![](/media/cache/img/default_profile.jpg.50x50_q85.jpg)
PID DISCRETO
Dependencies: mbed QEI TextLCD DebouncedIn
Diff: main.cpp
- Revision:
- 0:694446246c35
- Child:
- 1:f0fa90a6fb6e
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp Mon Sep 28 22:43:43 2015 +0000 @@ -0,0 +1,373 @@ +// Hello World! for the TextLCD + +#include "mbed.h" +#include "stdio.h" +#include "TextLCD.h" +#include "DebouncedIn.h" + +//Declaracion de entradas y salidas +DebouncedIn Boton1(PTE20); //Selector +DebouncedIn Boton2(PTE21); //Aumento +DebouncedIn Boton3(PTE22); //Disminuye +DebouncedIn Boton4(PTE23); //Confirma + +PwmOut control(PTE29); +AnalogIn vcond(PTB0); + +TextLCD lcd(PTB8,PTB9,PTB10,PTB11,PTE2,PTE3); // rs, e, d4-d7 + +//codigos movimiento del cursor LCD +int C2=0x18; // desplaza izquierda +int C3=0x1A; // desplaza derecha +int C4=0x0C; // quito cursor bajo +int C1=0x0F; // solo muestra el cursor + +int Kp=0,Ki=0,Kd=0,Sp=0,p,i; +float rT,eT,iT,dT,yT,uT,iT0=0,eT0=0,iT_1=0,eT_1=0; +Timer tu; +Timer td; + +int main() { + + lcd.cls(); + //escribimos un comando segun el manual del modulo LCD + lcd.locate(1,0); + lcd.printf("Kp=%d",Kp); + lcd.locate(9,0); + lcd.printf("Ki%d=",Ki); + lcd.locate(1,1); + lcd.printf("Kd=%d",Kd); + lcd.locate(9,1); + lcd.printf("Sp=%d",Sp); + + + set_Kp: + lcd.cls(); + lcd.locate(0,0); + lcd.printf(">Kp= "); + + lcd.locate(9,0); + lcd.printf("Ki=%d",Ki); + lcd.locate(1,1); + lcd.printf("Kd=%d",Kd); + lcd.locate(9,1); + lcd.printf("Sp=%d",Sp); + + + //Kp=0; + while(1){ + + if(Boton2.falling()){ + Kp++; + tu.start(); + } + //AUMENTO*10 ************** + if(Boton2.rising()){ + tu.stop(); + tu.reset(); + } + if(tu.read()>=2.0 && tu.read()<4.0){ + Kp=Kp+10; + wait(0.3); + } + else if(tu.read()>=4.0){ + Kp=Kp+100; + wait(0.3); + } + //************************* + if(Boton3.falling()){ + Kp--; + td.start(); + } + //DISMINUYE*10 ************** + if(Boton3.rising()){ + td.stop(); + td.reset(); + } + if(td.read()>=2.0 && td.read()<4.0){ + Kp=Kp-10; + wait(0.3); + } + else if(td.read()>=4.0){ + Kp=Kp-100; + wait(0.3); + } + //************************* + + if(Kp>=999){ + Kp=999; + } + else if (Kp<=0){ + Kp=0; + } + + lcd.locate(0,0); + lcd.printf(">Kp=%d ",Kp); + + if(Boton1.falling()){ + goto set_Ki; + } + + if(Boton4.falling()){ + goto PID; + } + + } + + set_Ki: + + lcd.cls(); + lcd.locate(8,0); + lcd.printf(">Ki= "); + + lcd.locate(1,0); + lcd.printf("Kp=%d",Kp); + lcd.locate(1,1); + lcd.printf("Kd=%d",Kd); + lcd.locate(9,1); + lcd.printf("Sp=%d",Sp); + + //Ki=0; + while(1){ + + if(Boton2.falling()){ + Ki++; + tu.start(); + } + //AUMENTO*10 ************** + if(Boton2.rising()){ + tu.stop(); + tu.reset(); + } + if(tu.read()>=2.0 && tu.read()<4.0){ + Ki=Ki+10; + wait(0.3); + } + else if(tu.read()>=4.0){ + Ki=Ki+100; + wait(0.3); + } + //************************* + if(Boton3.falling()){ + Ki--; + td.start(); + } + //DISMINUYE*10 ************** + if(Boton3.rising()){ + td.stop(); + td.reset(); + } + if(td.read()>=2.0 && td.read()<4.0){ + Ki=Ki-10; + wait(0.3); + } + else if(td.read()>=4.0){ + Ki=Ki-100; + wait(0.3); + } + //************************* + + if(Ki>=999){ + Ki=999; + } + else if (Ki<=0){ + Ki=0; + } + + lcd.locate(8,0); + lcd.printf(">Ki=%d ",Ki); + + if(Boton1.falling()){ + goto set_Kd; + } + + if(Boton4.falling()){ + goto PID; + } + + } + + set_Kd: + + lcd.cls(); + lcd.locate(0,1); + lcd.printf(">Kd= "); + + lcd.locate(1,0); + lcd.printf("Kp=%d",Kp); + lcd.locate(9,0); + lcd.printf("Ki=%d",Ki); + lcd.locate(9,1); + lcd.printf("Sp=%d",Sp); + + + //Kd=0; + while(1){ + + if(Boton2.falling()){ + Kd++; + tu.start(); + } + //AUMENTO*10 ************** + if(Boton2.rising()){ + tu.stop(); + tu.reset(); + } + if(tu.read()>=2.0 && tu.read()<4.0){ + Kd=Kd+10; + wait(0.3); + } + else if(tu.read()>=4.0){ + Kd=Kd+100; + wait(0.3); + } + //************************* + if(Boton3.falling()){ + Kd--; + td.start(); + } + //DISMINUYE*10 ************** + if(Boton3.rising()){ + td.stop(); + td.reset(); + } + if(td.read()>=2.0 && td.read()<4.0){ + Kd=Kd-10; + wait(0.3); + } + else if(td.read()>=4.0){ + Kd=Kd-100; + wait(0.3); + } + //************************* + + if(Kd>=999){ + Kd=999; + } + else if (Kd<=0){ + Kd=0; + } + + lcd.locate(0,1); + lcd.printf(">Kd=%d ",Kd); + + if(Boton1.falling()){ + goto set_Sp; + } + + if(Boton4.falling()){ + goto PID; + } + + } + + set_Sp: + + lcd.cls(); + lcd.locate(8,1); + lcd.printf(">Sp= "); + + lcd.locate(1,0); + lcd.printf("Kp=%d",Kp); + lcd.locate(9,0); + lcd.printf("Ki=%d",Ki); + lcd.locate(1,1); + lcd.printf("Kd=%d",Kd); + + //Sp=0; + while(1){ + + if(Boton2.falling()){ + Sp++; + tu.start(); + } + //AUMENTO*10 ************** + if(Boton2.rising()){ + tu.stop(); + tu.reset(); + } + if(tu.read()>=2.0 && tu.read()<4.0){ + Sp=Sp+10; + wait(0.3); + } + else if(tu.read()>=4.0){ + Sp=Sp+100; + wait(0.3); + } + //************************* + if(Boton3.falling()){ + Sp--; + td.start(); + } + //DISMINUYE*10 ************** + if(Boton3.rising()){ + td.stop(); + td.reset(); + } + if(td.read()>=2.0 && td.read()<4.0){ + Sp=Sp-10; + wait(0.3); + } + else if(td.read()>=4.0){ + Sp=Sp-100; + wait(0.3); + } + //************************* + + if(Sp>=999){ + Sp=999; + } + else if (Sp<=0){ + Sp=0; + } + + lcd.locate(8,1); + lcd.printf(">Sp=%d ",Sp); + + if(Boton1.falling()){ + goto set_Kp; + } + + if(Boton4.falling()){ + goto PID; + } + + } + + PID: + lcd.cls(); + + //Sp=2; + //Kp=(float)12.105; + //Ki=(float)5.32; + //Kd=(float)2; + while(1){ + + yT=vcond.read()*3.3; + eT=Sp-yT; + iT=Ki*eT+iT0; //Accion Integral + dT=Kd*(eT-eT0); //Accion Derivativa + uT=iT+Kp*eT+dT; + if (uT>3.3) { //Salida PID si es mayor que el MAX + uT=3.3;} + else if (uT<0){ //Salida PID si es menor que el MIN + uT=0; + } + iT0=iT; //Guardar variables + eT0=eT; + control=(float)uT/3.3; + + lcd.locate(0,0); + lcd.printf("Error=%.2f ",eT); + lcd.locate(0,1); + lcd.printf("Y_act=%.2f",yT); + wait(0.2); + } + //lcd.locate(3,0); + //lcd.writeCommand(C1); + + + +} + + \ No newline at end of file