Diff: main.cpp

Revision:

0:e38258c0b70d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Jun 25 19:20:55 2020 +0000
@@ -0,0 +1,175 @@
+#include "mbed.h"
+#include "string.h"
+   
+PwmOut pwm(A1);
+
+AnalogIn sensor(A0);
+
+DigitalOut led(LED1);
+
+DigitalIn sw(USER_BUTTON);
+
+//Serial pc(USBTX, USBRX);
+Serial pc(PC_10, PC_11);
+
+Timer t1;
+            
+                           
+double   ERROR_MEASURE,
+         KP = 0.00902,     //000.9702f, //0.0159f,
+         KI = 0.000133,    //000.0013986f, //156.1257f,
+         PROPORTIONAL,
+         INTEGRAL,
+         LAST_INTEGRAL,
+         PI,
+         TS = 0.5;
+         
+float TEMPERATURE_C = 0;
+
+float SETPOINT = 210.0f;
+
+
+void pi_control(void); 
+void calc_celsius(void); 
+void le_k(void);
+
+int main()
+{
+     
+     pc.baud(115200);
+     pc.attach(&le_k);
+     
+     pwm.period_us(1000); //1KHz
+     int MS=0;
+     
+     pwm.write(0.1f);
+     int play = 0;
+     while(play == 0) 
+     {
+        calc_celsius();
+        pc.printf("Temp %.2f\r",TEMPERATURE_C);
+        if((sw == 0) && (play == 0)) 
+        {
+            wait_ms(300);
+            if((sw == 0) && (play == 0)) 
+            {
+                play = 1;
+                wait_ms(1000);
+            }
+        }
+    }
+          
+     while(1)                                  
+     {
+        //t1.stop();
+        //pc.printf("%i\r",t1.read_us());
+        //t1.reset();
+        //t1.start();
+        calc_celsius();
+        pi_control();
+        pc.printf("Temp: %.2f %i\r",TEMPERATURE_C, MS);
+        MS +=500; 
+        //pc.printf("PI: %f\r",PI); 
+     } 
+
+} 
+
+void pi_control()    
+{      
+    ERROR_MEASURE = SETPOINT - TEMPERATURE_C; //calcula o erro
+
+    PROPORTIONAL = ERROR_MEASURE * KP; //calcula a parcela proporcional
+
+    INTEGRAL = LAST_INTEGRAL + (ERROR_MEASURE * KI * TS); //calcula a parcela integradora
+    
+    //if(integral >  1.0f) integral =  1.0f;//anti wind up
+    //if(integral < -1.0f) integral = -1.0f;
+    
+    PI = PROPORTIONAL + INTEGRAL ; //soma as parcelas
+    
+    //if(PID > 1.0f) PID = 1.0f; //nao deixa os valores ultrapasssarem o range do pwm de 0.0 a 1.0 (equivale a 0 - 100%)
+    //if(PID < 0.0f) PID = 0.0f;
+   
+    pwm = PI; //escreve a saida de pwm
+    
+    LAST_INTEGRAL = INTEGRAL;
+} 
+
+void calc_celsius()
+{
+    float average = 0;
+    for(int i = 0; i < ((TS * 1000.0) - 6); i++) //-6 pois é o tempo de ciclo do programa, assim compensando para nao interferir em Ts
+    {
+        average += sensor.read();
+        wait_ms(1);
+    }
+    
+    float adc_sensor = (average / ((TS * 1000.0) - 6)) * 4096.0f; //-6 pois é o tempo de ciclo do programa, assim compensando para nao interferir em Ts
+    average = 0.0f;
+    
+    float R_sensor = 10000.0f * adc_sensor / (4095.0f - adc_sensor);
+    float div = R_sensor/100000.0f;
+    float x_log = log(div);
+    float log_1_b = x_log * 0.000253165f;
+    float k2 = log_1_b + 0.003354016f;
+    float tk = 1.0f / k2;
+    
+    TEMPERATURE_C = tk - 273.15f;
+}
+
+
+
+     
+void le_k()
+{
+    char c[20];
+    memset(c,NULL,20);
+    
+    int i = 0;
+    
+    while(c[i-1] != '\r')
+    {
+        c[i] = pc.getc();
+        i++;
+    }
+                    
+    char valor[8];
+            
+    valor[0] = c[1];
+    valor[1] = c[2];
+    valor[2] = c[3];
+    valor[3] = c[4];
+    valor[4] = c[5];
+    valor[5] = c[6];
+    valor[6] = c[7];
+    valor[7] = c[8];
+            
+    //pc.printf(valor);
+            
+    if(c[0] == 'P') //ajusta Kp
+    {
+        KP = atof(valor); 
+        pc.printf("\n\nkp = %f\n\r\n",KP);
+    }
+           
+    if(c[0] == 'I') //ajusta Ki
+    {
+        KI = atof(valor); 
+        pc.printf("\n\nki = %f\n\r\n",KI);
+    }
+            
+    if(c[0] == 'T') //ajusta Kd
+    {
+        TS = atof(valor); 
+        pc.printf("\n\nTs = %f\n\r\n",TS);
+    }  
+        
+    if(c[0] == 'S') //ajusta o SETPOINT
+    {
+        SETPOINT = atof(valor); 
+        pc.printf("\n\nSetpoint = %f\n\r\n",SETPOINT);
+    }   
+    
+    wait_ms(2000);       
+}
+