demo san
Control PID de un circuito RC con parametros agregados mediante pulsadores y visualizado en LCD 16x2
Dependencies: DebouncedIn TextLCD mbed
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TAREA_3_PID
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demo san
Diff: main.cpp
- Revision:
- 0:694446246c35
- Child:
- 1:93e71ac5cf91
--- /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);
+
+
+
+}
+
+
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