Encoder
Dependencies: QEI TextLCD mbed
main.cpp@0:b4697bcfb555, 2013-11-15 (annotated)
- Committer:
- avallejopo
- Date:
- Fri Nov 15 17:12:21 2013 +0000
- Revision:
- 0:b4697bcfb555
Encoder
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
avallejopo | 0:b4697bcfb555 | 1 | #include "mbed.h" |
avallejopo | 0:b4697bcfb555 | 2 | #include "QEI.h" |
avallejopo | 0:b4697bcfb555 | 3 | #include "TextLCD.h" |
avallejopo | 0:b4697bcfb555 | 4 | |
avallejopo | 0:b4697bcfb555 | 5 | AnalogIn Vin(PTC2); |
avallejopo | 0:b4697bcfb555 | 6 | TextLCD lcd(PTB10, PTB11, PTE2, PTE3, PTE4, PTE5); // rs, e, d4-d7 |
avallejopo | 0:b4697bcfb555 | 7 | QEI encoder (PTA13, PTD5, NC, 624); |
avallejopo | 0:b4697bcfb555 | 8 | |
avallejopo | 0:b4697bcfb555 | 9 | AnalogIn y(PTB0); |
avallejopo | 0:b4697bcfb555 | 10 | AnalogOut u(PTE30); |
avallejopo | 0:b4697bcfb555 | 11 | |
avallejopo | 0:b4697bcfb555 | 12 | DigitalOut led1(LED1); |
avallejopo | 0:b4697bcfb555 | 13 | DigitalOut led2(LED2); |
avallejopo | 0:b4697bcfb555 | 14 | DigitalOut led3(LED3); |
avallejopo | 0:b4697bcfb555 | 15 | DigitalIn button1(PTC12); |
avallejopo | 0:b4697bcfb555 | 16 | DigitalIn button2(PTC13); |
avallejopo | 0:b4697bcfb555 | 17 | DigitalIn button3(PTC16); |
avallejopo | 0:b4697bcfb555 | 18 | DigitalIn button4(PTC17); |
avallejopo | 0:b4697bcfb555 | 19 | |
avallejopo | 0:b4697bcfb555 | 20 | |
avallejopo | 0:b4697bcfb555 | 21 | //codigos movimiento del curzor |
avallejopo | 0:b4697bcfb555 | 22 | |
avallejopo | 0:b4697bcfb555 | 23 | //int C1=0x0E; // solo muestra el curzor |
avallejopo | 0:b4697bcfb555 | 24 | int C2=0x18; // desplaza izquierda |
avallejopo | 0:b4697bcfb555 | 25 | int C3=0x1A; // desplaza derecha |
avallejopo | 0:b4697bcfb555 | 26 | int C4=0x0C; // quito cursor bajo |
avallejopo | 0:b4697bcfb555 | 27 | |
avallejopo | 0:b4697bcfb555 | 28 | int C1=0x0F; |
avallejopo | 0:b4697bcfb555 | 29 | int err, med, yr, pid, ap, ai, ad, err_v, cambio=0, diferencia=0; |
avallejopo | 0:b4697bcfb555 | 30 | float pidn; |
avallejopo | 0:b4697bcfb555 | 31 | int spnum=0,kinum=0,kpnum=0,kdnum=0,pos=1; |
avallejopo | 0:b4697bcfb555 | 32 | int flagt=0; |
avallejopo | 0:b4697bcfb555 | 33 | Timer t; |
avallejopo | 0:b4697bcfb555 | 34 | |
avallejopo | 0:b4697bcfb555 | 35 | int main() |
avallejopo | 0:b4697bcfb555 | 36 | { |
avallejopo | 0:b4697bcfb555 | 37 | lcd.cls(); // Borrar Pantalla |
avallejopo | 0:b4697bcfb555 | 38 | lcd.writeCommand(C1);//escribimos un comando segun el manual del modulo LCD |
avallejopo | 0:b4697bcfb555 | 39 | |
avallejopo | 0:b4697bcfb555 | 40 | lcd.locate(8,0); |
avallejopo | 0:b4697bcfb555 | 41 | lcd.printf("Kp=%d",kpnum); |
avallejopo | 0:b4697bcfb555 | 42 | lcd.locate(0,1); |
avallejopo | 0:b4697bcfb555 | 43 | lcd.printf("Ki=%d",kinum); |
avallejopo | 0:b4697bcfb555 | 44 | lcd.locate(8,1); |
avallejopo | 0:b4697bcfb555 | 45 | lcd.printf("Kd=%d",kdnum); |
avallejopo | 0:b4697bcfb555 | 46 | lcd.locate(0,0); |
avallejopo | 0:b4697bcfb555 | 47 | lcd.printf("Sp=%d",spnum); |
avallejopo | 0:b4697bcfb555 | 48 | |
avallejopo | 0:b4697bcfb555 | 49 | while(1) |
avallejopo | 0:b4697bcfb555 | 50 | { |
avallejopo | 0:b4697bcfb555 | 51 | //lcd.locate(8,0); |
avallejopo | 0:b4697bcfb555 | 52 | //lcd.printf("Kp=%d",encoder.getPulses()); |
avallejopo | 0:b4697bcfb555 | 53 | //wait(.5); |
avallejopo | 0:b4697bcfb555 | 54 | |
avallejopo | 0:b4697bcfb555 | 55 | diferencia=encoder.getPulses()-cambio; |
avallejopo | 0:b4697bcfb555 | 56 | cambio=encoder.getPulses(); |
avallejopo | 0:b4697bcfb555 | 57 | |
avallejopo | 0:b4697bcfb555 | 58 | if (diferencia==0) |
avallejopo | 0:b4697bcfb555 | 59 | { |
avallejopo | 0:b4697bcfb555 | 60 | //nada |
avallejopo | 0:b4697bcfb555 | 61 | } |
avallejopo | 0:b4697bcfb555 | 62 | else if(diferencia>0) |
avallejopo | 0:b4697bcfb555 | 63 | { |
avallejopo | 0:b4697bcfb555 | 64 | if(pos==1) |
avallejopo | 0:b4697bcfb555 | 65 | { |
avallejopo | 0:b4697bcfb555 | 66 | if(spnum+diferencia>=999) |
avallejopo | 0:b4697bcfb555 | 67 | { |
avallejopo | 0:b4697bcfb555 | 68 | spnum=999; |
avallejopo | 0:b4697bcfb555 | 69 | lcd.locate(3,0); |
avallejopo | 0:b4697bcfb555 | 70 | lcd.printf(" "); |
avallejopo | 0:b4697bcfb555 | 71 | lcd.locate(3,0); |
avallejopo | 0:b4697bcfb555 | 72 | lcd.printf("%d", spnum); |
avallejopo | 0:b4697bcfb555 | 73 | } |
avallejopo | 0:b4697bcfb555 | 74 | else |
avallejopo | 0:b4697bcfb555 | 75 | { |
avallejopo | 0:b4697bcfb555 | 76 | spnum+=diferencia; |
avallejopo | 0:b4697bcfb555 | 77 | lcd.locate(3,0); |
avallejopo | 0:b4697bcfb555 | 78 | lcd.printf("%d", spnum); |
avallejopo | 0:b4697bcfb555 | 79 | } |
avallejopo | 0:b4697bcfb555 | 80 | } |
avallejopo | 0:b4697bcfb555 | 81 | else if(pos==2) |
avallejopo | 0:b4697bcfb555 | 82 | { |
avallejopo | 0:b4697bcfb555 | 83 | if(kpnum+diferencia>=999) |
avallejopo | 0:b4697bcfb555 | 84 | { |
avallejopo | 0:b4697bcfb555 | 85 | kpnum=999; |
avallejopo | 0:b4697bcfb555 | 86 | lcd.locate(11,0); |
avallejopo | 0:b4697bcfb555 | 87 | lcd.printf(" "); |
avallejopo | 0:b4697bcfb555 | 88 | lcd.locate(11,0); |
avallejopo | 0:b4697bcfb555 | 89 | lcd.printf("%d", kpnum); |
avallejopo | 0:b4697bcfb555 | 90 | } |
avallejopo | 0:b4697bcfb555 | 91 | else |
avallejopo | 0:b4697bcfb555 | 92 | { |
avallejopo | 0:b4697bcfb555 | 93 | kpnum+=diferencia; |
avallejopo | 0:b4697bcfb555 | 94 | lcd.locate(11,0); |
avallejopo | 0:b4697bcfb555 | 95 | lcd.printf("%d", kpnum); |
avallejopo | 0:b4697bcfb555 | 96 | } |
avallejopo | 0:b4697bcfb555 | 97 | } |
avallejopo | 0:b4697bcfb555 | 98 | else if(pos==3) |
avallejopo | 0:b4697bcfb555 | 99 | { |
avallejopo | 0:b4697bcfb555 | 100 | if(kinum+diferencia>=999) |
avallejopo | 0:b4697bcfb555 | 101 | { |
avallejopo | 0:b4697bcfb555 | 102 | kinum=999; |
avallejopo | 0:b4697bcfb555 | 103 | lcd.locate(3,1); |
avallejopo | 0:b4697bcfb555 | 104 | lcd.printf(" "); |
avallejopo | 0:b4697bcfb555 | 105 | lcd.locate(3,1); |
avallejopo | 0:b4697bcfb555 | 106 | lcd.printf("%d", kinum); |
avallejopo | 0:b4697bcfb555 | 107 | } |
avallejopo | 0:b4697bcfb555 | 108 | else |
avallejopo | 0:b4697bcfb555 | 109 | { |
avallejopo | 0:b4697bcfb555 | 110 | kinum+=diferencia; |
avallejopo | 0:b4697bcfb555 | 111 | lcd.locate(3,1); |
avallejopo | 0:b4697bcfb555 | 112 | lcd.printf("%d", kinum); |
avallejopo | 0:b4697bcfb555 | 113 | } |
avallejopo | 0:b4697bcfb555 | 114 | } |
avallejopo | 0:b4697bcfb555 | 115 | else if(pos==4) |
avallejopo | 0:b4697bcfb555 | 116 | { |
avallejopo | 0:b4697bcfb555 | 117 | if(kdnum+diferencia>=999) |
avallejopo | 0:b4697bcfb555 | 118 | { |
avallejopo | 0:b4697bcfb555 | 119 | kdnum=999; |
avallejopo | 0:b4697bcfb555 | 120 | lcd.locate(11,1); |
avallejopo | 0:b4697bcfb555 | 121 | lcd.printf(" "); |
avallejopo | 0:b4697bcfb555 | 122 | lcd.locate(11,1); |
avallejopo | 0:b4697bcfb555 | 123 | lcd.printf("%d", kdnum); |
avallejopo | 0:b4697bcfb555 | 124 | } |
avallejopo | 0:b4697bcfb555 | 125 | else |
avallejopo | 0:b4697bcfb555 | 126 | { |
avallejopo | 0:b4697bcfb555 | 127 | kdnum+=diferencia; |
avallejopo | 0:b4697bcfb555 | 128 | lcd.locate(11,1); |
avallejopo | 0:b4697bcfb555 | 129 | lcd.printf("%d", kdnum); |
avallejopo | 0:b4697bcfb555 | 130 | } |
avallejopo | 0:b4697bcfb555 | 131 | } |
avallejopo | 0:b4697bcfb555 | 132 | } |
avallejopo | 0:b4697bcfb555 | 133 | |
avallejopo | 0:b4697bcfb555 | 134 | else if(diferencia<0) |
avallejopo | 0:b4697bcfb555 | 135 | { |
avallejopo | 0:b4697bcfb555 | 136 | if(pos==1) |
avallejopo | 0:b4697bcfb555 | 137 | { |
avallejopo | 0:b4697bcfb555 | 138 | if(spnum+diferencia<0) |
avallejopo | 0:b4697bcfb555 | 139 | { |
avallejopo | 0:b4697bcfb555 | 140 | //No ocurre nada |
avallejopo | 0:b4697bcfb555 | 141 | } |
avallejopo | 0:b4697bcfb555 | 142 | else |
avallejopo | 0:b4697bcfb555 | 143 | { |
avallejopo | 0:b4697bcfb555 | 144 | spnum+=diferencia; |
avallejopo | 0:b4697bcfb555 | 145 | lcd.locate(3,0); |
avallejopo | 0:b4697bcfb555 | 146 | lcd.printf(" "); |
avallejopo | 0:b4697bcfb555 | 147 | lcd.locate(3,0); |
avallejopo | 0:b4697bcfb555 | 148 | lcd.printf("%d", spnum); |
avallejopo | 0:b4697bcfb555 | 149 | } |
avallejopo | 0:b4697bcfb555 | 150 | } |
avallejopo | 0:b4697bcfb555 | 151 | else if(pos==2) |
avallejopo | 0:b4697bcfb555 | 152 | { |
avallejopo | 0:b4697bcfb555 | 153 | if(kpnum+diferencia<0) |
avallejopo | 0:b4697bcfb555 | 154 | { |
avallejopo | 0:b4697bcfb555 | 155 | //No ocurre nada |
avallejopo | 0:b4697bcfb555 | 156 | } |
avallejopo | 0:b4697bcfb555 | 157 | else |
avallejopo | 0:b4697bcfb555 | 158 | { |
avallejopo | 0:b4697bcfb555 | 159 | kpnum+=diferencia; |
avallejopo | 0:b4697bcfb555 | 160 | lcd.locate(11,0); |
avallejopo | 0:b4697bcfb555 | 161 | lcd.printf(" "); |
avallejopo | 0:b4697bcfb555 | 162 | lcd.locate(11,0); |
avallejopo | 0:b4697bcfb555 | 163 | lcd.printf("%d", kpnum); |
avallejopo | 0:b4697bcfb555 | 164 | } |
avallejopo | 0:b4697bcfb555 | 165 | } |
avallejopo | 0:b4697bcfb555 | 166 | else if(pos==3) |
avallejopo | 0:b4697bcfb555 | 167 | { |
avallejopo | 0:b4697bcfb555 | 168 | if(kinum+diferencia<0) |
avallejopo | 0:b4697bcfb555 | 169 | { |
avallejopo | 0:b4697bcfb555 | 170 | //No ocurre nada |
avallejopo | 0:b4697bcfb555 | 171 | } |
avallejopo | 0:b4697bcfb555 | 172 | else |
avallejopo | 0:b4697bcfb555 | 173 | { |
avallejopo | 0:b4697bcfb555 | 174 | kinum+=diferencia; |
avallejopo | 0:b4697bcfb555 | 175 | lcd.locate(3,1); |
avallejopo | 0:b4697bcfb555 | 176 | lcd.printf(" "); |
avallejopo | 0:b4697bcfb555 | 177 | lcd.locate(3,1); |
avallejopo | 0:b4697bcfb555 | 178 | lcd.printf("%d", kinum); |
avallejopo | 0:b4697bcfb555 | 179 | } |
avallejopo | 0:b4697bcfb555 | 180 | } |
avallejopo | 0:b4697bcfb555 | 181 | else if(pos==4) |
avallejopo | 0:b4697bcfb555 | 182 | { |
avallejopo | 0:b4697bcfb555 | 183 | if(kdnum+diferencia<0) |
avallejopo | 0:b4697bcfb555 | 184 | { |
avallejopo | 0:b4697bcfb555 | 185 | //No ocurre nada |
avallejopo | 0:b4697bcfb555 | 186 | } |
avallejopo | 0:b4697bcfb555 | 187 | else |
avallejopo | 0:b4697bcfb555 | 188 | { |
avallejopo | 0:b4697bcfb555 | 189 | kdnum+=diferencia; |
avallejopo | 0:b4697bcfb555 | 190 | lcd.locate(11,1); |
avallejopo | 0:b4697bcfb555 | 191 | lcd.printf(" "); |
avallejopo | 0:b4697bcfb555 | 192 | lcd.locate(11,1); |
avallejopo | 0:b4697bcfb555 | 193 | lcd.printf("%d", kdnum); |
avallejopo | 0:b4697bcfb555 | 194 | } |
avallejopo | 0:b4697bcfb555 | 195 | } |
avallejopo | 0:b4697bcfb555 | 196 | } |
avallejopo | 0:b4697bcfb555 | 197 | |
avallejopo | 0:b4697bcfb555 | 198 | if (!button3) |
avallejopo | 0:b4697bcfb555 | 199 | { |
avallejopo | 0:b4697bcfb555 | 200 | led3 =!led3; |
avallejopo | 0:b4697bcfb555 | 201 | if(pos==4) |
avallejopo | 0:b4697bcfb555 | 202 | { |
avallejopo | 0:b4697bcfb555 | 203 | pos=1; |
avallejopo | 0:b4697bcfb555 | 204 | lcd.locate(3,0); |
avallejopo | 0:b4697bcfb555 | 205 | lcd.printf("%d", spnum); |
avallejopo | 0:b4697bcfb555 | 206 | } |
avallejopo | 0:b4697bcfb555 | 207 | else if (pos==1) |
avallejopo | 0:b4697bcfb555 | 208 | { |
avallejopo | 0:b4697bcfb555 | 209 | pos++; |
avallejopo | 0:b4697bcfb555 | 210 | lcd.locate(11,0); |
avallejopo | 0:b4697bcfb555 | 211 | lcd.printf("%d", kpnum); |
avallejopo | 0:b4697bcfb555 | 212 | } |
avallejopo | 0:b4697bcfb555 | 213 | else if(pos==2) |
avallejopo | 0:b4697bcfb555 | 214 | { |
avallejopo | 0:b4697bcfb555 | 215 | pos++; |
avallejopo | 0:b4697bcfb555 | 216 | lcd.locate(3,1); |
avallejopo | 0:b4697bcfb555 | 217 | lcd.printf("%d", kinum); |
avallejopo | 0:b4697bcfb555 | 218 | } |
avallejopo | 0:b4697bcfb555 | 219 | else if(pos==3) |
avallejopo | 0:b4697bcfb555 | 220 | { |
avallejopo | 0:b4697bcfb555 | 221 | pos++; |
avallejopo | 0:b4697bcfb555 | 222 | lcd.locate(11,1); |
avallejopo | 0:b4697bcfb555 | 223 | lcd.printf("%d", kdnum); |
avallejopo | 0:b4697bcfb555 | 224 | } |
avallejopo | 0:b4697bcfb555 | 225 | wait(0.25); |
avallejopo | 0:b4697bcfb555 | 226 | |
avallejopo | 0:b4697bcfb555 | 227 | } |
avallejopo | 0:b4697bcfb555 | 228 | |
avallejopo | 0:b4697bcfb555 | 229 | if (!button4) |
avallejopo | 0:b4697bcfb555 | 230 | { |
avallejopo | 0:b4697bcfb555 | 231 | break; //sale del bucle si pisan suiche4 |
avallejopo | 0:b4697bcfb555 | 232 | } |
avallejopo | 0:b4697bcfb555 | 233 | wait(0.1); |
avallejopo | 0:b4697bcfb555 | 234 | } |
avallejopo | 0:b4697bcfb555 | 235 | |
avallejopo | 0:b4697bcfb555 | 236 | |
avallejopo | 0:b4697bcfb555 | 237 | //Transicion |
avallejopo | 0:b4697bcfb555 | 238 | lcd.writeCommand(C4);//escribimos un comando segun el manual del modulo LCD para quitar cursor bajo |
avallejopo | 0:b4697bcfb555 | 239 | lcd.cls(); //borra la pantalla |
avallejopo | 0:b4697bcfb555 | 240 | lcd.printf(" GUARDADOS!"); |
avallejopo | 0:b4697bcfb555 | 241 | wait(1); |
avallejopo | 0:b4697bcfb555 | 242 | lcd.cls(); |
avallejopo | 0:b4697bcfb555 | 243 | lcd.printf(" INICIA EL PID"); |
avallejopo | 0:b4697bcfb555 | 244 | wait(1); |
avallejopo | 0:b4697bcfb555 | 245 | // se imprimen los parches del control ***************************************** |
avallejopo | 0:b4697bcfb555 | 246 | lcd.cls(); |
avallejopo | 0:b4697bcfb555 | 247 | lcd.printf("Er=%d",err); |
avallejopo | 0:b4697bcfb555 | 248 | lcd.locate(8,0); |
avallejopo | 0:b4697bcfb555 | 249 | lcd.printf("Me=%d",med); |
avallejopo | 0:b4697bcfb555 | 250 | lcd.locate(0,1); |
avallejopo | 0:b4697bcfb555 | 251 | lcd.printf("Sp=%d",spnum); |
avallejopo | 0:b4697bcfb555 | 252 | lcd.locate(8,1); |
avallejopo | 0:b4697bcfb555 | 253 | lcd.printf("Co=%d",pid); |
avallejopo | 0:b4697bcfb555 | 254 | wait(2); |
avallejopo | 0:b4697bcfb555 | 255 | |
avallejopo | 0:b4697bcfb555 | 256 | // CICLO PRINCIPAL CONTROLADOR PID |
avallejopo | 0:b4697bcfb555 | 257 | flagt=0; |
avallejopo | 0:b4697bcfb555 | 258 | while(1) |
avallejopo | 0:b4697bcfb555 | 259 | { |
avallejopo | 0:b4697bcfb555 | 260 | med=999*y.read(); //leer puerto analogo y asignar a med |
avallejopo | 0:b4697bcfb555 | 261 | err = (spnum-med); //se calcula el error |
avallejopo | 0:b4697bcfb555 | 262 | |
avallejopo | 0:b4697bcfb555 | 263 | ap = kpnum*err; //se calcula la accion proporcinal |
avallejopo | 0:b4697bcfb555 | 264 | |
avallejopo | 0:b4697bcfb555 | 265 | // se verifica que la accion integral no sea muy grande |
avallejopo | 0:b4697bcfb555 | 266 | if(ai<100) |
avallejopo | 0:b4697bcfb555 | 267 | { |
avallejopo | 0:b4697bcfb555 | 268 | ai =(kinum*err)+ai; //calculo de la integral del error |
avallejopo | 0:b4697bcfb555 | 269 | } |
avallejopo | 0:b4697bcfb555 | 270 | |
avallejopo | 0:b4697bcfb555 | 271 | ad = kdnum*(err-err_v); //calculo de la accion derivativa |
avallejopo | 0:b4697bcfb555 | 272 | |
avallejopo | 0:b4697bcfb555 | 273 | pid = (ap+ai+ad); |
avallejopo | 0:b4697bcfb555 | 274 | |
avallejopo | 0:b4697bcfb555 | 275 | // se verifica que pid sea positivo ************************************** |
avallejopo | 0:b4697bcfb555 | 276 | if(pid<=0) |
avallejopo | 0:b4697bcfb555 | 277 | { |
avallejopo | 0:b4697bcfb555 | 278 | pid=0; |
avallejopo | 0:b4697bcfb555 | 279 | } |
avallejopo | 0:b4697bcfb555 | 280 | |
avallejopo | 0:b4697bcfb555 | 281 | // se verifica que pid sea menor o igual la valor maximo ***************** |
avallejopo | 0:b4697bcfb555 | 282 | if (pid > 999) |
avallejopo | 0:b4697bcfb555 | 283 | { |
avallejopo | 0:b4697bcfb555 | 284 | pid=999; |
avallejopo | 0:b4697bcfb555 | 285 | } |
avallejopo | 0:b4697bcfb555 | 286 | |
avallejopo | 0:b4697bcfb555 | 287 | // se actualizan las variables ******************************************* |
avallejopo | 0:b4697bcfb555 | 288 | err_v = err; |
avallejopo | 0:b4697bcfb555 | 289 | |
avallejopo | 0:b4697bcfb555 | 290 | //se muestran las variables****************************************** |
avallejopo | 0:b4697bcfb555 | 291 | if(flagt==0) |
avallejopo | 0:b4697bcfb555 | 292 | { |
avallejopo | 0:b4697bcfb555 | 293 | t.start(); |
avallejopo | 0:b4697bcfb555 | 294 | flagt=1; |
avallejopo | 0:b4697bcfb555 | 295 | } |
avallejopo | 0:b4697bcfb555 | 296 | if(t>=0.3) |
avallejopo | 0:b4697bcfb555 | 297 | { |
avallejopo | 0:b4697bcfb555 | 298 | lcd.locate(3,0); |
avallejopo | 0:b4697bcfb555 | 299 | lcd.printf(" "); |
avallejopo | 0:b4697bcfb555 | 300 | lcd.locate(3,0); |
avallejopo | 0:b4697bcfb555 | 301 | lcd.printf("%d",err); |
avallejopo | 0:b4697bcfb555 | 302 | lcd.locate(11,0); |
avallejopo | 0:b4697bcfb555 | 303 | lcd.printf(" "); |
avallejopo | 0:b4697bcfb555 | 304 | lcd.locate(11,0); |
avallejopo | 0:b4697bcfb555 | 305 | lcd.printf("%d",med); |
avallejopo | 0:b4697bcfb555 | 306 | lcd.locate(3,1); |
avallejopo | 0:b4697bcfb555 | 307 | lcd.printf(" "); |
avallejopo | 0:b4697bcfb555 | 308 | lcd.locate(3,1); |
avallejopo | 0:b4697bcfb555 | 309 | lcd.printf("%d",spnum); |
avallejopo | 0:b4697bcfb555 | 310 | lcd.locate(11,1); |
avallejopo | 0:b4697bcfb555 | 311 | lcd.printf(" "); |
avallejopo | 0:b4697bcfb555 | 312 | lcd.locate(11,1); |
avallejopo | 0:b4697bcfb555 | 313 | lcd.printf("%d",pid); |
avallejopo | 0:b4697bcfb555 | 314 | flagt=0; |
avallejopo | 0:b4697bcfb555 | 315 | t.reset(); |
avallejopo | 0:b4697bcfb555 | 316 | } |
avallejopo | 0:b4697bcfb555 | 317 | |
avallejopo | 0:b4697bcfb555 | 318 | //Normalizacion de la salida |
avallejopo | 0:b4697bcfb555 | 319 | pidn=pid/999; |
avallejopo | 0:b4697bcfb555 | 320 | // se envia el valor pid a puerto analogico de salida (D/A) ************** |
avallejopo | 0:b4697bcfb555 | 321 | u.write(pidn); |
avallejopo | 0:b4697bcfb555 | 322 | // se repite el ciclo |
avallejopo | 0:b4697bcfb555 | 323 | wait(0.005); |
avallejopo | 0:b4697bcfb555 | 324 | } |
avallejopo | 0:b4697bcfb555 | 325 | } |