Software para realizar control PID en tarjeta Freescale KL25Z con ENCODER y Display 16x2
Dependencies: DebouncedIna QEI TextLCD1 mbed
main.cpp@0:10fa9fae4bf9, 2013-11-20 (annotated)
- Committer:
- cmorab
- Date:
- Wed Nov 20 17:33:21 2013 +0000
- Revision:
- 0:10fa9fae4bf9
Software para realizar control PID en tarjeta Freescale KL25Z con ENCODER y Display 16x2;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
cmorab | 0:10fa9fae4bf9 | 1 | //Software para realizar control PID en tarjeta Freescale KL25Z con ENCODER y Display 16x2 |
cmorab | 0:10fa9fae4bf9 | 2 | |
cmorab | 0:10fa9fae4bf9 | 3 | #include "mbed.h" |
cmorab | 0:10fa9fae4bf9 | 4 | #include "DebouncedIn.h" |
cmorab | 0:10fa9fae4bf9 | 5 | #include "TextLCD.h" |
cmorab | 0:10fa9fae4bf9 | 6 | #include "QEI.h" |
cmorab | 0:10fa9fae4bf9 | 7 | |
cmorab | 0:10fa9fae4bf9 | 8 | AnalogIn Vin(PTC2); |
cmorab | 0:10fa9fae4bf9 | 9 | // AnalogOut Vout(PTE30); |
cmorab | 0:10fa9fae4bf9 | 10 | |
cmorab | 0:10fa9fae4bf9 | 11 | AnalogIn y(PTB0); // Revizar su funcion |
cmorab | 0:10fa9fae4bf9 | 12 | AnalogOut u(PTE30); // Revizar su funcion |
cmorab | 0:10fa9fae4bf9 | 13 | |
cmorab | 0:10fa9fae4bf9 | 14 | |
cmorab | 0:10fa9fae4bf9 | 15 | TextLCD lcd(PTB10, PTB11, PTE2, PTE3, PTE4, PTE5); // rs, e, d4-d7 |
cmorab | 0:10fa9fae4bf9 | 16 | QEI wheel (PTA1, PTA2, NC, 100); |
cmorab | 0:10fa9fae4bf9 | 17 | |
cmorab | 0:10fa9fae4bf9 | 18 | DigitalOut led1(LED1); |
cmorab | 0:10fa9fae4bf9 | 19 | DigitalOut led2(LED2); |
cmorab | 0:10fa9fae4bf9 | 20 | DigitalOut led3(LED3); |
cmorab | 0:10fa9fae4bf9 | 21 | DebouncedIn button1(PTC12); |
cmorab | 0:10fa9fae4bf9 | 22 | DebouncedIn button2(PTC13); |
cmorab | 0:10fa9fae4bf9 | 23 | DebouncedIn button3(PTD4); |
cmorab | 0:10fa9fae4bf9 | 24 | DebouncedIn button4(PTA12); |
cmorab | 0:10fa9fae4bf9 | 25 | |
cmorab | 0:10fa9fae4bf9 | 26 | //int C1=0x0E; // solo muestra el curzor |
cmorab | 0:10fa9fae4bf9 | 27 | int C1=0x0F; // PORQUE???? |
cmorab | 0:10fa9fae4bf9 | 28 | int C2=0x18; // desplaza izquierda |
cmorab | 0:10fa9fae4bf9 | 29 | int C3=0x1A; // desplaza derecha |
cmorab | 0:10fa9fae4bf9 | 30 | int C4=0x0C; // quito cursor bajo |
cmorab | 0:10fa9fae4bf9 | 31 | |
cmorab | 0:10fa9fae4bf9 | 32 | int i; // Indice de la variable |
cmorab | 0:10fa9fae4bf9 | 33 | int j; // Variable controla cambio 4 posiciones |
cmorab | 0:10fa9fae4bf9 | 34 | int kp, ki, kd, sp, err, med, err_v, ap, ai, ad, pid; |
cmorab | 0:10fa9fae4bf9 | 35 | int cont, sal, yr , cycle; |
cmorab | 0:10fa9fae4bf9 | 36 | |
cmorab | 0:10fa9fae4bf9 | 37 | float pidn; |
cmorab | 0:10fa9fae4bf9 | 38 | |
cmorab | 0:10fa9fae4bf9 | 39 | int main() { |
cmorab | 0:10fa9fae4bf9 | 40 | lcd.cls(); |
cmorab | 0:10fa9fae4bf9 | 41 | lcd.writeCommand(C1); |
cmorab | 0:10fa9fae4bf9 | 42 | lcd.locate(0,0); |
cmorab | 0:10fa9fae4bf9 | 43 | lcd.printf("Sp%d",sp); |
cmorab | 0:10fa9fae4bf9 | 44 | lcd.locate(8,0); |
cmorab | 0:10fa9fae4bf9 | 45 | lcd.printf("Kp%d",kp); |
cmorab | 0:10fa9fae4bf9 | 46 | lcd.locate(0,1); |
cmorab | 0:10fa9fae4bf9 | 47 | lcd.printf("Ki%d",ki); |
cmorab | 0:10fa9fae4bf9 | 48 | lcd.locate(8,1); |
cmorab | 0:10fa9fae4bf9 | 49 | lcd.printf("Kd%d",kd); |
cmorab | 0:10fa9fae4bf9 | 50 | |
cmorab | 0:10fa9fae4bf9 | 51 | |
cmorab | 0:10fa9fae4bf9 | 52 | while(1) { |
cmorab | 0:10fa9fae4bf9 | 53 | |
cmorab | 0:10fa9fae4bf9 | 54 | led3 =1; |
cmorab | 0:10fa9fae4bf9 | 55 | if (button3.falling()){ //Posición Encoder Boton 3. |
cmorab | 0:10fa9fae4bf9 | 56 | led3 =!led3; |
cmorab | 0:10fa9fae4bf9 | 57 | ++j; |
cmorab | 0:10fa9fae4bf9 | 58 | } |
cmorab | 0:10fa9fae4bf9 | 59 | |
cmorab | 0:10fa9fae4bf9 | 60 | if (j==0){ |
cmorab | 0:10fa9fae4bf9 | 61 | sp=sp+wheel.getPulses(); |
cmorab | 0:10fa9fae4bf9 | 62 | wheel.reset(); |
cmorab | 0:10fa9fae4bf9 | 63 | if (sp>1000){ |
cmorab | 0:10fa9fae4bf9 | 64 | sp=1000; |
cmorab | 0:10fa9fae4bf9 | 65 | } |
cmorab | 0:10fa9fae4bf9 | 66 | if (sp<0){ |
cmorab | 0:10fa9fae4bf9 | 67 | sp=0; |
cmorab | 0:10fa9fae4bf9 | 68 | } |
cmorab | 0:10fa9fae4bf9 | 69 | lcd.locate(3,0); |
cmorab | 0:10fa9fae4bf9 | 70 | lcd.printf(" "); //En futuro probrar sin Sp. |
cmorab | 0:10fa9fae4bf9 | 71 | lcd.locate(3,0); |
cmorab | 0:10fa9fae4bf9 | 72 | lcd.printf("%d",sp); |
cmorab | 0:10fa9fae4bf9 | 73 | wait(0.2); |
cmorab | 0:10fa9fae4bf9 | 74 | |
cmorab | 0:10fa9fae4bf9 | 75 | if(button3.falling()){ |
cmorab | 0:10fa9fae4bf9 | 76 | j=1; |
cmorab | 0:10fa9fae4bf9 | 77 | led3=0; |
cmorab | 0:10fa9fae4bf9 | 78 | wait(0.3); |
cmorab | 0:10fa9fae4bf9 | 79 | wheel.reset(); |
cmorab | 0:10fa9fae4bf9 | 80 | } |
cmorab | 0:10fa9fae4bf9 | 81 | |
cmorab | 0:10fa9fae4bf9 | 82 | } |
cmorab | 0:10fa9fae4bf9 | 83 | |
cmorab | 0:10fa9fae4bf9 | 84 | if (j==1) { |
cmorab | 0:10fa9fae4bf9 | 85 | kp=kp+wheel.getPulses(); |
cmorab | 0:10fa9fae4bf9 | 86 | wheel.reset(); |
cmorab | 0:10fa9fae4bf9 | 87 | if (kp>1000){ |
cmorab | 0:10fa9fae4bf9 | 88 | kp=1000; |
cmorab | 0:10fa9fae4bf9 | 89 | } |
cmorab | 0:10fa9fae4bf9 | 90 | if (kp<0){ |
cmorab | 0:10fa9fae4bf9 | 91 | kp=0; |
cmorab | 0:10fa9fae4bf9 | 92 | } |
cmorab | 0:10fa9fae4bf9 | 93 | lcd.locate(11,0); |
cmorab | 0:10fa9fae4bf9 | 94 | lcd.printf(" "); |
cmorab | 0:10fa9fae4bf9 | 95 | lcd.locate(11,0); |
cmorab | 0:10fa9fae4bf9 | 96 | lcd.printf("%d",kp); |
cmorab | 0:10fa9fae4bf9 | 97 | wait(0.3); |
cmorab | 0:10fa9fae4bf9 | 98 | |
cmorab | 0:10fa9fae4bf9 | 99 | if(button3.falling()){ |
cmorab | 0:10fa9fae4bf9 | 100 | j=2; |
cmorab | 0:10fa9fae4bf9 | 101 | led3=0; |
cmorab | 0:10fa9fae4bf9 | 102 | wait(0.3); |
cmorab | 0:10fa9fae4bf9 | 103 | wheel.reset(); |
cmorab | 0:10fa9fae4bf9 | 104 | } |
cmorab | 0:10fa9fae4bf9 | 105 | } |
cmorab | 0:10fa9fae4bf9 | 106 | |
cmorab | 0:10fa9fae4bf9 | 107 | if (j==2) { |
cmorab | 0:10fa9fae4bf9 | 108 | ki=ki+wheel.getPulses(); |
cmorab | 0:10fa9fae4bf9 | 109 | wheel.reset(); |
cmorab | 0:10fa9fae4bf9 | 110 | if (ki>1000){ |
cmorab | 0:10fa9fae4bf9 | 111 | ki=1000; |
cmorab | 0:10fa9fae4bf9 | 112 | } |
cmorab | 0:10fa9fae4bf9 | 113 | if (ki<0){ |
cmorab | 0:10fa9fae4bf9 | 114 | ki=0; |
cmorab | 0:10fa9fae4bf9 | 115 | } |
cmorab | 0:10fa9fae4bf9 | 116 | lcd.locate(3,1); |
cmorab | 0:10fa9fae4bf9 | 117 | lcd.printf(" "); |
cmorab | 0:10fa9fae4bf9 | 118 | lcd.locate(3,1); |
cmorab | 0:10fa9fae4bf9 | 119 | lcd.printf("%d",ki); |
cmorab | 0:10fa9fae4bf9 | 120 | wait(0.3); |
cmorab | 0:10fa9fae4bf9 | 121 | |
cmorab | 0:10fa9fae4bf9 | 122 | if(button3.falling()){ |
cmorab | 0:10fa9fae4bf9 | 123 | j=3; |
cmorab | 0:10fa9fae4bf9 | 124 | led3=0; |
cmorab | 0:10fa9fae4bf9 | 125 | wait(0.3); |
cmorab | 0:10fa9fae4bf9 | 126 | wheel.reset(); |
cmorab | 0:10fa9fae4bf9 | 127 | } |
cmorab | 0:10fa9fae4bf9 | 128 | |
cmorab | 0:10fa9fae4bf9 | 129 | } |
cmorab | 0:10fa9fae4bf9 | 130 | |
cmorab | 0:10fa9fae4bf9 | 131 | if (j==3) { |
cmorab | 0:10fa9fae4bf9 | 132 | kd=kd+wheel.getPulses(); |
cmorab | 0:10fa9fae4bf9 | 133 | wheel.reset(); |
cmorab | 0:10fa9fae4bf9 | 134 | if (kd>1000){ |
cmorab | 0:10fa9fae4bf9 | 135 | kd=1000; |
cmorab | 0:10fa9fae4bf9 | 136 | } |
cmorab | 0:10fa9fae4bf9 | 137 | if (kd<0){ |
cmorab | 0:10fa9fae4bf9 | 138 | kd=0; |
cmorab | 0:10fa9fae4bf9 | 139 | } |
cmorab | 0:10fa9fae4bf9 | 140 | lcd.locate(11,1); |
cmorab | 0:10fa9fae4bf9 | 141 | lcd.printf(" "); |
cmorab | 0:10fa9fae4bf9 | 142 | lcd.locate(11,1); |
cmorab | 0:10fa9fae4bf9 | 143 | lcd.printf("%d",kd); |
cmorab | 0:10fa9fae4bf9 | 144 | wait(0.3); |
cmorab | 0:10fa9fae4bf9 | 145 | |
cmorab | 0:10fa9fae4bf9 | 146 | if(button3.falling()){ |
cmorab | 0:10fa9fae4bf9 | 147 | j=4; // CAMBIADO CERO POR 4. |
cmorab | 0:10fa9fae4bf9 | 148 | led3=0; |
cmorab | 0:10fa9fae4bf9 | 149 | wait(0.3); |
cmorab | 0:10fa9fae4bf9 | 150 | wheel.reset(); |
cmorab | 0:10fa9fae4bf9 | 151 | } |
cmorab | 0:10fa9fae4bf9 | 152 | |
cmorab | 0:10fa9fae4bf9 | 153 | } |
cmorab | 0:10fa9fae4bf9 | 154 | |
cmorab | 0:10fa9fae4bf9 | 155 | if (j==4) { |
cmorab | 0:10fa9fae4bf9 | 156 | j=0; |
cmorab | 0:10fa9fae4bf9 | 157 | } |
cmorab | 0:10fa9fae4bf9 | 158 | |
cmorab | 0:10fa9fae4bf9 | 159 | if (!button4){ |
cmorab | 0:10fa9fae4bf9 | 160 | break; //sale del bucle si pisan suiche4 |
cmorab | 0:10fa9fae4bf9 | 161 | } |
cmorab | 0:10fa9fae4bf9 | 162 | } //cierro while(1) |
cmorab | 0:10fa9fae4bf9 | 163 | |
cmorab | 0:10fa9fae4bf9 | 164 | |
cmorab | 0:10fa9fae4bf9 | 165 | /////////////////////////////////////////////////////////////////////////////////////////// |
cmorab | 0:10fa9fae4bf9 | 166 | |
cmorab | 0:10fa9fae4bf9 | 167 | |
cmorab | 0:10fa9fae4bf9 | 168 | lcd.writeCommand(C4);//escribimos un comando segun el manual del modulo LCD para quitar cursor bajo |
cmorab | 0:10fa9fae4bf9 | 169 | lcd.cls(); //borra la pantalla |
cmorab | 0:10fa9fae4bf9 | 170 | lcd.printf("Guardando '_'"); |
cmorab | 0:10fa9fae4bf9 | 171 | wait(2); |
cmorab | 0:10fa9fae4bf9 | 172 | |
cmorab | 0:10fa9fae4bf9 | 173 | // Se imprimen los parches del control. |
cmorab | 0:10fa9fae4bf9 | 174 | |
cmorab | 0:10fa9fae4bf9 | 175 | lcd.cls(); |
cmorab | 0:10fa9fae4bf9 | 176 | lcd.printf("Err %d",err); |
cmorab | 0:10fa9fae4bf9 | 177 | lcd.locate(8,0); |
cmorab | 0:10fa9fae4bf9 | 178 | lcd.printf("Med %d",med); |
cmorab | 0:10fa9fae4bf9 | 179 | lcd.locate(0,1); |
cmorab | 0:10fa9fae4bf9 | 180 | lcd.printf("Sp %d",sp); |
cmorab | 0:10fa9fae4bf9 | 181 | lcd.locate(8,1); |
cmorab | 0:10fa9fae4bf9 | 182 | lcd.printf("Co %d",pid); |
cmorab | 0:10fa9fae4bf9 | 183 | wait(1); |
cmorab | 0:10fa9fae4bf9 | 184 | |
cmorab | 0:10fa9fae4bf9 | 185 | |
cmorab | 0:10fa9fae4bf9 | 186 | // CICLO PRINCIPAL CONTROLADOR PID |
cmorab | 0:10fa9fae4bf9 | 187 | |
cmorab | 0:10fa9fae4bf9 | 188 | while(1) { |
cmorab | 0:10fa9fae4bf9 | 189 | med=999*y.read(); //leer puerto analogo y asignar a med |
cmorab | 0:10fa9fae4bf9 | 190 | err = (sp-med); |
cmorab | 0:10fa9fae4bf9 | 191 | ap = kp*err; |
cmorab | 0:10fa9fae4bf9 | 192 | |
cmorab | 0:10fa9fae4bf9 | 193 | // se verifica que la accion integral no sea muy grande |
cmorab | 0:10fa9fae4bf9 | 194 | if(ai<1000){ |
cmorab | 0:10fa9fae4bf9 | 195 | ai =(ki*err)+ai; //calculo de la integral del error |
cmorab | 0:10fa9fae4bf9 | 196 | } |
cmorab | 0:10fa9fae4bf9 | 197 | |
cmorab | 0:10fa9fae4bf9 | 198 | ad = kd*(err-err_v); //calculo de la accion derivativa |
cmorab | 0:10fa9fae4bf9 | 199 | pid = (ap+ai+ad); |
cmorab | 0:10fa9fae4bf9 | 200 | |
cmorab | 0:10fa9fae4bf9 | 201 | // PID siempre positivo. |
cmorab | 0:10fa9fae4bf9 | 202 | if(pid<=0){ |
cmorab | 0:10fa9fae4bf9 | 203 | pid=0; |
cmorab | 0:10fa9fae4bf9 | 204 | } |
cmorab | 0:10fa9fae4bf9 | 205 | // Limite máximo PID |
cmorab | 0:10fa9fae4bf9 | 206 | if (pid > 9000){ |
cmorab | 0:10fa9fae4bf9 | 207 | pid=9000; |
cmorab | 0:10fa9fae4bf9 | 208 | } |
cmorab | 0:10fa9fae4bf9 | 209 | //se muestran las variables****************************************** |
cmorab | 0:10fa9fae4bf9 | 210 | |
cmorab | 0:10fa9fae4bf9 | 211 | wait(0.3); |
cmorab | 0:10fa9fae4bf9 | 212 | |
cmorab | 0:10fa9fae4bf9 | 213 | lcd.locate(3,0); |
cmorab | 0:10fa9fae4bf9 | 214 | lcd.printf(" "); |
cmorab | 0:10fa9fae4bf9 | 215 | lcd.locate(3,0); |
cmorab | 0:10fa9fae4bf9 | 216 | lcd.printf("%d",err); |
cmorab | 0:10fa9fae4bf9 | 217 | |
cmorab | 0:10fa9fae4bf9 | 218 | lcd.locate(12,0); |
cmorab | 0:10fa9fae4bf9 | 219 | lcd.printf(" "); |
cmorab | 0:10fa9fae4bf9 | 220 | lcd.locate(12,0); |
cmorab | 0:10fa9fae4bf9 | 221 | lcd.printf("%d",med); |
cmorab | 0:10fa9fae4bf9 | 222 | |
cmorab | 0:10fa9fae4bf9 | 223 | lcd.locate(3,1); |
cmorab | 0:10fa9fae4bf9 | 224 | lcd.printf(" "); |
cmorab | 0:10fa9fae4bf9 | 225 | lcd.locate(3,1); |
cmorab | 0:10fa9fae4bf9 | 226 | lcd.printf("%d",sp); |
cmorab | 0:10fa9fae4bf9 | 227 | |
cmorab | 0:10fa9fae4bf9 | 228 | lcd.locate(12,1); |
cmorab | 0:10fa9fae4bf9 | 229 | lcd.printf(" "); |
cmorab | 0:10fa9fae4bf9 | 230 | lcd.locate(12,1); |
cmorab | 0:10fa9fae4bf9 | 231 | lcd.printf("%d",pid); |
cmorab | 0:10fa9fae4bf9 | 232 | |
cmorab | 0:10fa9fae4bf9 | 233 | |
cmorab | 0:10fa9fae4bf9 | 234 | //Normalizacion de la salida |
cmorab | 0:10fa9fae4bf9 | 235 | pidn=pid/999; |
cmorab | 0:10fa9fae4bf9 | 236 | // se envia el valor pid a puerto analogico de salida (D/A) ************** |
cmorab | 0:10fa9fae4bf9 | 237 | u.write(pidn); |
cmorab | 0:10fa9fae4bf9 | 238 | err_v = err; |
cmorab | 0:10fa9fae4bf9 | 239 | // se repite el ciclo |
cmorab | 0:10fa9fae4bf9 | 240 | } |
cmorab | 0:10fa9fae4bf9 | 241 | |
cmorab | 0:10fa9fae4bf9 | 242 | |
cmorab | 0:10fa9fae4bf9 | 243 | |
cmorab | 0:10fa9fae4bf9 | 244 | } |