Revision 1:e3356f2c75c3, committed 2013-11-01

Comitter:

fvelasquezv

Date:

Fri Nov 01 00:12:45 2013 +0000

Parent:

0:da8c12e25806

Commit message:

ninguna

Changed in this revision

diff -r da8c12e25806 -r e3356f2c75c3 Debounced.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Debounced.lib	Fri Nov 01 00:12:45 2013 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/WarwickRacing/code/Debounced/#8992c13bbb9b

diff -r da8c12e25806 -r e3356f2c75c3 main.cpp
--- a/main.cpp	Wed Oct 23 15:42:55 2013 +0000
+++ b/main.cpp	Fri Nov 01 00:12:45 2013 +0000
@@ -1,24 +1,79 @@
 #include "mbed.h"
 #include "TextLCD.h"
+#include "DebouncedIn.h"
 
+Timer timer1;
 TextLCD lcd(PTC10, PTC11, PTC12, PTC13, PTC16, PTC17); // rs, e, d4-d7TextLCD lcd(PTC10, PTC11, PTC12, PTC13, PTC16, PTC17); // rs, e, d4-d7
 DigitalOut myled(LED1);
 AnalogOut Aout(PTE30);
 AnalogIn Ain(PTC2);
-float i=0;
-float j=0;
+DebouncedIn Arriba(PTE2);
+DebouncedIn Abajo(PTE3);
+DebouncedIn Ganancia(PTE4);
+
+float i=0.7; // set point
+float j=0; // salida planta
+float k=0; // entrada planta
+float m=3.4; // ganancia
+float js=0;
+float ji=1; 
+float re=0;
+float jo=0;
+float jd=0;
+float t=0; //tiempo
+
 int main() {
-float Setpoint=0.6;
+//float Setpoint=0.6;
     while(1) {
-        if(i<0.999&&j<=Setpoint){
-        i+=0.001;
-        Aout=i;
+        
+        if(Arriba.falling()){
+        i+=0.01;
+        }
+        
+        if(Abajo.falling()){
+        i-=0.01;
+        }
+        
+        if(Ganancia.falling()){
+        m+=0.01;
+        }
+                
+        if(i<0.999){
+       
         j=Ain;
-        //wait(0);
+        k=m*(i-j);
+        Aout=k;
+        wait(0.1);
+        jo=j-jo;
         lcd.locate(0,0);
-        lcd.printf("Out:%f", i);
+        lcd.printf("y:%.3f jd:%.2f", j, jd);
         lcd.locate(0,1);
-        lcd.printf("In:%f", j);
+        lcd.printf("t:%f",t);
+        lcd.locate(10,1);
+        lcd.printf("K:%.2f",m);
+        }
+        
+        if(j>js){
+        js=j;
+        }
+        
+        if(j<ji){
+        ji=j;
         }
+        //wait(0.2);
+        jo=j;
+        re=js-ji;
+        jd=ji+(re/2);
+        
+        if(abs(jd-j)<=0.001){
+        
+        t=timer1.read();
+        timer1.stop();
+        timer1.reset();
+        timer1.start();
+        
+        } 
+  
     }
+    
 }