Revision 0:cf1a10a72034, committed 2019-09-03

Comitter:

icmembed

Date:

Tue Sep 03 22:57:05 2019 +0000

Commit message:

hola

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Sep 03 22:57:05 2019 +0000
@@ -0,0 +1,140 @@
+#include "mbed.h"
+#include "math.h" 
+
+
+PwmOut mypwm(D5);
+PwmOut PWM(D3);
+PwmOut PWM1(D4);
+Serial pc(SERIAL_TX, SERIAL_RX);
+
+
+AnalogIn analog_value(A0);
+AnalogIn retro(A5); 
+DigitalOut led(LED1);
+
+double KP=0.4027;
+double KI =0.01;
+double KD1 =0.2276;
+double KD2 =0.02283;
+double REF = 0.6;
+
+float Apid=0;
+
+
+
+float T = 0.3;
+// PID
+double IT_1=0;
+double DT_1=0;
+double UT_1=0;
+double YT_1=0;
+double YT;
+double UT;
+double KP1 =0.2;
+double PT;
+double IT = 0;
+double Ti =0.9;  //0.017;
+double Td =0.9;  //0.017;
+double N =30;
+double DT =0;
+double PID =0;
+int k=0;
+ int analogPin = 0;
+ volatile float valor=0;
+ int ledPin = 10; 
+ int voo=0;  
+ //float error =0;              
+double KPin;
+double KIin;
+double KDin;
+double ERROR1;
+double PT2;
+double E;
+double ET;
+double ET1;
+double ET2;
+double ET3;
+double VT;
+double VT1;
+
+
+
+float precio = 12.34; 
+int pesos; 
+float centavos; 
+
+int Ient;
+
+
+int main() {
+     PWM.period_ms(17);
+     PWM1.period_ms(17);
+
+    pc.printf("This program tiene la referencia %f .\n", REF);
+     pc.printf("\r");
+     
+     
+    
+  //  printf("\nAnalogIn example\n");
+    
+    while(1) {
+   
+        YT =  retro.read();
+        UT = REF;
+        E = (UT-YT);
+        ET = E;
+        VT = KP*(ET-ET1)+((KD1/T)*(ET-2*ET1+ET2))+((KD2/(T*T))*(ET-3*ET1+3*ET2-ET3))+KI*T*ET+VT1;
+        VT1=VT;
+        ET3= ET2;
+        ET2=ET1;
+        ET1 = ET;
+        
+        //PT= KP*(UT-YT);
+       // IT = KI*T*(UT_1-YT_1)+IT_1;
+        //DT= (KD/T)*(UT-YT+YT_1-UT_1);
+        //PID= PT+IT+DT;
+        //YT_1=YT;
+        //UT_1=UT;
+        //IT_1=IT;
+   
+        Apid = abs(VT);
+        Ient =(int) Apid;
+
+   
+        pc.printf("\n\n");
+        pc.printf("retro %lf.\t", YT);
+        pc.printf("Error %lf. \t", E);
+        pc.printf("referencia %f.\t", REF);
+         pc.printf("PID %f.\t", VT);
+         pc.printf("Absoluto %f.\t", Apid);
+        pc.printf("\r");
+   
+    if( E > 0.02 && Apid < 1 ) {
+    
+    PWM.write(Apid);
+    PWM1.write(0.0f);
+   
+     }
+    else if ( E < -0.02 && Apid < 1 ) {
+        
+        
+        PWM.write(0.0f);
+    PWM1.write(Apid);
+   
+     }
+        
+        else if ( E > 0.0 &&  E < 0.02 ){
+        
+        VT1 = VT;
+        KP=0;
+        KI=0;
+        KD1=0;
+        KD1=0;
+        PWM.write(Apid);
+    //PWM.write(0.21);
+    PWM1.write(0.0f);
+        }
+    
+        wait_ms(10); // 200 ms
+    }
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Tue Sep 03 22:57:05 2019 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/093f2bd7b9eb
\ No newline at end of file