Alejandro Marin
pid y telado matricial en una plante de primer orden
Dependencies: FPointer TextLCD keypad mbed
Diff: main.cpp
- Revision:
- 0:2003274a0cbb
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Dec 04 03:27:20 2013 +0000
@@ -0,0 +1,251 @@
+#include "mbed.h"
+ #include "keypad.h"
+ #include "TextLCD.h"
+
+ DigitalOut Led(LED2);
+ TextLCD lcd(PTB10, PTB11, PTE2, PTE3, PTE4, PTE5); // rs, e, d4-d7
+ AnalogIn Vin(PTB3);
+ AnalogOut Vout(PTE30);
+ //Serial pc(USBTX, USBRX);
+ int C1=0x0E; // solo muestra el curzor
+ int C3=0x1A; // desplaza derecha
+ int a,num=0, i=0 , bt,f=0;
+ int j;
+int Kp, Ki, Kd, Sp, yr, cycle, med2 , c;
+float med,pid,ap, err, ai, ad,err_v;
+ // Define your own keypad values
+ char Keytable[] = { '1', '2', '3', 'A',
+ '4', '5', '6', 'B',
+ '7', '8', '9', 'C',
+ '*', '0', '#', 'D'
+ };
+
+ int Keytablei[] = { 1, 2, 3, 10,
+ 4, 5, 6, 11,
+ 7, 8, 9, 12,
+ 13,0,14, 15
+ };
+
+uint32_t cbAfterInput(uint32_t key)
+{
+ if(bt==0) {
+ if(a<2) {
+ if(Keytable[key]=='A') {
+ bt=3;
+ a=3;
+ f=1;
+ }
+
+
+ switch(a) {
+ case 0:
+ num=num+Keytablei[key]*10;
+ break;
+ case 1:
+ num=num+Keytablei[key]*1;
+ break;
+ }
+
+
+
+ a++;
+ }
+
+ }
+
+ switch(i) {
+ case 0:
+ //a=0;
+ lcd.locate(2,0);
+ lcd.printf("= ");
+ lcd.locate(3,0);
+ lcd.printf("%d",num);
+ Sp=num;
+ //num=0;
+ //lcd.printf("%d",num);
+
+ break;
+ case 1:
+ lcd.locate(10,0);
+ lcd.printf("= ");
+ lcd.locate(11,0);
+ lcd.printf("%d",num);
+ Kp=num;
+ //num=0;
+ //lcd.printf("%d",num);
+ break;
+ case 2:
+
+ lcd.locate(2,1);
+ lcd.printf("= ");
+ lcd.locate(3,1);
+ lcd.printf("%d",num);
+ Kd=num;
+ //num=0;
+ //lcd.printf("%d",num);
+ break;
+ case 3:
+ lcd.locate(10,1);
+ lcd.printf("= ");
+ lcd.locate(11,1);
+ lcd.printf("%d",num);
+ Ki=num;
+ // num=0;
+ //lcd.printf("%d",++Kd);
+ break;
+ }
+
+ if(f==1) {
+ a=0;
+ f=0;
+ }
+ if(Keytable[key]=='A') {
+ bt=3;
+ a=0;
+ num=0;
+ }
+ if(Keytable[key]=='D')
+ bt=4;
+ return 0;
+}
+
+ int main() {
+ Keypad keypad(PTA2,PTD4,PTD3,PTD1,PTD2,PTD0,PTD5,PTA13);
+ keypad.CallAfterInput(&cbAfterInput);
+ keypad.Start();
+
+ lcd.writeCommand(C1);
+ lcd.printf("Sp= Kp=");
+ lcd.locate(0,1);
+ lcd.printf("Ki= Kd=");
+ lcd.locate(2,0);
+ lcd.printf("=");
+
+
+ while (1) {
+
+
+ if(bt==3) {
+ 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;
+ }
+ //wait(.1);
+
+ bt=0;
+ }
+
+
+ if (bt==4){
+ bt=0;
+ break; //sale del bucle si pisan suiche4
+ }
+
+ }
+ lcd.writeCommand(C1);//escribimos un comando segun el manual del modulo LCD para quitar cursor bajo
+ lcd.cls(); //borra la pantalla
+ lcd.printf(" GUARDADOS!");
+ wait(2);
+ lcd.cls();
+ lcd.printf(" INICIA EL PID");
+ wait(2);
+ // se imprimen los parches del control *****************************************
+ lcd.cls();
+
+
+ lcd.printf("Er%d",err);
+ lcd.locate(8,0);
+ lcd.printf("Me%d",med2);
+ lcd.locate(0,1);
+ lcd.printf("Sp%d",Sp);
+ lcd.locate(8,1);
+ lcd.printf("Pid%d",pid);
+ //wait(5);
+
+ // CICLO PRINCIPAL CONTROLADOR PID
+
+ while(1) {
+ //wait(0.01); //leer puerto analogo y asignar a med
+ med=Vin.read();
+ med2=med*100;
+ err = (Sp-med2);
+ float kp2;
+ kp2=Kp*0.001;
+ ap = kp2*err;
+ float ki2;
+ ki2=Ki*0.01;
+ ai =(ki2*err)+ai; //calculo de la integral del error
+ float kd2;
+ kd2=Kd*0.0001;
+ ad = kd2*(err-err_v); //calculo de la accion derivativa
+ err_v=err; //guarda el error
+ pid = (ap+ai+ad);
+
+ // se verifica que pid sea menor o igual la valor maximo *****************
+ if (pid > .99999){
+ pid=1;
+ }
+
+ // se verifica que pid sea positivo **************************************
+ if (pid <0){
+ pid=0;
+ }
+
+ //wait(.5);
+
+
+
+ // se verifica que la accion integral no sea muy grande
+ if (ai > 999){
+ ai=1000;
+ }
+
+
+ Vout=pid;
+
+
+ //****se muestran las variables******************************************
+ if(c>600){
+ lcd.locate(2,0);
+ lcd.printf(" ");
+ lcd.locate(0,0);
+ lcd.printf("Er%2.2f",err);
+ lcd.locate(10,0);
+ lcd.printf(" ");
+ lcd.locate(8,0);
+ lcd.printf("Me%d",med2);
+ lcd.locate(2,1);
+ lcd.printf(" ");
+ lcd.locate(0,1);
+ lcd.printf("Sp%d",Sp);
+ lcd.locate(10,1);
+ lcd.printf(" ");
+ lcd.locate(8,1);
+ lcd.printf("Pid%4.3f",pid);
+ c=0;
+ }
+ else
+ c++;
+
+
+ }
+ }
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