demo san / Mbed 2 deprecated TAREA_3_PID

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Dependencies:   DebouncedIn TextLCD mbed

Fork of TAREA_3_PID by demo san

Files at this revision

API Documentation at this revision

Revision 1:93e71ac5cf91, committed 2017-11-08

Comitter:
demo71
Date:
Wed Nov 08 21:04:13 2017 +0000
Parent:
0:694446246c35
Commit message:
PID CONTINUO

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Mon Sep 28 22:43:43 2015 +0000
+++ b/main.cpp	Wed Nov 08 21:04:13 2017 +0000
@@ -22,6 +22,7 @@
 int C4=0x0C; // quito cursor bajo
 int C1=0x0F; // solo muestra el cursor
 
+//Variables y parametros del Controlador PID
 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;
@@ -30,7 +31,6 @@
 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);
@@ -40,7 +40,7 @@
     lcd.locate(9,1);
     lcd.printf("Sp=%d",Sp);
     
-    
+    //Configuracion del parametro Kp
     set_Kp:
     lcd.cls();
     lcd.locate(0,0);
@@ -54,7 +54,7 @@
     lcd.printf("Sp=%d",Sp);
     
     
-    //Kp=0;
+    
     while(1){
          
      if(Boton2.falling()){
@@ -114,6 +114,7 @@
         
     }
     
+     //Configuracion del parametro Ki
     set_Ki:
     
     lcd.cls();
@@ -187,6 +188,7 @@
         
     }
     
+     //Configuracion del parametro Kd
     set_Kd:
     
     lcd.cls();
@@ -201,7 +203,7 @@
     lcd.printf("Sp=%d",Sp);
     
     
-    //Kd=0;
+    
     while(1){
          
      if(Boton2.falling()){
@@ -261,6 +263,7 @@
         
     }
     
+     //Configuracion del parametro Sp
     set_Sp:
     
     lcd.cls();
@@ -274,7 +277,7 @@
     lcd.locate(1,1);
     lcd.printf("Kd=%d",Kd);
             
-    //Sp=0;
+    
     while(1){
          
      if(Boton2.falling()){
@@ -333,14 +336,10 @@
     }
                
     }
-    
+     //Inicia algoritmo del PID
     PID:
     lcd.cls();
     
-    //Sp=2;
-    //Kp=(float)12.105;                     
-    //Ki=(float)5.32;
-    //Kd=(float)2;
     while(1){
     
     yT=vcond.read()*3.3;
@@ -353,19 +352,18 @@
      else if (uT<0){      //Salida PID si es menor que el MIN 
         uT=0;                         
         } 
-        iT0=iT;                        //Guardar variables
+        iT0=iT;                        //Actualizando variables para el paso siguiente
         eT0=eT; 
-        control=(float)uT/3.3;
+        control=(float)uT/3.3;//Accion de control mapeada a PWM; salida de la tarjeta.
         
+         //Mostrando error y salida actual
         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);
- 
+   
 
 
 }