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
Diff: main.cpp
- Revision:
- 0:0275ebccd8fe
diff -r 000000000000 -r 0275ebccd8fe main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Nov 18 14:14:46 2013 +0000
@@ -0,0 +1,635 @@
+#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
\ No newline at end of file