Diff: main.cpp

Revision:

2:7fd0465280d2

Parent:

1:30696e4d196b

Child:

3:c87c88124d37

--- a/main.cpp	Wed Aug 11 09:15:10 2010 +0000
+++ b/main.cpp	Mon Nov 18 15:41:52 2013 +0000
@@ -1,16 +1,174 @@
+#include "mbed.h"
 #include "QEI.h"
-
-Serial pc(USBTX, USBRX);
-//Use X4 encoding.
-//QEI wheel(p29, p30, NC, 624, QEI::X4_ENCODING);
-//Use X2 encoding by default.
-QEI wheel (p29, p30, NC, 624);
+#include "TextLCD.h"
+#include "DebouncedIn.h"
+#include "DebounceIn.h"
+AnalogIn Vin(PTC2);
+AnalogOut Vo(PTE30);
+QEI wheel (PTD5, PTD0, NC, 624);
+TextLCD lcd(PTB10, PTB11, PTE2, PTE3, PTE4, PTE5); // rs, e, d4-d7
+DebouncedIn b1(PTC9); 
+DebounceIn b2(PTC17);
+int x=1,i,d,f,g,h=0,m=0,l=0,k=0,j=0;
+int C1=0x0e;
+float kp, ki, kd, sp ,err, med, yr, pid, ap, ai, ad, err_v ,Sp;
+int main()
+{
+lcd.writeCommand(C1); // escribe el comando C1
+lcd.locate(0,0);
+lcd.printf("Sp:%d",i);
+lcd.locate(8,0);
+lcd.printf("Kp:%d",d);
+lcd.locate(0,1);
+lcd.printf("Ki:%d",f);
+lcd.locate(8,1);
+lcd.printf("Kd:%d",g);
 
-int main() {
+    while(1) {
+    j=wheel.getPulses();  
+     if(b1.falling())
+     {
+         x=x+1;
+     }
+    if(j<0)
+    {
+    wheel.reset();
+    j=0;
+    }
+ 
+//condicionales para ubicación en pantalla y escritura
+    if(x==1)
+    { 
+    i=j+h;
+        if(i<0)
+        {
+         i=0;
+        }
+       wait(0.1);
+       lcd.locate(3,0);
+       lcd.printf("    ");   
+       lcd.locate(3,0);
+       lcd.printf("%d",i);   
+    }
+    if(x==2)
+    {   
+    d=(j)-(i)+h+m;
+         if(d<0)
+        {
+            d=0;    
+        } 
+         
+    wait(0.1);
+    lcd.locate(11,0);
+    lcd.printf("    ");
+    lcd.locate(11,0);
+    lcd.printf("%d",d);          
+}
+    if(x==3)
+    {
+    f=j-d-i+h+m+l;
+        if(f<0)
+         {
+            f=0;
+         }
+   wait(0.1);
+   lcd.locate(3,1);
+   lcd.printf("    ");
+   lcd.locate(3,1);   
+    lcd.printf("%d",f);
+    }
+   if(x==4)
+      {
+       g=j-(i+d+f)+h+m+l+k;
+          if(g<0)
+            {
+            g=0;
+            }
+    wait(0.1);
+    lcd.locate(11,1);
+    lcd.printf("    ");
+    lcd.locate(11,1);
+    lcd.printf("%d",g);
+    }
+    if(x>4)
+    {   
+        x=1;
+        h=i;
+        m=d;
+        l=f;
+        k=g;    
+        wheel.reset();
+    }
+    if(b2.read()==0)
+    {
+        goto PID;
+    }
+}//while
+    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=h;
+                   kp=m;
+                   kd=l;
+                   ki=g;
+           
+           Sp=(sp*3.3)/100;
+               med=Vin*3.3;
+               err = (Sp-med);
+               ap = kp*err;
+               ai =(ki*err)+ai;
 
-    while(1){
-        wait(0.1);
-        pc.printf("Pulses is: %i\n", wheel.getPulses());
-    }
+               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