Revision 0:f5dbc5db9794, committed 2019-12-07

Comitter:

contechno

Date:

Sat Dec 07 20:37:53 2019 +0000

Commit message:

Tarea3_Evaluacion_Bonus

Changed in this revision

diff -r 000000000000 -r f5dbc5db9794 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sat Dec 07 20:37:53 2019 +0000
@@ -0,0 +1,127 @@
+#include "mbed.h"
+#include "string.h" 
+
+#define REFERENCEVOLTAGE 3.3    // Max Output voltage from DAC
+
+AnalogIn y(PTB3); // Analog Input
+AnalogOut u(PTE30); // Analog Output
+Serial HC06(PTE0,PTE1);
+PwmOut led1(LED_RED);
+
+int Kp, Ki, Kd, Sp;
+float pid,o,ai,ad,ap,med,err;
+float err_v;
+char buffer[6];
+
+/* Funciones */
+void cleanBuffer(char *buffer, int count) { 
+    for(int i=0; i < count; i++) {
+        buffer[i] = '\0';
+    }
+}
+
+void PID(int Sp, int Kp, int Ki, int Kd) { 
+    
+    med = y.read()*999; // med = Ist-Wert (medido)
+    err = (Sp-med); // err = Soll-Wert (Sp) - Ist-Wert (med) = Fehler/Reglerabweichung
+    ap = Kp * err * 0.01f;  // Proportional
+    ai = (Ki * err * 0.01f) + ai;   // Integral (aktueller Fehler wird immer weiter aufsummiert)
+    ad = Kd * (err - err_v) * 0.01f; // Differential (groesse der Fehlerabweichung (= Geschwindigkeit der Aenderung)
+    pid = (ap + ai + ad);
+    
+    if(pid <= 0) {
+        pid = 0;
+    }
+    if(pid > 999) {
+        pid = 999;
+    }  
+    
+    // Normalize PID-Output
+    err_v = err;
+    o = pid / 999;
+    u.write(o); // Write PID-value to Analog Output
+    
+    if(err > -2 && err < 2) {
+        led1 = 0.9;
+    }
+    else {
+        led1 = 1;
+    }
+    
+    HC06.printf("SetPoint: %d \r\n",Sp);
+    HC06.printf("Entrada: %0.2f \r\n",med);
+    HC06.printf("Error: %0.2f \r\n",err);
+    HC06.printf("Salida: %0.2f \r\n",pid);
+    HC06.printf("DAC-Output: %0.2f V \r\n",o);
+    HC06.printf("Voltaje: %0.2f V \r\n",o*REFERENCEVOLTAGE); // Resulting voltage (0V ... 3.3V)
+    HC06.printf("\r\n");
+    
+    wait_ms(500);
+}
+
+
+
+int main() {
+    
+    led1 = 1;
+    HC06.baud(9600);
+    
+    int readptr = 0;
+    char c;
+    
+    
+    HC06.printf("\r\nEnter SetPoint value (Sp): ");
+    while( (c = HC06.getc()) != '\n') { // Get characters and write them to buffer[]-Chararray
+        buffer[readptr++] = c; 
+    }
+    Sp = atoi(buffer); // Convert string (= Char[]-Array) to integer
+    readptr = 0; // Reset String-Characterindex
+    cleanBuffer(buffer,6); // Set all string-characters to \0 that no false chars remain for next use of buffer
+    
+    
+    HC06.printf("\r\nEnter Proportional-Factor value (Kp): ");
+    while( (c = HC06.getc()) != '\n') {
+        buffer[readptr++] = c; 
+    }
+    Kp = atoi(buffer);
+    readptr = 0;
+    cleanBuffer(buffer,6);
+    
+    
+    HC06.printf("\r\nEnter Integral-Factor value (Ki): ");
+    while( (c = HC06.getc()) != '\n') {
+        buffer[readptr++] = c; 
+    }
+    Ki = atoi(buffer);
+    readptr = 0;
+    cleanBuffer(buffer,6);
+    
+    
+    HC06.printf("\r\nEnter Differential-Factor value (Kd): ");
+    while( (c = HC06.getc()) != '\n') {
+        buffer[readptr++] = c; 
+    }
+    Kd = atoi(buffer);
+    readptr = 0;
+    cleanBuffer(buffer,6);
+    
+    HC06.printf("\r\nStarting PID-controlling to Sp = %d with Kp = %d / Ki = %d / Kd = %d\r\n", Sp, Kp, Ki, Kd);
+    
+    while(1){
+        if (HC06.readable()) { // Wait for any key sent to get new Sp value
+            HC06.getc(); // Erase first key from buffer (dummy signal-key typed to indicate the following new Sp-input)
+            
+            HC06.printf("\r\n\r\n\r\nEnter a new SetPoint value (Sp): ");
+            while( (c = HC06.getc()) != '\n') {
+                buffer[readptr++] = c;
+            }
+            Sp = atoi(buffer);
+            readptr = 0;
+            cleanBuffer(buffer,6);
+            
+            HC06.printf("\r\nSuccessfully changed Setpoint-Value to Sp = %d (= %0.2f V)\r\n\r\n", Sp, (Sp*REFERENCEVOLTAGE/999));
+        }
+        
+        PID(Sp, Kp, Ki, Kd);
+    }
+}
\ No newline at end of file

diff -r 000000000000 -r f5dbc5db9794 mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Sat Dec 07 20:37:53 2019 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400
\ No newline at end of file