Andrés Mora Bedoya
Control PID simple con una tarjeta Freescale KL25Z y display de pantalla líquida de 16x2. Trabajo conjunto con el usuario jmcallef (Jose Calle)
Dependencies: DebouncedIn TextLCD1 mbed
main.cpp@0:3e5f40db8cb3, 2013-11-05 (annotated)
- Committer:
- cmorab
- Date:
- Tue Nov 05 19:34:03 2013 +0000
- Revision:
- 0:3e5f40db8cb3
Backup de un control PID simle usando la tarjeta Freescale KL25Z y pantalla de cristal l?quido de 16x2.; Trabajo conjunto con el usuario jmcallej (Jose Calle)
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| cmorab | 0:3e5f40db8cb3 | 1 | #include "mbed.h" |
| cmorab | 0:3e5f40db8cb3 | 2 | #include "DebouncedIn.h" |
| cmorab | 0:3e5f40db8cb3 | 3 | #include "TextLCD.h" |
| cmorab | 0:3e5f40db8cb3 | 4 | |
| cmorab | 0:3e5f40db8cb3 | 5 | AnalogIn Vin(PTC2); |
| cmorab | 0:3e5f40db8cb3 | 6 | TextLCD lcd(PTB10, PTB11, PTE2, PTE3, PTE4, PTE5); // rs, e, d4-d7 |
| cmorab | 0:3e5f40db8cb3 | 7 | |
| cmorab | 0:3e5f40db8cb3 | 8 | DigitalOut led1(LED1); |
| cmorab | 0:3e5f40db8cb3 | 9 | DigitalOut led2(LED2); |
| cmorab | 0:3e5f40db8cb3 | 10 | DigitalOut led3(LED3); |
| cmorab | 0:3e5f40db8cb3 | 11 | DigitalOut led4(LED4); |
| cmorab | 0:3e5f40db8cb3 | 12 | DebouncedIn button1(PTC12); // Aumento |
| cmorab | 0:3e5f40db8cb3 | 13 | DebouncedIn button2(PTC13); // Disminución |
| cmorab | 0:3e5f40db8cb3 | 14 | DebouncedIn button3(PTC16); // Cambio de variable |
| cmorab | 0:3e5f40db8cb3 | 15 | DebouncedIn button4(PTC17); // Reset |
| cmorab | 0:3e5f40db8cb3 | 16 | |
| cmorab | 0:3e5f40db8cb3 | 17 | int C1=0x0E; // solo muestra el curzor. |
| cmorab | 0:3e5f40db8cb3 | 18 | int C2=0x18; // desplaza izquierda. |
| cmorab | 0:3e5f40db8cb3 | 19 | int C3=0x1A; // desplaza derecha. |
| cmorab | 0:3e5f40db8cb3 | 20 | int C4=0x0C; // quito cursor bajo. |
| cmorab | 0:3e5f40db8cb3 | 21 | |
| cmorab | 0:3e5f40db8cb3 | 22 | int i; // Indice de la variable. |
| cmorab | 0:3e5f40db8cb3 | 23 | int j; // Controla cambio de posición. |
| cmorab | 0:3e5f40db8cb3 | 24 | int kp, ki, kd, sp, cont; |
| cmorab | 0:3e5f40db8cb3 | 25 | int med, pid, err, ap, ai, ad, err_v; |
| cmorab | 0:3e5f40db8cb3 | 26 | |
| cmorab | 0:3e5f40db8cb3 | 27 | int main(){ |
| cmorab | 0:3e5f40db8cb3 | 28 | lcd.writeCommand(C1); // Escribimos un comando segun el manual del modulo LCD |
| cmorab | 0:3e5f40db8cb3 | 29 | lcd.cls(); // Borro toda la pantalla |
| cmorab | 0:3e5f40db8cb3 | 30 | lcd.locate(0,0); // Localizo donde se escribirá el siguiente comando. |
| cmorab | 0:3e5f40db8cb3 | 31 | lcd.printf("Sp %d",sp); // Escribe Sp (aparecen desde el punto (0,0) |
| cmorab | 0:3e5f40db8cb3 | 32 | lcd.locate(8,0); // Localizo donde se escribirá el siguiente comando. |
| cmorab | 0:3e5f40db8cb3 | 33 | lcd.printf("Kp %d",kp); // Escribe Kp (aparecen desde el punto (8,0) |
| cmorab | 0:3e5f40db8cb3 | 34 | lcd.locate(0,1); |
| cmorab | 0:3e5f40db8cb3 | 35 | lcd.printf("Ki %d",ki); |
| cmorab | 0:3e5f40db8cb3 | 36 | lcd.locate(8,1); |
| cmorab | 0:3e5f40db8cb3 | 37 | lcd.printf("Kd %d",kd); |
| cmorab | 0:3e5f40db8cb3 | 38 | |
| cmorab | 0:3e5f40db8cb3 | 39 | |
| cmorab | 0:3e5f40db8cb3 | 40 | while(1){ |
| cmorab | 0:3e5f40db8cb3 | 41 | led3 =1; |
| cmorab | 0:3e5f40db8cb3 | 42 | if (button3.falling()){ |
| cmorab | 0:3e5f40db8cb3 | 43 | led3 =!led3; // Prendo el LED color rojo cada vez que pulso el boton 3 ya que pasa a valer 0 (encendido). |
| cmorab | 0:3e5f40db8cb3 | 44 | ++j; |
| cmorab | 0:3e5f40db8cb3 | 45 | } // INCREMENTA POSICION DEL MENU CON BOTON 3 |
| cmorab | 0:3e5f40db8cb3 | 46 | if (j==0){ |
| cmorab | 0:3e5f40db8cb3 | 47 | lcd.locate(3,0); |
| cmorab | 0:3e5f40db8cb3 | 48 | lcd.printf("%d",sp); |
| cmorab | 0:3e5f40db8cb3 | 49 | wait(0.2); |
| cmorab | 0:3e5f40db8cb3 | 50 | |
| cmorab | 0:3e5f40db8cb3 | 51 | led1 = 1; |
| cmorab | 0:3e5f40db8cb3 | 52 | |
| cmorab | 0:3e5f40db8cb3 | 53 | if(button1.falling()) { |
| cmorab | 0:3e5f40db8cb3 | 54 | led1 =!led1; // Prendo el LED color azul cada vez que pulso el boton 1 ya que pasa a valer 0 (encendido). |
| cmorab | 0:3e5f40db8cb3 | 55 | //++sp; // Incrementa valor al pulsar el botón --> Ahora no lo usamos acá ya que necesitamos incremental. |
| cmorab | 0:3e5f40db8cb3 | 56 | |
| cmorab | 0:3e5f40db8cb3 | 57 | |
| cmorab | 0:3e5f40db8cb3 | 58 | // Ahora comienza el incremental. |
| cmorab | 0:3e5f40db8cb3 | 59 | |
| cmorab | 0:3e5f40db8cb3 | 60 | if (!button1) { |
| cmorab | 0:3e5f40db8cb3 | 61 | cont=0; |
| cmorab | 0:3e5f40db8cb3 | 62 | wait(0.2); |
| cmorab | 0:3e5f40db8cb3 | 63 | |
| cmorab | 0:3e5f40db8cb3 | 64 | while(cont<20){ |
| cmorab | 0:3e5f40db8cb3 | 65 | cont = cont + 1; |
| cmorab | 0:3e5f40db8cb3 | 66 | sp=sp+1; |
| cmorab | 0:3e5f40db8cb3 | 67 | if (sp>1000){ // Ponemos un tope incremental en 1.000 |
| cmorab | 0:3e5f40db8cb3 | 68 | sp=1000; |
| cmorab | 0:3e5f40db8cb3 | 69 | } |
| cmorab | 0:3e5f40db8cb3 | 70 | lcd.locate(0,0); |
| cmorab | 0:3e5f40db8cb3 | 71 | lcd.printf("Sp %d",sp); |
| cmorab | 0:3e5f40db8cb3 | 72 | |
| cmorab | 0:3e5f40db8cb3 | 73 | wait(0.3); |
| cmorab | 0:3e5f40db8cb3 | 74 | if(button1){ |
| cmorab | 0:3e5f40db8cb3 | 75 | break; |
| cmorab | 0:3e5f40db8cb3 | 76 | } |
| cmorab | 0:3e5f40db8cb3 | 77 | while(cont>=20 and cont<=40){ |
| cmorab | 0:3e5f40db8cb3 | 78 | cont=cont+1; |
| cmorab | 0:3e5f40db8cb3 | 79 | sp=sp+10; |
| cmorab | 0:3e5f40db8cb3 | 80 | if (sp>1000){ // Ponemos un tope incremental en 10.000 |
| cmorab | 0:3e5f40db8cb3 | 81 | sp=1000; |
| cmorab | 0:3e5f40db8cb3 | 82 | } |
| cmorab | 0:3e5f40db8cb3 | 83 | lcd.locate(0,0); |
| cmorab | 0:3e5f40db8cb3 | 84 | lcd.printf("Sp %d",sp); |
| cmorab | 0:3e5f40db8cb3 | 85 | |
| cmorab | 0:3e5f40db8cb3 | 86 | wait(0.3); |
| cmorab | 0:3e5f40db8cb3 | 87 | if(button1){ |
| cmorab | 0:3e5f40db8cb3 | 88 | break; |
| cmorab | 0:3e5f40db8cb3 | 89 | } |
| cmorab | 0:3e5f40db8cb3 | 90 | |
| cmorab | 0:3e5f40db8cb3 | 91 | while(cont>40){ |
| cmorab | 0:3e5f40db8cb3 | 92 | cont = cont + 1; |
| cmorab | 0:3e5f40db8cb3 | 93 | sp=sp+100; |
| cmorab | 0:3e5f40db8cb3 | 94 | if (sp>1000){ // Ponemos un tope incremental en 10.000 |
| cmorab | 0:3e5f40db8cb3 | 95 | sp=1000; |
| cmorab | 0:3e5f40db8cb3 | 96 | } |
| cmorab | 0:3e5f40db8cb3 | 97 | lcd.locate(0,0); |
| cmorab | 0:3e5f40db8cb3 | 98 | lcd.printf("Sp %d",sp); |
| cmorab | 0:3e5f40db8cb3 | 99 | |
| cmorab | 0:3e5f40db8cb3 | 100 | wait(0.3); |
| cmorab | 0:3e5f40db8cb3 | 101 | if(button1){ |
| cmorab | 0:3e5f40db8cb3 | 102 | break; |
| cmorab | 0:3e5f40db8cb3 | 103 | } |
| cmorab | 0:3e5f40db8cb3 | 104 | } |
| cmorab | 0:3e5f40db8cb3 | 105 | } |
| cmorab | 0:3e5f40db8cb3 | 106 | } |
| cmorab | 0:3e5f40db8cb3 | 107 | } |
| cmorab | 0:3e5f40db8cb3 | 108 | |
| cmorab | 0:3e5f40db8cb3 | 109 | // Aqui termina el incremental. |
| cmorab | 0:3e5f40db8cb3 | 110 | } |
| cmorab | 0:3e5f40db8cb3 | 111 | |
| cmorab | 0:3e5f40db8cb3 | 112 | |
| cmorab | 0:3e5f40db8cb3 | 113 | led2 =1; |
| cmorab | 0:3e5f40db8cb3 | 114 | if (button2.falling()) { |
| cmorab | 0:3e5f40db8cb3 | 115 | led2 =!led2; // Prendo el LED color rojo cada vez que pulso el boton 2 ya que pasa a valer 0 (encendido). |
| cmorab | 0:3e5f40db8cb3 | 116 | |
| cmorab | 0:3e5f40db8cb3 | 117 | //--sp; // Reduce el valor al pulsar el botón. |
| cmorab | 0:3e5f40db8cb3 | 118 | } |
| cmorab | 0:3e5f40db8cb3 | 119 | |
| cmorab | 0:3e5f40db8cb3 | 120 | |
| cmorab | 0:3e5f40db8cb3 | 121 | // Ahora comienza el decremental. |
| cmorab | 0:3e5f40db8cb3 | 122 | |
| cmorab | 0:3e5f40db8cb3 | 123 | if (!button2) { |
| cmorab | 0:3e5f40db8cb3 | 124 | cont=0; |
| cmorab | 0:3e5f40db8cb3 | 125 | wait(0.2); |
| cmorab | 0:3e5f40db8cb3 | 126 | |
| cmorab | 0:3e5f40db8cb3 | 127 | while(cont<20){ |
| cmorab | 0:3e5f40db8cb3 | 128 | cont = cont + 1; |
| cmorab | 0:3e5f40db8cb3 | 129 | sp=sp-1; |
| cmorab | 0:3e5f40db8cb3 | 130 | |
| cmorab | 0:3e5f40db8cb3 | 131 | if (sp<=0){ // No permitimos valores negativos, definimos valor mínimo en 0. |
| cmorab | 0:3e5f40db8cb3 | 132 | sp=0; |
| cmorab | 0:3e5f40db8cb3 | 133 | } |
| cmorab | 0:3e5f40db8cb3 | 134 | lcd.locate(3,0); |
| cmorab | 0:3e5f40db8cb3 | 135 | lcd.printf(" "); |
| cmorab | 0:3e5f40db8cb3 | 136 | lcd.locate(0,0); |
| cmorab | 0:3e5f40db8cb3 | 137 | lcd.printf("Sp %d",sp); |
| cmorab | 0:3e5f40db8cb3 | 138 | |
| cmorab | 0:3e5f40db8cb3 | 139 | wait(0.3); |
| cmorab | 0:3e5f40db8cb3 | 140 | if(button2){ |
| cmorab | 0:3e5f40db8cb3 | 141 | break; |
| cmorab | 0:3e5f40db8cb3 | 142 | } |
| cmorab | 0:3e5f40db8cb3 | 143 | |
| cmorab | 0:3e5f40db8cb3 | 144 | while(cont>=20 and cont<=40){ |
| cmorab | 0:3e5f40db8cb3 | 145 | cont=cont+1; |
| cmorab | 0:3e5f40db8cb3 | 146 | sp=sp-10; |
| cmorab | 0:3e5f40db8cb3 | 147 | if (sp<0){ // No permitimos valores negativos, definimos valor mínimo en 0. |
| cmorab | 0:3e5f40db8cb3 | 148 | sp=0; |
| cmorab | 0:3e5f40db8cb3 | 149 | } |
| cmorab | 0:3e5f40db8cb3 | 150 | |
| cmorab | 0:3e5f40db8cb3 | 151 | lcd.locate(0,0); |
| cmorab | 0:3e5f40db8cb3 | 152 | lcd.printf("Sp %d ",sp); |
| cmorab | 0:3e5f40db8cb3 | 153 | |
| cmorab | 0:3e5f40db8cb3 | 154 | |
| cmorab | 0:3e5f40db8cb3 | 155 | wait(0.3); |
| cmorab | 0:3e5f40db8cb3 | 156 | if(button2){ |
| cmorab | 0:3e5f40db8cb3 | 157 | break; |
| cmorab | 0:3e5f40db8cb3 | 158 | } |
| cmorab | 0:3e5f40db8cb3 | 159 | |
| cmorab | 0:3e5f40db8cb3 | 160 | while(cont>40){ |
| cmorab | 0:3e5f40db8cb3 | 161 | cont = cont + 1; |
| cmorab | 0:3e5f40db8cb3 | 162 | sp=sp-100; |
| cmorab | 0:3e5f40db8cb3 | 163 | |
| cmorab | 0:3e5f40db8cb3 | 164 | if (sp<0){ // No permitimos valores negativos, definimos valor mínimo en 0. |
| cmorab | 0:3e5f40db8cb3 | 165 | sp=0; |
| cmorab | 0:3e5f40db8cb3 | 166 | } |
| cmorab | 0:3e5f40db8cb3 | 167 | |
| cmorab | 0:3e5f40db8cb3 | 168 | lcd.locate(0,0); |
| cmorab | 0:3e5f40db8cb3 | 169 | lcd.printf("Sp %d ",sp); |
| cmorab | 0:3e5f40db8cb3 | 170 | |
| cmorab | 0:3e5f40db8cb3 | 171 | |
| cmorab | 0:3e5f40db8cb3 | 172 | wait(0.3); |
| cmorab | 0:3e5f40db8cb3 | 173 | if(button2){ |
| cmorab | 0:3e5f40db8cb3 | 174 | break; |
| cmorab | 0:3e5f40db8cb3 | 175 | } |
| cmorab | 0:3e5f40db8cb3 | 176 | } |
| cmorab | 0:3e5f40db8cb3 | 177 | } |
| cmorab | 0:3e5f40db8cb3 | 178 | } |
| cmorab | 0:3e5f40db8cb3 | 179 | } |
| cmorab | 0:3e5f40db8cb3 | 180 | |
| cmorab | 0:3e5f40db8cb3 | 181 | // Aqui termina el decremental. |
| cmorab | 0:3e5f40db8cb3 | 182 | |
| cmorab | 0:3e5f40db8cb3 | 183 | |
| cmorab | 0:3e5f40db8cb3 | 184 | } |
| cmorab | 0:3e5f40db8cb3 | 185 | if (j==1){ |
| cmorab | 0:3e5f40db8cb3 | 186 | lcd.locate(11,0); |
| cmorab | 0:3e5f40db8cb3 | 187 | lcd.printf("%d",kp); |
| cmorab | 0:3e5f40db8cb3 | 188 | wait(0.3); |
| cmorab | 0:3e5f40db8cb3 | 189 | led1 =1; |
| cmorab | 0:3e5f40db8cb3 | 190 | if (button1.falling()) { |
| cmorab | 0:3e5f40db8cb3 | 191 | led1 =!led1; |
| cmorab | 0:3e5f40db8cb3 | 192 | // ++kp; |
| cmorab | 0:3e5f40db8cb3 | 193 | } |
| cmorab | 0:3e5f40db8cb3 | 194 | |
| cmorab | 0:3e5f40db8cb3 | 195 | // Ahora comienza el incremental. |
| cmorab | 0:3e5f40db8cb3 | 196 | |
| cmorab | 0:3e5f40db8cb3 | 197 | if (!button1) { |
| cmorab | 0:3e5f40db8cb3 | 198 | cont=0; |
| cmorab | 0:3e5f40db8cb3 | 199 | wait(0.2); |
| cmorab | 0:3e5f40db8cb3 | 200 | |
| cmorab | 0:3e5f40db8cb3 | 201 | while(cont<20){ |
| cmorab | 0:3e5f40db8cb3 | 202 | cont = cont + 1; |
| cmorab | 0:3e5f40db8cb3 | 203 | kp=kp+1; |
| cmorab | 0:3e5f40db8cb3 | 204 | if (kp>1000){ // Ponemos un tope incremental en 10.000 |
| cmorab | 0:3e5f40db8cb3 | 205 | kp=1000; |
| cmorab | 0:3e5f40db8cb3 | 206 | } |
| cmorab | 0:3e5f40db8cb3 | 207 | lcd.locate(8,0); |
| cmorab | 0:3e5f40db8cb3 | 208 | lcd.printf("Kp %d",kp); |
| cmorab | 0:3e5f40db8cb3 | 209 | |
| cmorab | 0:3e5f40db8cb3 | 210 | wait(0.3); |
| cmorab | 0:3e5f40db8cb3 | 211 | if(button1){ |
| cmorab | 0:3e5f40db8cb3 | 212 | break; |
| cmorab | 0:3e5f40db8cb3 | 213 | } |
| cmorab | 0:3e5f40db8cb3 | 214 | while(cont>=20){ |
| cmorab | 0:3e5f40db8cb3 | 215 | cont=cont+1; |
| cmorab | 0:3e5f40db8cb3 | 216 | kp=kp+10; |
| cmorab | 0:3e5f40db8cb3 | 217 | if (kp>1000){ // Ponemos un tope incremental en 10.000 |
| cmorab | 0:3e5f40db8cb3 | 218 | kp=1000; |
| cmorab | 0:3e5f40db8cb3 | 219 | } |
| cmorab | 0:3e5f40db8cb3 | 220 | lcd.locate(8,0); |
| cmorab | 0:3e5f40db8cb3 | 221 | lcd.printf("Kp %d",kp); |
| cmorab | 0:3e5f40db8cb3 | 222 | |
| cmorab | 0:3e5f40db8cb3 | 223 | wait(0.3); |
| cmorab | 0:3e5f40db8cb3 | 224 | if(button1){ |
| cmorab | 0:3e5f40db8cb3 | 225 | break; |
| cmorab | 0:3e5f40db8cb3 | 226 | } |
| cmorab | 0:3e5f40db8cb3 | 227 | |
| cmorab | 0:3e5f40db8cb3 | 228 | while(cont>40){ |
| cmorab | 0:3e5f40db8cb3 | 229 | cont = cont + 1; |
| cmorab | 0:3e5f40db8cb3 | 230 | kp=kp+100; |
| cmorab | 0:3e5f40db8cb3 | 231 | if (kp>1000){ // Ponemos un tope incremental en 10.000 |
| cmorab | 0:3e5f40db8cb3 | 232 | kp=1000; |
| cmorab | 0:3e5f40db8cb3 | 233 | } |
| cmorab | 0:3e5f40db8cb3 | 234 | lcd.locate(8,0); |
| cmorab | 0:3e5f40db8cb3 | 235 | lcd.printf("Kp %d",kp); |
| cmorab | 0:3e5f40db8cb3 | 236 | |
| cmorab | 0:3e5f40db8cb3 | 237 | wait(0.3); |
| cmorab | 0:3e5f40db8cb3 | 238 | if(button1){ |
| cmorab | 0:3e5f40db8cb3 | 239 | break; |
| cmorab | 0:3e5f40db8cb3 | 240 | } |
| cmorab | 0:3e5f40db8cb3 | 241 | } |
| cmorab | 0:3e5f40db8cb3 | 242 | } |
| cmorab | 0:3e5f40db8cb3 | 243 | } |
| cmorab | 0:3e5f40db8cb3 | 244 | } |
| cmorab | 0:3e5f40db8cb3 | 245 | |
| cmorab | 0:3e5f40db8cb3 | 246 | // Aqui termina el incremental. |
| cmorab | 0:3e5f40db8cb3 | 247 | } |
| cmorab | 0:3e5f40db8cb3 | 248 | |
| cmorab | 0:3e5f40db8cb3 | 249 | |
| cmorab | 0:3e5f40db8cb3 | 250 | led2 =1; |
| cmorab | 0:3e5f40db8cb3 | 251 | if (button2.falling()) { |
| cmorab | 0:3e5f40db8cb3 | 252 | led2 =!led2; // Prendo el LED color rojo cada vez que pulso el boton 2 ya que pasa a valer 0 (encendido). |
| cmorab | 0:3e5f40db8cb3 | 253 | |
| cmorab | 0:3e5f40db8cb3 | 254 | //--sp; // Reduce el valor al pulsar el botón. |
| cmorab | 0:3e5f40db8cb3 | 255 | } |
| cmorab | 0:3e5f40db8cb3 | 256 | |
| cmorab | 0:3e5f40db8cb3 | 257 | |
| cmorab | 0:3e5f40db8cb3 | 258 | // Ahora comienza el decremental. |
| cmorab | 0:3e5f40db8cb3 | 259 | |
| cmorab | 0:3e5f40db8cb3 | 260 | if (!button2) { |
| cmorab | 0:3e5f40db8cb3 | 261 | cont=0; |
| cmorab | 0:3e5f40db8cb3 | 262 | wait(0.2); |
| cmorab | 0:3e5f40db8cb3 | 263 | |
| cmorab | 0:3e5f40db8cb3 | 264 | while(cont<20){ |
| cmorab | 0:3e5f40db8cb3 | 265 | cont = cont + 1; |
| cmorab | 0:3e5f40db8cb3 | 266 | |
| cmorab | 0:3e5f40db8cb3 | 267 | kp=kp-1; |
| cmorab | 0:3e5f40db8cb3 | 268 | |
| cmorab | 0:3e5f40db8cb3 | 269 | if (kp<=0){ // No permitimos valores negativos, definimos valor mínimo en 0. |
| cmorab | 0:3e5f40db8cb3 | 270 | kp=0; |
| cmorab | 0:3e5f40db8cb3 | 271 | } |
| cmorab | 0:3e5f40db8cb3 | 272 | |
| cmorab | 0:3e5f40db8cb3 | 273 | lcd.locate(8,0); |
| cmorab | 0:3e5f40db8cb3 | 274 | lcd.printf(" "); |
| cmorab | 0:3e5f40db8cb3 | 275 | lcd.locate(8,0); |
| cmorab | 0:3e5f40db8cb3 | 276 | lcd.printf("Kp %d",kp); |
| cmorab | 0:3e5f40db8cb3 | 277 | |
| cmorab | 0:3e5f40db8cb3 | 278 | wait(0.3); |
| cmorab | 0:3e5f40db8cb3 | 279 | if(button2){ |
| cmorab | 0:3e5f40db8cb3 | 280 | break; |
| cmorab | 0:3e5f40db8cb3 | 281 | } |
| cmorab | 0:3e5f40db8cb3 | 282 | |
| cmorab | 0:3e5f40db8cb3 | 283 | while(cont>=20){ |
| cmorab | 0:3e5f40db8cb3 | 284 | cont=cont+1; |
| cmorab | 0:3e5f40db8cb3 | 285 | kp=kp-10; |
| cmorab | 0:3e5f40db8cb3 | 286 | if (kp<0){ // No permitimos valores negativos, definimos valor mínimo en 0. |
| cmorab | 0:3e5f40db8cb3 | 287 | kp=0; |
| cmorab | 0:3e5f40db8cb3 | 288 | } |
| cmorab | 0:3e5f40db8cb3 | 289 | |
| cmorab | 0:3e5f40db8cb3 | 290 | lcd.locate(8,0); |
| cmorab | 0:3e5f40db8cb3 | 291 | lcd.printf(" "); |
| cmorab | 0:3e5f40db8cb3 | 292 | lcd.locate(8,0); |
| cmorab | 0:3e5f40db8cb3 | 293 | lcd.printf("Kp %d ",kp); |
| cmorab | 0:3e5f40db8cb3 | 294 | |
| cmorab | 0:3e5f40db8cb3 | 295 | wait(0.3); |
| cmorab | 0:3e5f40db8cb3 | 296 | if(button2){ |
| cmorab | 0:3e5f40db8cb3 | 297 | break; |
| cmorab | 0:3e5f40db8cb3 | 298 | } |
| cmorab | 0:3e5f40db8cb3 | 299 | |
| cmorab | 0:3e5f40db8cb3 | 300 | while(cont>40){ |
| cmorab | 0:3e5f40db8cb3 | 301 | cont = cont + 1; |
| cmorab | 0:3e5f40db8cb3 | 302 | kp=kp-100; |
| cmorab | 0:3e5f40db8cb3 | 303 | |
| cmorab | 0:3e5f40db8cb3 | 304 | if (kp<0){ // No permitimos valores negativos, definimos valor mínimo en 0. |
| cmorab | 0:3e5f40db8cb3 | 305 | kp=0; |
| cmorab | 0:3e5f40db8cb3 | 306 | } |
| cmorab | 0:3e5f40db8cb3 | 307 | lcd.locate(8,0); |
| cmorab | 0:3e5f40db8cb3 | 308 | lcd.printf(" "); |
| cmorab | 0:3e5f40db8cb3 | 309 | lcd.locate(8,0); |
| cmorab | 0:3e5f40db8cb3 | 310 | lcd.printf("Kp %d ",kp); |
| cmorab | 0:3e5f40db8cb3 | 311 | |
| cmorab | 0:3e5f40db8cb3 | 312 | |
| cmorab | 0:3e5f40db8cb3 | 313 | wait(0.3); |
| cmorab | 0:3e5f40db8cb3 | 314 | if(button2){ |
| cmorab | 0:3e5f40db8cb3 | 315 | break; |
| cmorab | 0:3e5f40db8cb3 | 316 | } |
| cmorab | 0:3e5f40db8cb3 | 317 | } |
| cmorab | 0:3e5f40db8cb3 | 318 | } |
| cmorab | 0:3e5f40db8cb3 | 319 | } |
| cmorab | 0:3e5f40db8cb3 | 320 | } |
| cmorab | 0:3e5f40db8cb3 | 321 | |
| cmorab | 0:3e5f40db8cb3 | 322 | |
| cmorab | 0:3e5f40db8cb3 | 323 | |
| cmorab | 0:3e5f40db8cb3 | 324 | if (j==2){ |
| cmorab | 0:3e5f40db8cb3 | 325 | lcd.locate(3,1); |
| cmorab | 0:3e5f40db8cb3 | 326 | lcd.printf("%d",ki); |
| cmorab | 0:3e5f40db8cb3 | 327 | wait(0.3); |
| cmorab | 0:3e5f40db8cb3 | 328 | led1 =1; |
| cmorab | 0:3e5f40db8cb3 | 329 | if (button1.falling()){ |
| cmorab | 0:3e5f40db8cb3 | 330 | led1 =!led1; |
| cmorab | 0:3e5f40db8cb3 | 331 | |
| cmorab | 0:3e5f40db8cb3 | 332 | //++sp; // Incrementa valor al pulsar el botón --> Ahora no lo usamos acá ya que necesitamos incremental. |
| cmorab | 0:3e5f40db8cb3 | 333 | |
| cmorab | 0:3e5f40db8cb3 | 334 | |
| cmorab | 0:3e5f40db8cb3 | 335 | // Ahora comienza el incremental. |
| cmorab | 0:3e5f40db8cb3 | 336 | |
| cmorab | 0:3e5f40db8cb3 | 337 | if (!button1) { |
| cmorab | 0:3e5f40db8cb3 | 338 | cont=0; |
| cmorab | 0:3e5f40db8cb3 | 339 | wait(0.2); |
| cmorab | 0:3e5f40db8cb3 | 340 | |
| cmorab | 0:3e5f40db8cb3 | 341 | while(cont<20){ |
| cmorab | 0:3e5f40db8cb3 | 342 | cont = cont + 1; |
| cmorab | 0:3e5f40db8cb3 | 343 | ki=ki+1; |
| cmorab | 0:3e5f40db8cb3 | 344 | if (ki>1000){ // Ponemos un tope incremental en 1.000 |
| cmorab | 0:3e5f40db8cb3 | 345 | ki=1000; |
| cmorab | 0:3e5f40db8cb3 | 346 | } |
| cmorab | 0:3e5f40db8cb3 | 347 | lcd.locate(0,1); |
| cmorab | 0:3e5f40db8cb3 | 348 | lcd.printf("Ki %d",ki); |
| cmorab | 0:3e5f40db8cb3 | 349 | |
| cmorab | 0:3e5f40db8cb3 | 350 | wait(0.3); |
| cmorab | 0:3e5f40db8cb3 | 351 | if(button1){ |
| cmorab | 0:3e5f40db8cb3 | 352 | break; |
| cmorab | 0:3e5f40db8cb3 | 353 | } |
| cmorab | 0:3e5f40db8cb3 | 354 | while(cont>=20 and cont<=40){ |
| cmorab | 0:3e5f40db8cb3 | 355 | cont=cont+1; |
| cmorab | 0:3e5f40db8cb3 | 356 | ki=ki+10; |
| cmorab | 0:3e5f40db8cb3 | 357 | if (ki>1000){ // Ponemos un tope incremental en 10.000 |
| cmorab | 0:3e5f40db8cb3 | 358 | ki=1000; |
| cmorab | 0:3e5f40db8cb3 | 359 | } |
| cmorab | 0:3e5f40db8cb3 | 360 | lcd.locate(0,1); |
| cmorab | 0:3e5f40db8cb3 | 361 | lcd.printf("Ki %d",ki); |
| cmorab | 0:3e5f40db8cb3 | 362 | |
| cmorab | 0:3e5f40db8cb3 | 363 | wait(0.3); |
| cmorab | 0:3e5f40db8cb3 | 364 | if(button1){ |
| cmorab | 0:3e5f40db8cb3 | 365 | break; |
| cmorab | 0:3e5f40db8cb3 | 366 | } |
| cmorab | 0:3e5f40db8cb3 | 367 | |
| cmorab | 0:3e5f40db8cb3 | 368 | while(cont>40){ |
| cmorab | 0:3e5f40db8cb3 | 369 | cont = cont + 1; |
| cmorab | 0:3e5f40db8cb3 | 370 | ki=ki+100; |
| cmorab | 0:3e5f40db8cb3 | 371 | if (ki>1000){ // Ponemos un tope incremental en 10.000 |
| cmorab | 0:3e5f40db8cb3 | 372 | ki=1000; |
| cmorab | 0:3e5f40db8cb3 | 373 | } |
| cmorab | 0:3e5f40db8cb3 | 374 | lcd.locate(0,1); |
| cmorab | 0:3e5f40db8cb3 | 375 | lcd.printf("Ki %d",ki); |
| cmorab | 0:3e5f40db8cb3 | 376 | |
| cmorab | 0:3e5f40db8cb3 | 377 | wait(0.3); |
| cmorab | 0:3e5f40db8cb3 | 378 | if(button1){ |
| cmorab | 0:3e5f40db8cb3 | 379 | break; |
| cmorab | 0:3e5f40db8cb3 | 380 | } |
| cmorab | 0:3e5f40db8cb3 | 381 | } |
| cmorab | 0:3e5f40db8cb3 | 382 | } |
| cmorab | 0:3e5f40db8cb3 | 383 | } |
| cmorab | 0:3e5f40db8cb3 | 384 | } |
| cmorab | 0:3e5f40db8cb3 | 385 | } |
| cmorab | 0:3e5f40db8cb3 | 386 | // Aqui termina el incremental. |
| cmorab | 0:3e5f40db8cb3 | 387 | } |
| cmorab | 0:3e5f40db8cb3 | 388 | |
| cmorab | 0:3e5f40db8cb3 | 389 | |
| cmorab | 0:3e5f40db8cb3 | 390 | led2 =1; |
| cmorab | 0:3e5f40db8cb3 | 391 | if (button2.falling()) { |
| cmorab | 0:3e5f40db8cb3 | 392 | led2 =!led2; // Prendo el LED color rojo cada vez que pulso el boton 2 ya que pasa a valer 0 (encendido). |
| cmorab | 0:3e5f40db8cb3 | 393 | |
| cmorab | 0:3e5f40db8cb3 | 394 | //--sp; // Reduce el valor al pulsar el botón. |
| cmorab | 0:3e5f40db8cb3 | 395 | } |
| cmorab | 0:3e5f40db8cb3 | 396 | |
| cmorab | 0:3e5f40db8cb3 | 397 | |
| cmorab | 0:3e5f40db8cb3 | 398 | // Ahora comienza el decremental. |
| cmorab | 0:3e5f40db8cb3 | 399 | |
| cmorab | 0:3e5f40db8cb3 | 400 | if (!button2) { |
| cmorab | 0:3e5f40db8cb3 | 401 | cont=0; |
| cmorab | 0:3e5f40db8cb3 | 402 | wait(0.2); |
| cmorab | 0:3e5f40db8cb3 | 403 | |
| cmorab | 0:3e5f40db8cb3 | 404 | while(cont<20){ |
| cmorab | 0:3e5f40db8cb3 | 405 | cont = cont + 1; |
| cmorab | 0:3e5f40db8cb3 | 406 | ki=ki-1; |
| cmorab | 0:3e5f40db8cb3 | 407 | |
| cmorab | 0:3e5f40db8cb3 | 408 | if (ki<=0){ // No permitimos valores negativos, definimos valor mínimo en 0. |
| cmorab | 0:3e5f40db8cb3 | 409 | ki=0; |
| cmorab | 0:3e5f40db8cb3 | 410 | } |
| cmorab | 0:3e5f40db8cb3 | 411 | lcd.locate(3,1); |
| cmorab | 0:3e5f40db8cb3 | 412 | lcd.printf(" "); |
| cmorab | 0:3e5f40db8cb3 | 413 | lcd.locate(0,1); |
| cmorab | 0:3e5f40db8cb3 | 414 | lcd.printf("Ki %d",ki); |
| cmorab | 0:3e5f40db8cb3 | 415 | |
| cmorab | 0:3e5f40db8cb3 | 416 | wait(0.3); |
| cmorab | 0:3e5f40db8cb3 | 417 | if(button2){ |
| cmorab | 0:3e5f40db8cb3 | 418 | break; |
| cmorab | 0:3e5f40db8cb3 | 419 | } |
| cmorab | 0:3e5f40db8cb3 | 420 | |
| cmorab | 0:3e5f40db8cb3 | 421 | while(cont>=20 and cont<=40){ |
| cmorab | 0:3e5f40db8cb3 | 422 | cont=cont+1; |
| cmorab | 0:3e5f40db8cb3 | 423 | ki=ki-10; |
| cmorab | 0:3e5f40db8cb3 | 424 | if (sp<0){ // No permitimos valores negativos, definimos valor mínimo en 0. |
| cmorab | 0:3e5f40db8cb3 | 425 | ki=0; |
| cmorab | 0:3e5f40db8cb3 | 426 | } |
| cmorab | 0:3e5f40db8cb3 | 427 | |
| cmorab | 0:3e5f40db8cb3 | 428 | lcd.locate(3,1); |
| cmorab | 0:3e5f40db8cb3 | 429 | lcd.printf(" "); |
| cmorab | 0:3e5f40db8cb3 | 430 | lcd.locate(0,0); |
| cmorab | 0:3e5f40db8cb3 | 431 | lcd.printf("Ki %d ",ki); |
| cmorab | 0:3e5f40db8cb3 | 432 | |
| cmorab | 0:3e5f40db8cb3 | 433 | |
| cmorab | 0:3e5f40db8cb3 | 434 | wait(0.3); |
| cmorab | 0:3e5f40db8cb3 | 435 | if(button2){ |
| cmorab | 0:3e5f40db8cb3 | 436 | break; |
| cmorab | 0:3e5f40db8cb3 | 437 | } |
| cmorab | 0:3e5f40db8cb3 | 438 | |
| cmorab | 0:3e5f40db8cb3 | 439 | while(cont>40){ |
| cmorab | 0:3e5f40db8cb3 | 440 | cont = cont + 1; |
| cmorab | 0:3e5f40db8cb3 | 441 | ki=ki-100; |
| cmorab | 0:3e5f40db8cb3 | 442 | |
| cmorab | 0:3e5f40db8cb3 | 443 | if (ki<0){ // No permitimos valores negativos, definimos valor mínimo en 0. |
| cmorab | 0:3e5f40db8cb3 | 444 | ki=0; |
| cmorab | 0:3e5f40db8cb3 | 445 | } |
| cmorab | 0:3e5f40db8cb3 | 446 | |
| cmorab | 0:3e5f40db8cb3 | 447 | lcd.locate(3,1); |
| cmorab | 0:3e5f40db8cb3 | 448 | lcd.printf(" "); |
| cmorab | 0:3e5f40db8cb3 | 449 | lcd.locate(0,0); |
| cmorab | 0:3e5f40db8cb3 | 450 | lcd.printf("Ki %d ",ki); |
| cmorab | 0:3e5f40db8cb3 | 451 | |
| cmorab | 0:3e5f40db8cb3 | 452 | |
| cmorab | 0:3e5f40db8cb3 | 453 | wait(0.3); |
| cmorab | 0:3e5f40db8cb3 | 454 | if(button2){ |
| cmorab | 0:3e5f40db8cb3 | 455 | break; |
| cmorab | 0:3e5f40db8cb3 | 456 | } |
| cmorab | 0:3e5f40db8cb3 | 457 | } |
| cmorab | 0:3e5f40db8cb3 | 458 | } |
| cmorab | 0:3e5f40db8cb3 | 459 | } |
| cmorab | 0:3e5f40db8cb3 | 460 | } |
| cmorab | 0:3e5f40db8cb3 | 461 | |
| cmorab | 0:3e5f40db8cb3 | 462 | // Aqui termina el decremental. |
| cmorab | 0:3e5f40db8cb3 | 463 | |
| cmorab | 0:3e5f40db8cb3 | 464 | if (j==3){ |
| cmorab | 0:3e5f40db8cb3 | 465 | lcd.locate(11,1); |
| cmorab | 0:3e5f40db8cb3 | 466 | lcd.printf("%d",kd); |
| cmorab | 0:3e5f40db8cb3 | 467 | wait(0.3); |
| cmorab | 0:3e5f40db8cb3 | 468 | led1 =1; |
| cmorab | 0:3e5f40db8cb3 | 469 | if (button1.falling()){ |
| cmorab | 0:3e5f40db8cb3 | 470 | led1 =!led1; |
| cmorab | 0:3e5f40db8cb3 | 471 | |
| cmorab | 0:3e5f40db8cb3 | 472 | //++sp; // Incrementa valor al pulsar el botón --> Ahora no lo usamos acá ya que necesitamos incremental. |
| cmorab | 0:3e5f40db8cb3 | 473 | |
| cmorab | 0:3e5f40db8cb3 | 474 | |
| cmorab | 0:3e5f40db8cb3 | 475 | // Ahora comienza el incremental. |
| cmorab | 0:3e5f40db8cb3 | 476 | |
| cmorab | 0:3e5f40db8cb3 | 477 | if (!button1) { |
| cmorab | 0:3e5f40db8cb3 | 478 | cont=0; |
| cmorab | 0:3e5f40db8cb3 | 479 | wait(0.2); |
| cmorab | 0:3e5f40db8cb3 | 480 | |
| cmorab | 0:3e5f40db8cb3 | 481 | while(cont<20){ |
| cmorab | 0:3e5f40db8cb3 | 482 | cont = cont + 1; |
| cmorab | 0:3e5f40db8cb3 | 483 | kd=kd+1; |
| cmorab | 0:3e5f40db8cb3 | 484 | |
| cmorab | 0:3e5f40db8cb3 | 485 | if (kd>1000){ // Ponemos un tope incremental en 1.000 |
| cmorab | 0:3e5f40db8cb3 | 486 | kd=1000; |
| cmorab | 0:3e5f40db8cb3 | 487 | } |
| cmorab | 0:3e5f40db8cb3 | 488 | lcd.locate(8,1); |
| cmorab | 0:3e5f40db8cb3 | 489 | lcd.printf("Kd %d",kd); |
| cmorab | 0:3e5f40db8cb3 | 490 | |
| cmorab | 0:3e5f40db8cb3 | 491 | wait(0.3); |
| cmorab | 0:3e5f40db8cb3 | 492 | if(button1){ |
| cmorab | 0:3e5f40db8cb3 | 493 | break; |
| cmorab | 0:3e5f40db8cb3 | 494 | } |
| cmorab | 0:3e5f40db8cb3 | 495 | while(cont>=20 and cont<=40){ |
| cmorab | 0:3e5f40db8cb3 | 496 | cont=cont+1; |
| cmorab | 0:3e5f40db8cb3 | 497 | kd=kd+10; |
| cmorab | 0:3e5f40db8cb3 | 498 | if (kd>1000){ // Ponemos un tope incremental en 100 |
| cmorab | 0:3e5f40db8cb3 | 499 | kd=1000; |
| cmorab | 0:3e5f40db8cb3 | 500 | } |
| cmorab | 0:3e5f40db8cb3 | 501 | lcd.locate(8,1); |
| cmorab | 0:3e5f40db8cb3 | 502 | lcd.printf("Kd %d",kd); |
| cmorab | 0:3e5f40db8cb3 | 503 | |
| cmorab | 0:3e5f40db8cb3 | 504 | wait(0.3); |
| cmorab | 0:3e5f40db8cb3 | 505 | if(button1){ |
| cmorab | 0:3e5f40db8cb3 | 506 | break; |
| cmorab | 0:3e5f40db8cb3 | 507 | } |
| cmorab | 0:3e5f40db8cb3 | 508 | |
| cmorab | 0:3e5f40db8cb3 | 509 | while(cont>40){ |
| cmorab | 0:3e5f40db8cb3 | 510 | cont = cont + 1; |
| cmorab | 0:3e5f40db8cb3 | 511 | kd=kd+100; |
| cmorab | 0:3e5f40db8cb3 | 512 | if (kd>1000){ // Ponemos un tope incremental en 1000 |
| cmorab | 0:3e5f40db8cb3 | 513 | kd=1000; |
| cmorab | 0:3e5f40db8cb3 | 514 | } |
| cmorab | 0:3e5f40db8cb3 | 515 | lcd.locate(8,1); |
| cmorab | 0:3e5f40db8cb3 | 516 | lcd.printf("Kd %d",kd); |
| cmorab | 0:3e5f40db8cb3 | 517 | |
| cmorab | 0:3e5f40db8cb3 | 518 | wait(0.3); |
| cmorab | 0:3e5f40db8cb3 | 519 | if(button1){ |
| cmorab | 0:3e5f40db8cb3 | 520 | break; |
| cmorab | 0:3e5f40db8cb3 | 521 | } |
| cmorab | 0:3e5f40db8cb3 | 522 | } |
| cmorab | 0:3e5f40db8cb3 | 523 | } |
| cmorab | 0:3e5f40db8cb3 | 524 | } |
| cmorab | 0:3e5f40db8cb3 | 525 | } |
| cmorab | 0:3e5f40db8cb3 | 526 | } |
| cmorab | 0:3e5f40db8cb3 | 527 | // Aqui termina el incremental. |
| cmorab | 0:3e5f40db8cb3 | 528 | } |
| cmorab | 0:3e5f40db8cb3 | 529 | |
| cmorab | 0:3e5f40db8cb3 | 530 | |
| cmorab | 0:3e5f40db8cb3 | 531 | led2 =1; |
| cmorab | 0:3e5f40db8cb3 | 532 | if (button2.falling()) { |
| cmorab | 0:3e5f40db8cb3 | 533 | led2 =!led2; // Prendo el LED color rojo cada vez que pulso el boton 2 ya que pasa a valer 0 (encendido). |
| cmorab | 0:3e5f40db8cb3 | 534 | |
| cmorab | 0:3e5f40db8cb3 | 535 | //--sp; // Reduce el valor al pulsar el botón. |
| cmorab | 0:3e5f40db8cb3 | 536 | } |
| cmorab | 0:3e5f40db8cb3 | 537 | |
| cmorab | 0:3e5f40db8cb3 | 538 | |
| cmorab | 0:3e5f40db8cb3 | 539 | // Ahora comienza el decremental. |
| cmorab | 0:3e5f40db8cb3 | 540 | |
| cmorab | 0:3e5f40db8cb3 | 541 | if (!button2) { |
| cmorab | 0:3e5f40db8cb3 | 542 | cont=0; |
| cmorab | 0:3e5f40db8cb3 | 543 | wait(0.2); |
| cmorab | 0:3e5f40db8cb3 | 544 | |
| cmorab | 0:3e5f40db8cb3 | 545 | while(cont<20){ |
| cmorab | 0:3e5f40db8cb3 | 546 | cont = cont + 1; |
| cmorab | 0:3e5f40db8cb3 | 547 | kd=kd-1; |
| cmorab | 0:3e5f40db8cb3 | 548 | |
| cmorab | 0:3e5f40db8cb3 | 549 | if (kd<=0){ // No permitimos valores negativos, definimos valor mínimo en 0. |
| cmorab | 0:3e5f40db8cb3 | 550 | kd=0; |
| cmorab | 0:3e5f40db8cb3 | 551 | } |
| cmorab | 0:3e5f40db8cb3 | 552 | lcd.locate(11,1); |
| cmorab | 0:3e5f40db8cb3 | 553 | lcd.printf(" "); |
| cmorab | 0:3e5f40db8cb3 | 554 | lcd.locate(8,1); |
| cmorab | 0:3e5f40db8cb3 | 555 | lcd.printf("Kd %d",kd); |
| cmorab | 0:3e5f40db8cb3 | 556 | |
| cmorab | 0:3e5f40db8cb3 | 557 | wait(0.3); |
| cmorab | 0:3e5f40db8cb3 | 558 | if(button2){ |
| cmorab | 0:3e5f40db8cb3 | 559 | break; |
| cmorab | 0:3e5f40db8cb3 | 560 | } |
| cmorab | 0:3e5f40db8cb3 | 561 | |
| cmorab | 0:3e5f40db8cb3 | 562 | while(cont>=20 and cont<=40){ |
| cmorab | 0:3e5f40db8cb3 | 563 | cont=cont+1; |
| cmorab | 0:3e5f40db8cb3 | 564 | kd=kd-10; |
| cmorab | 0:3e5f40db8cb3 | 565 | if (kd<0){ // No permitimos valores negativos, definimos valor mínimo en 0. |
| cmorab | 0:3e5f40db8cb3 | 566 | kd=0; |
| cmorab | 0:3e5f40db8cb3 | 567 | } |
| cmorab | 0:3e5f40db8cb3 | 568 | |
| cmorab | 0:3e5f40db8cb3 | 569 | lcd.locate(11,1); |
| cmorab | 0:3e5f40db8cb3 | 570 | lcd.printf(" "); |
| cmorab | 0:3e5f40db8cb3 | 571 | lcd.locate(8,1); |
| cmorab | 0:3e5f40db8cb3 | 572 | lcd.printf("Kd %d ",kd); |
| cmorab | 0:3e5f40db8cb3 | 573 | |
| cmorab | 0:3e5f40db8cb3 | 574 | |
| cmorab | 0:3e5f40db8cb3 | 575 | wait(0.3); |
| cmorab | 0:3e5f40db8cb3 | 576 | if(button2){ |
| cmorab | 0:3e5f40db8cb3 | 577 | break; |
| cmorab | 0:3e5f40db8cb3 | 578 | } |
| cmorab | 0:3e5f40db8cb3 | 579 | |
| cmorab | 0:3e5f40db8cb3 | 580 | while(cont>40){ |
| cmorab | 0:3e5f40db8cb3 | 581 | cont = cont + 1; |
| cmorab | 0:3e5f40db8cb3 | 582 | kd=kd-100; |
| cmorab | 0:3e5f40db8cb3 | 583 | |
| cmorab | 0:3e5f40db8cb3 | 584 | if (kd<0){ // No permitimos valores negativos, definimos valor mínimo en 0. |
| cmorab | 0:3e5f40db8cb3 | 585 | kd=0; |
| cmorab | 0:3e5f40db8cb3 | 586 | } |
| cmorab | 0:3e5f40db8cb3 | 587 | |
| cmorab | 0:3e5f40db8cb3 | 588 | lcd.locate(11,1); |
| cmorab | 0:3e5f40db8cb3 | 589 | lcd.printf(" "); |
| cmorab | 0:3e5f40db8cb3 | 590 | lcd.locate(8,1); |
| cmorab | 0:3e5f40db8cb3 | 591 | lcd.printf("Kd %d ",kd); |
| cmorab | 0:3e5f40db8cb3 | 592 | |
| cmorab | 0:3e5f40db8cb3 | 593 | |
| cmorab | 0:3e5f40db8cb3 | 594 | wait(0.3); |
| cmorab | 0:3e5f40db8cb3 | 595 | if(button2){ |
| cmorab | 0:3e5f40db8cb3 | 596 | break; |
| cmorab | 0:3e5f40db8cb3 | 597 | } |
| cmorab | 0:3e5f40db8cb3 | 598 | } |
| cmorab | 0:3e5f40db8cb3 | 599 | } |
| cmorab | 0:3e5f40db8cb3 | 600 | } |
| cmorab | 0:3e5f40db8cb3 | 601 | } |
| cmorab | 0:3e5f40db8cb3 | 602 | |
| cmorab | 0:3e5f40db8cb3 | 603 | // Aqui termina el decremental. |
| cmorab | 0:3e5f40db8cb3 | 604 | |
| cmorab | 0:3e5f40db8cb3 | 605 | if (button4.falling()){ |
| cmorab | 0:3e5f40db8cb3 | 606 | break; //sale del bucle si pisan suiche4 |
| cmorab | 0:3e5f40db8cb3 | 607 | } |
| cmorab | 0:3e5f40db8cb3 | 608 | } |
| cmorab | 0:3e5f40db8cb3 | 609 | |
| cmorab | 0:3e5f40db8cb3 | 610 | //********************************************************************************** |
| cmorab | 0:3e5f40db8cb3 | 611 | //******************************************************************************************************* |
| cmorab | 0:3e5f40db8cb3 | 612 | |
| cmorab | 0:3e5f40db8cb3 | 613 | |
| cmorab | 0:3e5f40db8cb3 | 614 | |
| cmorab | 0:3e5f40db8cb3 | 615 | lcd.writeCommand(C4);//escribimos un comando segun el manual del modulo LCD para quitar cursor bajo |
| cmorab | 0:3e5f40db8cb3 | 616 | lcd.cls(); //borra la pantalla |
| cmorab | 0:3e5f40db8cb3 | 617 | lcd.printf(" GUARDADOS!"); |
| cmorab | 0:3e5f40db8cb3 | 618 | wait(2); |
| cmorab | 0:3e5f40db8cb3 | 619 | lcd.cls(); |
| cmorab | 0:3e5f40db8cb3 | 620 | lcd.printf(" INICIA EL PID"); |
| cmorab | 0:3e5f40db8cb3 | 621 | wait(2); |
| cmorab | 0:3e5f40db8cb3 | 622 | // se imprimen los parches del control ***************************************** |
| cmorab | 0:3e5f40db8cb3 | 623 | lcd.cls(); |
| cmorab | 0:3e5f40db8cb3 | 624 | lcd.printf("Error%d",err); |
| cmorab | 0:3e5f40db8cb3 | 625 | lcd.locate(8,0); |
| cmorab | 0:3e5f40db8cb3 | 626 | lcd.printf("Medida%d",med); |
| cmorab | 0:3e5f40db8cb3 | 627 | lcd.locate(0,1); |
| cmorab | 0:3e5f40db8cb3 | 628 | lcd.printf("Sp%d",sp); |
| cmorab | 0:3e5f40db8cb3 | 629 | lcd.locate(8,1); |
| cmorab | 0:3e5f40db8cb3 | 630 | lcd.printf("Co%d",pid); |
| cmorab | 0:3e5f40db8cb3 | 631 | wait(5); |
| cmorab | 0:3e5f40db8cb3 | 632 | |
| cmorab | 0:3e5f40db8cb3 | 633 | // CICLO PRINCIPAL CONTROLADOR PID |
| cmorab | 0:3e5f40db8cb3 | 634 | |
| cmorab | 0:3e5f40db8cb3 | 635 | while(1) { |
| cmorab | 0:3e5f40db8cb3 | 636 | med=Vin; |
| cmorab | 0:3e5f40db8cb3 | 637 | //leer puerto analogo y asignar a med |
| cmorab | 0:3e5f40db8cb3 | 638 | err = (sp-med); |
| cmorab | 0:3e5f40db8cb3 | 639 | ap = kp*err; |
| cmorab | 0:3e5f40db8cb3 | 640 | ai =(ki*err)+ai; //calculo de la integral del error |
| cmorab | 0:3e5f40db8cb3 | 641 | // se verifica que la accion integral no sea muy grande |
| cmorab | 0:3e5f40db8cb3 | 642 | ad = kd*(err-err_v); //calculo de la accion derivativa |
| cmorab | 0:3e5f40db8cb3 | 643 | pid = (ap+ai+ad); |
| cmorab | 0:3e5f40db8cb3 | 644 | //****se muestran las variables****************************************** |
| cmorab | 0:3e5f40db8cb3 | 645 | if (pid > 999){ |
| cmorab | 0:3e5f40db8cb3 | 646 | pid=1000; |
| cmorab | 0:3e5f40db8cb3 | 647 | } |
| cmorab | 0:3e5f40db8cb3 | 648 | |
| cmorab | 0:3e5f40db8cb3 | 649 | wait(.5); |
| cmorab | 0:3e5f40db8cb3 | 650 | lcd.locate(5,0); |
| cmorab | 0:3e5f40db8cb3 | 651 | lcd.printf("%d",err); |
| cmorab | 0:3e5f40db8cb3 | 652 | lcd.locate(14,0); |
| cmorab | 0:3e5f40db8cb3 | 653 | lcd.printf("%d",med); |
| cmorab | 0:3e5f40db8cb3 | 654 | lcd.locate(2,1); |
| cmorab | 0:3e5f40db8cb3 | 655 | lcd.printf("%d",sp); |
| cmorab | 0:3e5f40db8cb3 | 656 | lcd.locate(10,1); |
| cmorab | 0:3e5f40db8cb3 | 657 | lcd.printf("%d",pid); |
| cmorab | 0:3e5f40db8cb3 | 658 | |
| cmorab | 0:3e5f40db8cb3 | 659 | |
| cmorab | 0:3e5f40db8cb3 | 660 | |
| cmorab | 0:3e5f40db8cb3 | 661 | // se actualizan las variables ******************************************* |
| cmorab | 0:3e5f40db8cb3 | 662 | err_v = err; |
| cmorab | 0:3e5f40db8cb3 | 663 | // se verifica que pid sea positivo ************************************** |
| cmorab | 0:3e5f40db8cb3 | 664 | |
| cmorab | 0:3e5f40db8cb3 | 665 | // se verifica que pid sea menor o igual la valor maximo ***************** |
| cmorab | 0:3e5f40db8cb3 | 666 | |
| cmorab | 0:3e5f40db8cb3 | 667 | |
| cmorab | 0:3e5f40db8cb3 | 668 | // se envia el valor pid a puerto analogico de salida (D/A) ************** |
| cmorab | 0:3e5f40db8cb3 | 669 | // se repite el ciclo |
| cmorab | 0:3e5f40db8cb3 | 670 | } |
| cmorab | 0:3e5f40db8cb3 | 671 | |
| cmorab | 0:3e5f40db8cb3 | 672 | |
| cmorab | 0:3e5f40db8cb3 | 673 | |
| cmorab | 0:3e5f40db8cb3 | 674 | } |
| cmorab | 0:3e5f40db8cb3 | 675 |