Diego Carvajal
Tarea para manejo de Encoder, el cual incrementa y decrementa los parámetros del PID y presionando el boton suena
Dependencies: Debounced QEI TextLCD mbed
Revision 0:a7b349b8861d, committed 2014-04-04
- Comitter:
- diego_carvajal
- Date:
- Fri Apr 04 16:57:20 2014 +0000
- Commit message:
- Tarea_Encoder
Changed in this revision
diff -r 000000000000 -r a7b349b8861d Debounced.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Debounced.lib Fri Apr 04 16:57:20 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/WarwickRacing/code/Debounced/#8992c13bbb9b
diff -r 000000000000 -r a7b349b8861d QEI.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/QEI.lib Fri Apr 04 16:57:20 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/aberk/code/QEI/#5c2ad81551aa
diff -r 000000000000 -r a7b349b8861d TextLCD.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/TextLCD.lib Fri Apr 04 16:57:20 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/diego_carvajal/code/TextLCD/#6f50014a1b62
diff -r 000000000000 -r a7b349b8861d main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Fri Apr 04 16:57:20 2014 +0000
@@ -0,0 +1,156 @@
+/* Tarea No. 4
+ Diego Fernando Carvajal Castrillón
+ Santiago Lopez Restrepo
+ Ingeniería de Control
+
+
+Practica realizada para aprendizaje de manejo de Encoder. El desarrollo
+de esta esta dado por el aumento y disminución de los datos del
+controlador PID, además que al presionar el boton del Encoder suene
+mediante un PWM.
+*/
+
+
+#include "mbed.h"
+#include "DebouncedIn.h"
+#include "TextLCD.h"
+#include "QEI.h"
+
+
+QEI wheel (PTA16, PTA17, NC, 48);
+TextLCD lcd(PTB10, PTB11, PTE2, PTE3, PTE4, PTE5); // rs, e, d4-d7
+
+
+DebouncedIn botonEncoder(PTC5);
+PwmOut Pwm(PTA5);
+
+
+float periodo=0.001;
+float dureza=0.1;
+int Spbias=0,Sp=0,Kpbias=0,Kp=0,Ki=0,Kibias=0,Kd=0,Kdbias=0,Enc;
+int C1=0x0E; // solo muestra el curzor
+int i; // indice de la variable
+
+int PWMmodule(float pp,float Dd)
+{
+ Pwm.period(periodo);
+ Pwm.write(dureza);
+ wait(0.3);
+ Pwm.write(0);
+ return 0;
+}
+
+int main()
+
+{
+ lcd.writeCommand(C1);
+ lcd.locate(0,0);
+ lcd.printf("Sp=0");
+ lcd.locate(8,0);
+ lcd.printf("Kp=0");
+ lcd.locate(0,1);
+ lcd.printf("Ki=0");
+ lcd.locate(8,1);
+ lcd.printf("Kd=0");
+
+ while(1)
+ {
+ Enc=wheel.getPulses();
+
+
+ switch(i) {
+
+ case 0:
+ Kdbias=Kd;
+
+ lcd.locate(3,0);
+ lcd.printf("%d",Sp);
+
+ Sp=Spbias+Enc;
+ if(Sp<0)
+ {
+ Sp=0;
+ wheel.reset();
+ Enc=0;
+ }
+ break;
+ case 1:
+ Spbias=Sp;
+ lcd.locate(11,0);
+ lcd.printf("%d",Kp);
+
+ Kp=Kpbias+Enc;
+ if(Kp<0)
+ {
+ Kp=0;
+ wheel.reset();
+ Enc=0;
+ }
+ break;
+ case 2:
+ Kpbias=Kp;
+ lcd.locate(3,1);
+ lcd.printf("%d",Ki);
+
+ Ki=Kibias+Enc;
+ if(Ki<0)
+ {
+ Ki=0;
+ wheel.reset();
+ Enc=0;
+ }
+
+ break;
+ case 3:
+ Kibias=Ki;
+
+ lcd.locate(11,1);
+ lcd.printf("%d",Kd);
+ Kd=Kdbias+Enc;
+ if(Kd<0)
+ {
+ Kd=0;
+ wheel.reset();
+ Enc=0;
+ }
+
+ break;
+ }
+
+
+
+
+ if(botonEncoder.falling())
+ {
+ PWMmodule(periodo,dureza);
+ wait(0.2);
+ wheel.reset();
+ i++;
+ if(i>3)
+ {
+ i=0;
+ }
+ switch (i)
+ {
+ case 0:
+ lcd.locate(2,0);
+ lcd.printf("=");
+ break;
+ case 1:
+ lcd.locate(10,0);
+ lcd.printf("=");
+ break;
+ case 2:
+ lcd.locate(2,1);
+ lcd.printf("=");
+ break;
+ case 3:
+ lcd.locate(10,1);
+ lcd.printf("=");
+ break;
+
+
+ }
+ }
+ }
+}
\ No newline at end of file
diff -r 000000000000 -r a7b349b8861d mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Fri Apr 04 16:57:20 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/7d30d6019079 \ No newline at end of file