Melissa Elorza
/
PID_con_Encoder
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Dependencies: Debounced QEI TextLCD mbed
Diff: main.cpp
- Revision:
- 0:6725cd84b3ad
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Oct 19 21:39:40 2015 +0000
@@ -0,0 +1,210 @@
+#include "mbed.h"
+#include "DebouncedIn.h"
+#include "TextLCD.h"
+#include "QEI.h"
+
+AnalogIn Vin(PTC2); // entrada analoga
+AnalogOut Vout(PTE30); // salida analoga
+//voltaje de salida maximo= 3.3 V
+
+TextLCD lcd(PTB10, PTB11, PTE2, PTE3, PTE4, PTE5); // rs, e, d4-d7
+
+QEI wheel (PTD5, PTD0, NC, 150);
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+DebouncedIn botonEncoder(PTC5);
+DebouncedIn button4(PTC17);
+
+
+//int C1=0x0E; // solo muestra el curzor
+int C2=0x18; // desplaza izquierda
+int C3=0x1A; // desplaza derecha
+int C4=0x0C; // quito cursor bajo
+int C1=0x0F;
+int sp=0,kp=0,kd=0,ki=0,p=1,bandera = 0;
+int i; // indice de la variable
+int j; //variable controla cambio 4 posiciones
+float err;
+float pwmset;
+float eInteg;
+float pGain;
+float ePrev ;
+float iGain;
+float dGain;
+float x;
+int main()
+{
+ lcd.cls();
+ lcd.writeCommand(C1);//escribimos un comando segun el manual del modulo LCD
+ lcd.locate(8,0);
+ lcd.printf("kp=%d",kp);
+ lcd.locate(0,1);
+ lcd.printf("Ki=%d", ki);
+ lcd.locate(8,1);
+ lcd.printf("Kd=%d", kd);
+ lcd.locate(0,0);
+ lcd.printf("Sp=%d", sp);
+
+ while(1) {
+
+ led3 =1;
+ if (botonEncoder.falling()) { //INCREMENTA POSICION DEL MENU CON BOTON 3 (Switche encoder)
+ led3 =!led3;
+ ++j;
+ }
+
+ if (j==0){
+ sp=sp+wheel.getPulses();
+ wheel.reset();
+ if (sp>5){
+ sp=5;
+ }
+ if (sp<0){
+ sp=0;
+ }
+ lcd.locate(3,0);
+ lcd.printf(" ",sp);
+ lcd.locate(3,0);
+ lcd.printf("%d",sp);
+ wait(0.2);
+
+ if(botonEncoder.falling()){
+ j=1;
+ led3=0;
+ wait(0.3);
+ wheel.reset();
+ }
+
+ }
+
+ if (j==1) {
+ kp=kp+wheel.getPulses();
+ wheel.reset();
+ if (kp>999){
+ kp=999;
+ }
+ if (kp<0){
+ kp=0;
+ }
+ lcd.locate(11,0);
+ lcd.printf(" ");
+ lcd.locate(11,0);
+ lcd.printf("%d",kp);
+ wait(0.2);
+
+ if(botonEncoder.falling()){
+ j=2;
+ led3=0;
+ wait(0.3);
+ wheel.reset();
+ }
+
+ }
+
+ if (j==2) {
+ ki=ki+wheel.getPulses();
+ wheel.reset();
+ if (ki>999){
+ ki=999;
+ }
+ if (ki<0){
+ ki=0;
+ }
+ lcd.locate(3,1);
+ lcd.printf(" ");
+ lcd.locate(3,1);
+ lcd.printf("%d",ki);
+ wait(0.2);
+
+ if(botonEncoder.falling()){
+ j=3;
+ led3=0;
+ wait(0.3);
+ wheel.reset();
+ }
+
+ }
+
+ if (j==3) {
+ kd=kd+wheel.getPulses();
+ wheel.reset();
+ if (kd>999){
+ kd=999;
+ }
+ if (kd<0){
+ kd=0;
+ }
+ lcd.locate(11,1);
+ lcd.printf(" ");
+ lcd.locate(11,1);
+ lcd.printf("%d",kd);
+ wait(0.2);
+
+ if(botonEncoder.falling()){
+ j=0;
+ led3=0;
+ wait(0.3);
+ wheel.reset();
+ }
+
+ }
+
+ if (j==4) {
+ j=0;
+ }
+
+ if (!button4){
+ break; //sale del bucle si pisan suiche4
+ }
+ } //cierro while(1)
+
+ //enter
+ if(button4.falling())
+ {
+ lcd.cls(); // al undir el boton 4 se borra la pantalla
+ //for (int h=0;h<100;h++)
+ //Vout= Vout+0.01;
+ while(bandera==0)
+ {
+ wait(0.2);
+ x=Vout.read(); // lee el voltaje de salida que nuestra analoga pero en porcentaje
+
+ //}
+ //pid
+
+ err = sp-x; // Calcula el error
+ pwmset = kp* err+ki * eInteg +kd* (err - ePrev); // ecuacion para el PID
+ pwmset=(0.976801/5)*pwmset; // como el voltaje calculado fue un porcentaje se realiza una conversion respectiva al valor de salida
+ Vout=pwmset;
+ eInteg =eInteg+ err; // integral
+ ePrev = err;
+ lcd.locate(0,1);
+ lcd.printf("error=%f",err);
+ lcd.locate(1,0);
+ lcd.printf("salida=%f",x);
+ if (button4.falling())
+ { bandera=1;
+ lcd.cls();
+ p=1;
+ lcd.locate(8,0);
+ lcd.printf("kp=%d",kp);
+ lcd.locate(0,1);
+ lcd.printf("Ki=%d", ki);
+ lcd.locate(8,1);
+ lcd.printf("Kd=%d", kd);
+ lcd.locate(0,0);
+ lcd.printf("Sp=%d", sp);
+
+ }
+
+
+ }
+ bandera = 0;
+ }
+
+
+
+ }
+
+