn.h"

PwmOut Pwm1(PTA5);//Definicion de las Salidas.
PwmOut Pwm2(PTD4);//Definicion de las Salidas.D
DigitalOut led(LED1);
DigitalOut  led2(LED2);
DigitalOut led3(LED3);
DebouncedIn button3(PTC16);
DebouncedIn button4(PTC17);

Serial pc(USBTX, USBRX, "pc");
QEI wheel (PTD5, PTD0, NC, 24);
AnalogIn y(PTB1);
AnalogOut u(PTE30);
TextLCD lcd(PTB10, PTB11, PTE2, PTE3, PTE4, PTE5); // rs, e, d4-d7

int C4=0x0C; // quito cursor bajo

float PI,PIant;
float  medd;
float sal;
int i; // indice de la variable
int j; //variable controla cambio 4 posiciones
float kp=60, ki=0.26, kd=0, Sp,sp,Set=28,T;
float Delta1=0,Delta2=0,Delta3=0,Delta22,Delta33;
float yr, ap, ai, ad, err, med, err_v, cycle, pid,pid2;
int b=0; 
float pidn;

float f=100;         //Frecuencia del PWM
float pp=1/f;       //Perioo del PWM
Timer t;

int Fs=10;
float Ts=0.1;
float inte;
float intek;


int PWMmodule1(float pp,float Dd)
{
        Pwm1.period(pp);
        Pwm1.write(Dd);  
        wait(0.01);
} 

int PWMmodule2(float pp,float Dd)
{
        Pwm2.period(pp);
        Pwm2.write(Dd);
        wait(0.01); 
} 
int main() 
{
    
    led=1;
    led2=0;
    medd=3.705503686*100*y.read();
    sp=medd;
    Sp=sp;
    inte=Set-medd;
    PIant=0;
    lcd.cls();
    //Valores Constantes, que se deben inicializar.
    lcd.locate(0,0);
    lcd.printf("Sp:%.1f",Set);
    lcd.locate(8,0);
    lcd.printf("T1:%.1f",Delta1);
    lcd.locate(0,1);
    lcd.printf("T2:%.1f",Delta2);
    lcd.locate(8,1);
    lcd.printf("T3:%.1f",Delta3);
    
    while(1)
    {
        led3 =1;
        if (button3.falling()) 
        {   //INCREMENTA POSICION DEL MENU CON BOTON 3 (Switche encoder)
            led3 =!led3;              
            ++j;
        }
      
        if(j==0)
        {
            Set=Set+wheel.getPulses();
            wheel.reset();
            if (Set>999)
            {
                Set=999;
            } 
            if (Set<0)
            {
                Set=0;
            }
            lcd.locate(3,0);
            lcd.printf("     ",Set);
            lcd.locate(3,0);
            lcd.printf("%.1f",Set);
            wait(0.2);
            
            if(button3.falling())
            {
            j=1;
            led3=0;
            wait(0.3);
            wheel.reset();  
            }
            
        }
        if(j==1)
        {
            Delta1=Delta1+wheel.getPulses();
            wheel.reset();
            if (Delta1>12000)
            {
                Delta1=12000;
            }              
            if (Delta1<0)
            {
                Delta1=0;
            }   
            lcd.locate(11,0);
            lcd.printf("    ");
            lcd.locate(11,0);
            lcd.printf("%.1f",Delta1);
            wait(0.2);
               
            if(button3.falling())
            {
                j=2;
                led3=0;
                wait(0.3);
                wheel.reset();   
            }        
        }
        if(j==2)
        {
            Delta2=Delta2+wheel.getPulses();
            wheel.reset();
            if (Delta2>12000)
            {
                Delta2=12000;
            }              
            if (Delta2<0)
            {
                Delta2=0;
            }   
            lcd.locate(3,1);
            lcd.printf("     ");
            lcd.locate(3,1);
            lcd.printf("%.1f",Delta2);
            wait(0.2);
            
            if(button3.falling())
            {
                 j=3;
                 led3=0;
                 wait(0.3);
                 wheel.reset();
            }    
        }
        
        if(j==3)
        {
            Delta3=Delta3+wheel.getPulses();
            wheel.reset();
            if (Delta3>12000)
            {
                Delta3=12000;
            }              
            if (Delta3<0)
            {
                Delta3=0;
            }   
            lcd.locate(11,1);
            lcd.printf("     ");
            lcd.locate(11,1);
            lcd.printf("%.1f",Delta3);
            wait(0.2);
            
            if(button3.falling())
            {
                 j=0;
                 led3=0;
                 wait(0.3);
                 wheel.reset();
            }    
        }
        
        if(j==4)
        {
            j=0;
        }
        
        if(!button4)
        {
            break;
        }
    }
 //%%Cierro While--------------------------------------------   
    lcd.writeCommand(C4);
    lcd.cls(); //borra la pantalla
    lcd.printf("  GUARDAMOS \nVALORES |m|"); 
    wait(2);
    
    Delta22=Delta2+Delta1;
    Delta33=Delta3+Delta2+Delta1; 
    
    medd=3.4503686*100*y.read();
    lcd.cls();
    lcd.locate(0,0);
    lcd.printf("Sp:%.1f",Sp);
    lcd.locate(0,1);
    lcd.printf("Ts=%.1f",T);
    //lcd.locate(8,0);
    //lcd.printf("Er:%.1f",err);
    lcd.locate(8,0);
    lcd.printf("T%.1f",medd);
    lcd.locate(8,1);
    lcd.printf("u:%.1f",PI);
    wait(2);
    
    while(1)
    {
           
           medd=3.45503686*100*y.read();
            err = (Sp-medd);
            inte=inte+err*Ts;
            PI=(kp*err+ ki*inte);
            pid=PI/100;
            pid2=1-pid;
            if(PI>100)
                {
                    PI=100;
                }
                if(PI<0)
                {
                    PI=0;
                }
           
           
           
           
           
           //Funcion Rampa
            if(T<=Delta1)
            {
            lcd.cls();
            lcd.locate(0,0);
            Sp=Sp+(((Set-sp)/Delta1))*Ts;
            lcd.printf("Sp=%.1f",Sp); 
            lcd.locate(0,1);
            lcd.printf("Ts=%.1f",T);
            lcd.locate(8,0);
            lcd.printf("Er:%.1f",medd);
            lcd.locate(8,1);
            lcd.printf("u:%.1f",PI);
            PWMmodule1(pp,pid);
            PWMmodule2(pp,pid2);
            
            }
            if((T>Delta1)&&(T<=Delta22))
            {
            Sp=Sp;
            lcd.cls();
            lcd.printf("Sp=%.1f",Sp); 
            lcd.locate(0,1);
            lcd.printf("Ts=%.1f",T);
            lcd.locate(8,0);
            lcd.printf("Er:%.1f",medd);
            lcd.locate(8,1);
            lcd.printf("u:%.1f",PI);
            PWMmodule1(pp,pid);
            PWMmodule2(pp,pid2);
            }
            if((T>Delta22)&&(T<=Delta33))
            {
            lcd.cls();
            lcd.printf("Sp=%.1f",Sp); 
            lcd.locate(0,1);
            Sp=Sp-(((Set-sp)/Delta3))*Ts;
            lcd.printf("Ts=%.1f",T);
            lcd.locate(8,0);
            lcd.printf("Er:%.1f",medd);
            lcd.locate(8,1);
            lcd.printf("u:%.1f",PI);
            PWMmodule1(pp,pid);
            PWMmodule2(pp,pid2);
            
            //pid=1-(PI/100);
            led=1;
            led2=0;
          
            }
            */
            PIant=PI;
            
            lcd.locate(8,0);
            lcd.printf("Er:%.1f",medd);
            lcd.locate(8,1);
            lcd.printf("u:%.1f",PI);
            
            T=T+Ts; 
    }
    
    

}