carlos ruiz
ingrese los parámetros para el controlador PID, se pueden ingresar del 0 al 9999 pero para el debido funcionamiento del PID ingrese del 0 al 100 cada parametro
Dependencies: DebounceIn Debounced TextLCD mbed
main.cpp
- Committer:
- caaruizze
- Date:
- 2013-11-18
- Revision:
- 0:0275ebccd8fe
File content as of revision 0:0275ebccd8fe:
#include "mbed.h"
#include "DebouncedIn.h"
#include "DebounceIn.h"
#include "TextLCD.h"
AnalogIn Vin(PTC2);
AnalogOut Vo(PTE30);
int C1=0x0e;
int i=0;
int k=0,u=0;
int j=0;
int l=0,g=0;
int m=0;
int n=0,q=0;
int o=0;
int p=0,h=0;
float kp, ki, kd, sp ,err, med, yr, pid, ap, ai, ad, err_v ,Sp;
int x=1;
int main()
{
TextLCD lcd(PTB10, PTB11, PTE2, PTE3, PTE4, PTE5) ;// declaración de los puertos del lcd
DebounceIn b1(PTC16); //aumento
DebounceIn b3(PTC12);// disminuye
DebouncedIn b2(PTC13);// ,cambio de posición
DebounceIn b4(PTC17);// Cabio de etiqueta
lcd.printf("TAREA2:Proc"); // IMPRIMIR
wait(1); // espera 1 segundo
lcd.cls(); // borra lcd
lcd.writeCommand(C1); // escribe el comando C1
// Localiza y escribe los titulos Sp,Kp,Ki,Kd en la patalla
lcd.locate(0,0);
lcd.printf("Sp:%d",i);
lcd.locate(8,0);
lcd.printf("Kp:%d",j);
lcd.locate(0,1);
lcd.printf("Ki:%d",m);
lcd.locate(8,1);
lcd.printf("Kd:%d",o);
// Ciclo infinito
while (1)
{
if(b2.falling())
{
x=x+1;
}
//condicionales para ubicación en pantalla
if(x==1)
{//a
lcd.locate(3,0);
lcd.printf("%d",i);
//Ascenso
if(b1.read()==1)
{
k=0;
}
if(b1.read()==0 && k<25)
{//1.1
k=k+1;
i=i+1;
wait(0.2);
lcd.locate(3,0);
lcd.printf("%d",i);
}//1.1
if(b1.read()==0 && k>=25 && k<50)
{//1.2
k=k+1;
i=i+5;
wait(0.2);
lcd.locate(3,0);
lcd.printf("%d",i);
}//1.2
if(b1.read()==0 && k>=50 && k<75)
{//1.3
k=k+1;
i=i+10;
wait(0.2);
lcd.locate(3,0);
lcd.printf("%d",i);
}//1.3
if(b1.read()==0 && k>=75 && k<100)
{//1.4
k=k+1;
i=i+100;
wait(0.2);
lcd.locate(3,0);
lcd.printf("%d",i);
}//1.4
if(b1.read()==0 && k>=100 && k<125)
{//1.5
k=k+1;
i=i+1000;
wait(0.2);
lcd.locate(3,0);
lcd.printf("%d",i);
if(i>9999)
{//1.5.1
i=9999;
lcd.locate(3,0);
lcd.printf(" ");
lcd.locate(3,0);
lcd.printf("%d",i);
}//1.5.1
}//1.5
//Descenso
if(b3.read()==1)
{
u=0;
}
if(b3.read()==0 && u<25)
{//2.1
u=u+1;
i=i-1;
wait(0.2);
lcd.locate(3,0);
lcd.printf(" ");
lcd.locate(3,0);
lcd.printf("%d",i);
}//2.1
if(b3.read()==0 && u>=25 && u<50)
{//2.2
u=u+1;
i=i-5;
wait(0.2);
lcd.locate(3,0);
lcd.printf(" ");
lcd.locate(3,0);
lcd.printf("%d",i);
}//2.2
if(b3.read()==0 && u>=50 && u<75)
{//2.3
u=u+1;
i=i-10;
wait(0.2);
lcd.locate(3,0);
lcd.printf(" ");
lcd.locate(3,0);
lcd.printf("%d",i);
}//2.3
if(b3.read()==0 && u>=75 && u<100)
{//2.4
u=u+1;
i=i-100;
wait(0.2);
lcd.locate(3,0);
lcd.printf(" ");
lcd.locate(3,0);
lcd.printf("%d",i);
}//2.4
if(b3.read()==0 && u>=100 && u<125)
{//2.5
u=u-1;
i=i-1000;
wait(0.2);
lcd.locate(3,0);
lcd.printf(" ");
lcd.locate(3,0);
lcd.printf("%d",i);
}//2.5
if(i<0)
{//2.6
i=0;
lcd.locate(3,0);
lcd.printf(" ");
lcd.locate(3,0);
lcd.printf("%d",i);
}//2.6
}//a
if(x==2)
{//b
lcd.locate(11,0);
lcd.printf("%d",j);
//Ascenso
if(b1.read()==1)
{
l=0;
}
if(b1.read()==0 && l<25)
{//1.1
l=l+1;
j=j+1;
wait(0.2);
lcd.locate(11,0);
lcd.printf("%d",j);
}//1.1
if(b1.read()==0 && l>=25 && l<50)
{//1.2
l=l+1;
j=j+5;
wait(0.2);
lcd.locate(11,0);
lcd.printf("%d",j);
}//1.2
if(b1.read()==0 && l>=50 && l<75)
{//1.3
l=l+1;
j=j+10;
wait(0.2);
lcd.locate(11,0);
lcd.printf("%d",j);
}//1.3
if(b1.read()==0 && l>=75 && l<100)
{//1.4
l=l+1;
j=j+100;
wait(0.2);
lcd.locate(11,0);
lcd.printf("%d",j);
}//1.4
if(b1.read()==0 && l>=100 && l<125)
{//1.5
l=l+1;
j=j+1000;
wait(0.2);
lcd.locate(11,0);
lcd.printf("%d",j);
if(j>9999)
{//1.5.1
j=9999;
lcd.locate(11,0);
lcd.printf(" ");
lcd.locate(11,0);
lcd.printf("%d",j);
}//1.5.1
}//1.5
//Descenso
if(b3.read()==1)
{
g=0;
}
if(b3.read()==0 && g<25)
{//2.1
g=g+1;
j=j-1;
wait(0.2);
lcd.locate(11,0);
lcd.printf(" ");
lcd.locate(11,0);
lcd.printf("%d",j);
}//2.1
if(b3.read()==0 && g>=25 && g<50)
{//2.2
g=g+1;
j=j-5;
wait(0.2);
lcd.locate(11,0);
lcd.printf(" ");
lcd.locate(11,0);
lcd.printf("%d",j);
}//2.2
if(b3.read()==0 && g>=50 && g<75)
{//2.3
g=g+1;
j=j-10;
wait(0.2);
lcd.locate(11,0);
lcd.printf(" ");
lcd.locate(11,0);
lcd.printf("%d",j);
}//2.3
if(b3.read()==0 && g>=75 && g<100)
{//2.4
g=g+1;
j=j-100;
wait(0.2);
lcd.locate(11,0);
lcd.printf(" ");
lcd.locate(11,0);
lcd.printf("%d",j);
}//2.4
if(b3.read()==0 && g>=100 && g<125)
{//2.5
g=g-1;
j=j-1000;
wait(0.2);
lcd.locate(11,0);
lcd.printf(" ");
lcd.locate(11,0);
lcd.printf("%d",j);
}//2.5
if(j<0)
{//2.6
j=0;
lcd.locate(11,0);
lcd.printf(" ");
lcd.locate(11,0);
lcd.printf("%d",j);
}//2.6
}//b
if(x==3)
{//c
lcd.locate(3,1);
lcd.printf("%d",m);
if(b1.read()==1)
{
n=0;
}
if(b1.read()==0 && n<25)
{//1.1
n=n+1;
m=m+1;
wait(0.2);
lcd.locate(3,1);
lcd.printf("%d",m);
}//1.1
if(b1.read()==0 && n>=25 && n<50)
{//1.2
n=n+1;
m=m+5;
wait(0.2);
lcd.locate(3,1);
lcd.printf("%d",m);
}//1.2
if(b1.read()==0 && n>=50 && n<75)
{//1.3
n=n+1;
m=m+10;
wait(0.2);
lcd.locate(3,1);
lcd.printf("%d",m);
}//1.3
if(b1.read()==0 && n>=75 && n<100)
{//1.4
n=n+1;
m=m+100;
wait(0.2);
lcd.locate(3,1);
lcd.printf("%d",m);
}//1.4
if(b1.read()==0 && n>=100 && n<125)
{//1.5
n=n+1;
m=m+1000;
wait(0.2);
lcd.locate(3,1);
lcd.printf("%d",m);
if(m>9999)
{//1.5.1
m=9999;
lcd.locate(3,1);
lcd.printf(" ");
lcd.locate(3,1);
lcd.printf("%d",m);
}//1.5.1
}//1.5
//Descenso
if(b3.read()==1)
{
q=0;
}
if(b3.read()==0 && q<25)
{//2.1
q=q+1;
m=m-1;
wait(0.2);
lcd.locate(3,1);
lcd.printf(" ");
lcd.locate(3,1);
lcd.printf("%d",m);
}//2.1
if(b3.read()==0 && q>=25 && q<50)
{//2.2
q=q+1;
m=m-5;
wait(0.2);
lcd.locate(3,1);
lcd.printf(" ");
lcd.locate(3,1);
lcd.printf("%d",m);
}//2.2
if(b3.read()==0 && q>=50 && q<75)
{//2.3
q=q+1;
m=m-10;
wait(0.2);
lcd.locate(3,1);
lcd.printf(" ");
lcd.locate(3,1);
lcd.printf("%d",m);
}//2.3
if(b3.read()==0 && q>=75 && q<100)
{//2.4
q=q+1;
m=m-100;
wait(0.2);
lcd.locate(3,1);
lcd.printf(" ");
lcd.locate(3,1);
lcd.printf("%d",m);
}//2.4
if(b3.read()==0 && q>=100 && q<125)
{//2.5
q=q+1;
m=m-1000;
wait(0.2);
lcd.locate(3,1);
lcd.printf(" ");
lcd.locate(3,1);
lcd.printf("%d",m);
}//2.5
if(m<0)
{//2.6
m=0;
lcd.locate(3,1);
lcd.printf(" ");
lcd.locate(3,1);
lcd.printf("%d",m);
}//2.6
}//c
if(x==4)
{//d
lcd.locate(11,1);
lcd.printf("%d",o);
if(b1.read()==1)
{
n=0;
}
if(b1.read()==0 && p<25)
{//1.1
p=p+1;
o=o+1;
wait(0.2);
lcd.locate(11,1);
lcd.printf("%d",o);
}//1.1
if(b1.read()==0 && p>=25 && p<50)
{//1.2
p=p+1;
o=o+5;
wait(0.2);
lcd.locate(11,1);
lcd.printf("%f",o);
}//1.2
if(b1.read()==0 && p>=50 && p<75)
{//1.3
p=p+1;
o=o+10;
wait(0.2);
lcd.locate(11,1);
lcd.printf("%d",o);
}//1.3
if(b1.read()==0 && p>=75 && p<100)
{//1.4
p=p+1;
o=o+100;
wait(0.2);
lcd.locate(11,1);
lcd.printf("%d",o);
}//1.4
if(b1.read()==0 && p>=100 && p<125)
{//1.5
p=p+1;
o=o+1000;
wait(0.2);
lcd.locate(11,1);
lcd.printf("%d",o);
if(o>9999)
{//1.5.1
o=9999;
lcd.locate(11,1);
lcd.printf(" ");
lcd.locate(11,1);
lcd.printf("%d",o);
}//1.5.1
}//1.5
//Descenso
if(b3.read()==1)
{
h=0;
}
if(b3.read()==0 && h<25)
{//2.1
h=h+1;
o=o-1;
wait(0.2);
lcd.locate(11,1);
lcd.printf(" ");
lcd.locate(11,1);
lcd.printf("%d",o);
}//2.1
if(b3.read()==0 && h>=25 && h<50)
{//2.2
h=h+1;
o=o-5;
wait(0.2);
lcd.locate(11,1);
lcd.printf(" ");
lcd.locate(11,1);
lcd.printf("%d",o);
}//2.2
if(b3.read()==0 && h>=50 && h<75)
{//2.3
h=h+1;
o=o-10;
wait(0.2);
lcd.locate(11,1);
lcd.printf(" ");
lcd.locate(11,1);
lcd.printf("%d",o);
}//2.3
if(b3.read()==0 && h>=75 && h<100)
{//2.4
h=h+1;
o=o-100;
wait(0.2);
lcd.locate(11,1);
lcd.printf(" ");
lcd.locate(11,1);
lcd.printf("%d",o);
}//2.4
if(b3.read()==0 && h>=100 && h<125)
{//2.5
h=h+1;
o=o-1000;
wait(0.2);
lcd.locate(11,1);
lcd.printf(" ");
lcd.locate(11,1);
lcd.printf("%d",o);
}//2.5
if(o<0)
{//2.6
o=0;
lcd.locate(11,1);
lcd.printf(" ");
lcd.locate(11,1);
lcd.printf("%d",o);
}//2.6
}//d
if(x>4)
{
x=1;
}
if(b4.read()==0)
{
goto PID;
}
}//while1
PID:
wait(0.5); // espera 1 segundo
lcd.cls(); // borra lcd
wait(0.2);
lcd.printf("DATOS GUARDADOS!");
wait(1);
lcd.cls();
lcd.locate(0,0);
lcd.printf("Er:");
lcd.locate(8,0);
lcd.printf("Me:");
lcd.locate(0,1);
lcd.printf("Sp:");
lcd.locate(8,1);
lcd.printf("CO:");
while(1)
{//whilePID
wait(0.1);
sp=i;
kp=j;
kd=m;
ki=o;
Sp=(sp*3.3)/100;
med=Vin*3.3;
err = (Sp-med);
ap = kp*err;
ai =(ki*err)+ai;
ad = kd*(err-err_v);
pid = (ap+ai+ad);
if (pid<0)
{
pid=0;
}
if (pid>99)
{
pid=100;
}
Vo=pid/100;
lcd.locate(3,0);
lcd.printf(" ");
lcd.locate(3,0);
lcd.printf("%.1f",err);
lcd.locate(11,0);
lcd.printf(" ");
lcd.locate(11,0);
lcd.printf("%.1f",med);
lcd.locate(3,1);
lcd.printf(" ");
lcd.locate(3,1);
lcd.printf("%.1f",Sp);
lcd.locate(11,1);
lcd.printf(" ");
lcd.locate(11,1);
lcd.printf("%.1f",pid);
err_v = err;
}//whilePID
}//main