File content as of revision 0:100b7ad913c1:

#include "mbed.h"
 
//AnalogIn analog_value(A0);
//AnalogIn prop(A1);
//DigitalOut PWM(D3);
//DigitalOut PWM1(D4);
PwmOut mypwm(D5);
PwmOut PWM(D3);
PwmOut PWM1(D4);
Serial pc(SERIAL_TX, SERIAL_RX);

// debemos definir tres entradas analigica para KP, KI, KD
//AnalogIn KP(A0);
//AnalogIn KI(A1);
//AnalogIn KD(A3);
// declaramos una entrada analogica para la referencia
//AnalogIn REF(A4);
// declaramos la salida analogica PID
AnalogOut salida(PA_4); // esta es A2
// declaramos la entrada de retroalimentacion
AnalogIn retro(A5);

// variables
double KP=0.1;
double KI =0.1;
double KD =0.001;
double REF = 0.5;

float Apid=0;

float Vo_1 = 0;
float Vo_2 = 0;
float Vo = 0;
float Vi_2 = 0;
float Vi_1 = 0;
float Vi = 1;
float R = 1;
float C = 1;
float L = 1;
float T = 0.001;
// 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;



int Ient;


DigitalOut led(LED1);

int main() {
   
   PWM.period_ms(17);
PWM1.period_ms(17);
   //mypwm.period_ms(10);
    //mypwm.pulsewidth_ms(1);
   // float meas;
    
    //printf("\nAnalogIn example\n");
    
     pc.printf("This program tiene la referencia %f .\n", REF);
    
    
    
    
    
    while(1) {
        //meas = analog_value.read(); // Converts and read the analog input value (value from 0.0 to 1.0)
        //meas = meas * 3300; // Change the value to be in the 0 to 3300 range
        //PWM= meas;
        //printf("measure = %.0f mV\n", meas);
      //  if (meas > 2000) { // If the value is greater than 2V then switch the LED on
        //  led = 1;
        
      //
        //KPin = KP.read();
        //KPin = KPin*0.9428;
        //KPin = KP*0.9;
        //KIin = KI.read();
        //KIin = KIin*0.9428;
        //KIin = KI*0.2;
        
        //KDin = KD.read();
        //KDin = KDin*0.9428;
         //KDin = KD*0.2;
        
        YT =  retro.read();
        //YT = YT*1.25;
       // UT = REF.read();
        //UT = UT;
        //
        UT = REF;
        E = (UT-YT);
        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;
        
       // in_value=in_value*10;
        
       // salida = in_value;
        
      
        Apid = abs(PID);
        Ient =(int) Apid;

        
        //PWM = 1;                                                                                                                                                                                                                                                                                                                                   
        //PWM1 = 0;
        //wait(5);
        //}
        //else {
          //led = 0;
        //}
         // 200 ms
        //PWM =0;
        //PWM = 0;
        //PWM1 = 1;
        //wait(5);
        pc.printf("\n\n");
        pc.printf("retro %lf.\t", YT);
        pc.printf("Error %lf. \n\n", E);
        pc.printf("referencia %f.\n", REF);
        pc.printf("\r");
        //Apid =abs(IT);
        
       
       // pc.printf("PID %lf. \n \n", PID);
        
        //        PT = (UT-YT); // kp es un potenciometro de 0 - 1
        //        PT2 = KPin*PT;
        //        IT =  KIin*(((T/Ti)*UT_1)-((T/Ti)*YT_1)+IT_1); // ki potenciometro integral de 0 a 1 
        //        DT = KDin*((N*(YT-YT_1))+((1-((N*T)/Td))*DT_1)); // kd ptenciometro derivative de 0 a 1
        //        PID = PT2+IT+DT;
                
        //        IT_1=IT;
        //        DT_1=DT;
         //       YT_1=YT;
         //       Apid = abs(PID);
         //       pc.printf("PID antes del absoluto %lf. \n \n", PID);
         //        pc.printf("Absoluto PID %lf. \n \n", Apid);
//salida = (KPin*0.9428); //n aqui es la retroalimentacion
if( E > 0.01 && Apid < 1 ) {
    //PWM.pulsewidth_ms(10*PID);
    //PWM1=PWM1.pulsewidth_ms(0);
    
    //PWM = 10*PID;
    
   // PWM = abs(PID);
   // PMW1 =0;
    
    PWM.write(Apid);
    PWM1.write(0.0f);
    pc.printf("integrador en ciclo %0.2lf.\n \n", IT);
    
       pc.printf("\r");
       
     //pc.printf("PWM1 %i.\n \n", PWM1);
     //   pc.printf("PWM %i. \n \n", PWM);
    
    }
    else if ( E > 0.01 && Apid >= 1 ) {
    //PWM.pulsewidth_ms(10*PID);
    //PWM1=PWM1.pulsewidth_ms(0);
    
    //PWM = 10*PID;
    
   // PWM = abs(PID);
   // PMW1 =0;
    IT_1=2;
    
    PWM.write(Apid/10);
    PWM1.write(0.0f);
    pc.printf("integrador en ciclo %0.2lf.\n \n", IT);
      
       pc.printf("\r");
     //pc.printf("PWM1 %i.\n \n", PWM1);
     //   pc.printf("PWM %i. \n \n", PWM);
    
    }
    
    else if (E < -0.01 && Apid < 1){
    //     PWM.pulsewidth_ms(0);
    //PWM1.pulsewidth_ms(10*PID);
     // PWM =0;
    
    //PWM1 =10*PID; 
    
    //PWM1 = abs(PID);
    
    PWM.write(0.0f);
    PWM1.write(Apid);
    
    pc.printf("integrador en ciclo %0.2lf.\n \n", IT);
     pc.printf("erroren ciclo %lf.\n \n", E);
        
         pc.printf("\r");
      // pc.printf("PWM1 %i.\n \n", PWM1);
      //  pc.printf("PWM %i. \n \n", PWM);
    
        }
        
        else if (E < -0.01 && Apid >= 1){
    //     PWM.pulsewidth_ms(0);
    //PWM1.pulsewidth_ms(10*PID);
     // PWM =0;
    
    //PWM1 =10*PID; 
    
    //PWM1 = abs(PID);
    
    PWM.write(0.0f);
    PWM1.write(Apid/10);
    
    IT_1 =-2;
    
    pc.printf("integrador en ciclo %0.2lf.\n \n", IT);
     pc.printf("erroren ciclo %lf.\n \n", E);
         
         pc.printf("\r");
      // pc.printf("PWM1 %i.\n \n", PWM1);
      //  pc.printf("PWM %i. \n \n", PWM);
    
        }
        
        else if (( E < 0.01) || ( E < -0.01)){
            PWM =0;
            PWM1=0;
            PID =0;
            }

salida = abs(PT);

                
                //IT_1=IT;
                //DT_1=DT;
                //YT_1=YT;

//Vo = (T*T)*Vi_2+(T-(T*T)-1)*Vo_2+(2-T)*Vo_1; // mando a salida
//Vi_2 =Vi_1;
//Vi_1 = valor;
//Vo_2 =Vo_1;
//Vo_1=Vo;
//error=valor-Vo;
//voo=Vo*255; 

        
        
        
       // wait(2);
    }
}