Alexander Vallejo
Parametros PID, Incremental (antirebote)
Dependencies: Debounced TextLCD mbed
Fork of
Tarea2
by 
Alexander Vallejo
Revision 1:d54f06e19277, committed 2013-11-15
- Comitter:
- avallejopo
- Date:
- Fri Nov 15 17:06:50 2013 +0000
- Parent:
- 0:71c0bb945ae8
- Commit message:
- Parametros PID Incrementales
Changed in this revision
| TextLCD.lib | Show annotated file Show diff for this revision Revisions of this file |
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
diff -r 71c0bb945ae8 -r d54f06e19277 TextLCD.lib --- a/TextLCD.lib Wed Oct 16 06:43:52 2013 +0000 +++ b/TextLCD.lib Fri Nov 15 17:06:50 2013 +0000 @@ -1,1 +1,1 @@ -http://mbed.org/users/avallejopo/code/TextLCD_Publi_Metod/#0fdd8e61a7b7 +http://mbed.org/users/avallejopo/code/TextLCD/#aba8ab3dde9d
diff -r 71c0bb945ae8 -r d54f06e19277 main.cpp
--- a/main.cpp Wed Oct 16 06:43:52 2013 +0000
+++ b/main.cpp Fri Nov 15 17:06:50 2013 +0000
@@ -23,148 +23,235 @@
{
lcd.cls(); // Borrar Pantalla
lcd.writeCommand(C1);//escribimos un comando segun el manual del modulo LCD
-
- lcd.locate(8,0); lcd.printf("Kp=%d",kpnum);
- //lcd.locate(0,1); lcd.printf("Ki=%d",kinum);
- //lcd.locate(8,1); lcd.printf("Kd=%d",kdnum);
- //lcd.locate(0,0); lcd.printf("Sp=%d",spnum);
-
+
+ lcd.locate(8,0);
+ lcd.printf("Kp=%d",kpnum);
+ lcd.locate(0,1);
+ lcd.printf("Ki=%d",kinum);
+ lcd.locate(8,1);
+ lcd.printf("Kd=%d",kdnum);
+ lcd.locate(0,0);
+ lcd.printf("Sp=%d",spnum);
+
while(1)
{
if (!button1)
{
- if(flagt==0){
+ if(flagt==0)
+ {
t.start();
flagt=1;
}
-
+
led1 =!led1;
wait(0.50);
if(!button1)
{
- if(t.read()>15){
- incremento=1000;
- }
- else if(t.read()>10){
+ if(t.read()>10)
+ {
incremento=100;
}
- else if(t.read()>5){
+ else if(t.read()>5.5)
+ {
incremento=10;
}
-
+
if(pos==1)
{
- spnum+=incremento;
- lcd.locate(3,0); lcd.printf("%d", spnum);
+ if(spnum+incremento>=999)
+ {
+ spnum=999;
+ lcd.locate(3,0);
+ lcd.printf(" ");
+ lcd.locate(3,0);
+ lcd.printf("%d", spnum);
+ }
+ else
+ {
+ spnum+=incremento;
+ lcd.locate(3,0);
+ lcd.printf("%d", spnum);
+ }
}
else if(pos==2)
{
- kpnum+=incremento;
- lcd.locate(11,0); lcd.printf("%d", kpnum);
+ if(kpnum+incremento>=999)
+ {
+ kpnum=999;
+ lcd.locate(11,0);
+ lcd.printf(" ");
+ lcd.locate(11,0);
+ lcd.printf("%d", kpnum);
+ }
+ else
+ {
+ kpnum+=incremento;
+ lcd.locate(11,0);
+ lcd.printf("%d", kpnum);
+ }
}
else if(pos==3)
{
- kinum+=incremento;
- lcd.locate(3,1); lcd.printf("%d", kinum);
+ if(kinum+incremento>=999)
+ {
+ kinum=999;
+ lcd.locate(3,1);
+ lcd.printf(" ");
+ lcd.locate(3,1);
+ lcd.printf("%d", kinum);
+ }
+ else
+ {
+ kinum+=incremento;
+ lcd.locate(3,1);
+ lcd.printf("%d", kinum);
+ }
}
else if(pos==4)
{
- kdnum+=incremento;
- lcd.locate(11,1); lcd.printf("%d", kdnum);
- }
+ if(kdnum+incremento>=999)
+ {
+ kdnum=999;
+ lcd.locate(11,1);
+ lcd.printf(" ");
+ lcd.locate(11,1);
+ lcd.printf("%d", kdnum);
+ }
+ else
+ {
+ kdnum+=incremento;
+ lcd.locate(11,1);
+ lcd.printf("%d", kdnum);
+ }
+ }
}
}
- else
+
+ if (!button2)
+ {
+ if(flagt==0)
+ {
+ //t.reset();
+ t.start();
+ flagt=1;
+ }
+
+ led1 =!led1;
+ wait(0.50);
+
+ if(!button2)
+ {
+ if(t.read()>10)
+ {
+ incremento=100;
+ }
+ else if(t.read()>5.5)
+ {
+ incremento=10;
+ }
+
+ led2 =!led2;
+ if(pos==1)
+ {
+ if(spnum-incremento<0)
+ {
+ //No ocurre nada
+ }
+ else
+ {
+ spnum-=incremento;
+ lcd.locate(3,0);
+ lcd.printf(" ");
+ lcd.locate(3,0);
+ lcd.printf("%d", spnum);
+ }
+ }
+ else if(pos==2)
+ {
+ if(kpnum-incremento<0)
+ {
+ //No ocurre nada
+ }
+ else
+ {
+ kpnum-=incremento;
+ lcd.locate(11,0);
+ lcd.printf(" ");
+ lcd.locate(11,0);
+ lcd.printf("%d", kpnum);
+ }
+ }
+ else if(pos==3)
+ {
+ if(kinum-incremento<0)
+ {
+ //No ocurre nada
+ }
+ else
+ {
+ kinum-=incremento;
+ lcd.locate(3,1);
+ lcd.printf(" ");
+ lcd.locate(3,1);
+ lcd.printf("%d", kinum);
+ }
+ }
+ else if(pos==4)
+ {
+ if(kdnum-incremento<0)
+ {
+ //No ocurre nada
+ }
+ else
+ {
+ kdnum-=incremento;
+ lcd.locate(11,1);
+ lcd.printf(" ");
+ lcd.locate(11,1);
+ lcd.printf("%d", kdnum);
+ }
+ }
+ }
+ }
+
+ if (!button3)
+ {
+ led3 =!led3;
+ if(pos==4)
+ {
+ pos=1;
+ lcd.locate(3,0);
+ lcd.printf("%d", spnum);
+ }
+ else if (pos==1)
+ {
+ pos++;
+ lcd.locate(11,0);
+ lcd.printf("%d", kpnum);
+ }
+ else if(pos==2)
+ {
+ pos++;
+ lcd.locate(3,1);
+ lcd.printf("%d", kinum);
+ }
+ else if(pos==3)
+ {
+ pos++;
+ lcd.locate(11,1);
+ lcd.printf("%d", kdnum);
+ }
+ wait(0.25);
+
+ }
+
+ if (button1 && button2)
{
flagt=0;
t.reset();
incremento=1;
}
-/*
- if (button2.falling())
- {
- led2 =!led2;
- if(pos==1)
- {
- if(spnum==0)
- {
- //No ocurre nada
- }
- else
- {
- spnum--;
- lcd.locate(3,0); lcd.printf(" ");
- lcd.locate(3,0);
- lcd.printf("%d", spnum);
- }
- }
- else if(pos==2)
- {
- if(kpnum==0)
- {
- //No ocurre nada
- }
- else
- {
- kpnum--;
- lcd.locate(11,0); lcd.printf(" ");
- lcd.locate(11,0);
- lcd.printf("%d", kpnum);
- }
- }
- else if(pos==3)
- {
- if(kinum==0)
- {
- //No ocurre nada
- }
- else
- {
- kinum--;
- lcd.locate(3,1); lcd.printf(" ");
- lcd.locate(3,1);
- lcd.printf("%d", kinum);
- }
- }
- else if(pos==4)
- {
- if(kdnum==0)
- {
- //No ocurre nada
- }
- else
- {
- kdnum--;
- lcd.locate(11,1); lcd.printf(" ");
- lcd.locate(11,1);
- lcd.printf("%d", kdnum);
- }
- }
- }
+
+ }
+}
- if (button3.falling())
- {
- led3 =!led3;
- if(pos==4)
- {
- pos=1;
- lcd.locate(3,0);lcd.printf("%d", spnum);
- }
- else if (pos==1)
- {
- pos++;
- lcd.locate(11,0);lcd.printf("%d", kpnum);
- }
- else if(pos==2){
- pos++;
- lcd.locate(3,1);lcd.printf("%d", kinum);
- }
- else if(pos==3){
- pos++;
- lcd.locate(11,1);lcd.printf("%d", kdnum);
- }
-
- }
- */
- }
-}
\ No newline at end of file