File content as of revision 0:2003274a0cbb:

#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++;
          
                           
      }
  }