Observar las variables de control de una planta RC
Dependencies: DebouncedIn TextLCD mbed
main.cpp@0:633c42973f34, 2013-12-11 (annotated)
- Committer:
- ikortegag
- Date:
- Wed Dec 11 23:08:46 2013 +0000
- Revision:
- 0:633c42973f34
Observar las variables de control de una planta RC
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
ikortegag | 0:633c42973f34 | 1 | |
ikortegag | 0:633c42973f34 | 2 | #include "mbed.h" |
ikortegag | 0:633c42973f34 | 3 | #include "DebouncedIn.h" |
ikortegag | 0:633c42973f34 | 4 | #include "TextLCD.h" |
ikortegag | 0:633c42973f34 | 5 | |
ikortegag | 0:633c42973f34 | 6 | AnalogIn Vin(PTC2); |
ikortegag | 0:633c42973f34 | 7 | TextLCD lcd(PTB10, PTB11, PTE2, PTE3, PTE4, PTE5); // rs, e, d4-d7 |
ikortegag | 0:633c42973f34 | 8 | |
ikortegag | 0:633c42973f34 | 9 | AnalogIn y(PTB0); |
ikortegag | 0:633c42973f34 | 10 | AnalogOut u(PTE30); |
ikortegag | 0:633c42973f34 | 11 | |
ikortegag | 0:633c42973f34 | 12 | DigitalOut l1(LED1); |
ikortegag | 0:633c42973f34 | 13 | DigitalOut l2(LED2); |
ikortegag | 0:633c42973f34 | 14 | DigitalOut l3(LED3); |
ikortegag | 0:633c42973f34 | 15 | DigitalIn b1(PTC12); |
ikortegag | 0:633c42973f34 | 16 | DigitalIn b2(PTC13); |
ikortegag | 0:633c42973f34 | 17 | DigitalIn b3(PTC16); |
ikortegag | 0:633c42973f34 | 18 | DigitalIn b4(PTC17); |
ikortegag | 0:633c42973f34 | 19 | |
ikortegag | 0:633c42973f34 | 20 | int spnum=0,kpnum=0,kinum=0,kdnum=0,k=1; |
ikortegag | 0:633c42973f34 | 21 | int bandera; |
ikortegag | 0:633c42973f34 | 22 | Timer t; |
ikortegag | 0:633c42973f34 | 23 | float tiempo; |
ikortegag | 0:633c42973f34 | 24 | |
ikortegag | 0:633c42973f34 | 25 | //codigos movimiento del curzor |
ikortegag | 0:633c42973f34 | 26 | |
ikortegag | 0:633c42973f34 | 27 | //int C1=0x0E; // solo muestra el curzor |
ikortegag | 0:633c42973f34 | 28 | int C2=0x18; // desplaza izquierda |
ikortegag | 0:633c42973f34 | 29 | int C3=0x1A; // desplaza derecha |
ikortegag | 0:633c42973f34 | 30 | int C4=0x0C; // quito cursor bajo |
ikortegag | 0:633c42973f34 | 31 | |
ikortegag | 0:633c42973f34 | 32 | int C1=0x0F; |
ikortegag | 0:633c42973f34 | 33 | int err, med, yr, pid, ap, ai, ad, err_v, cycle; |
ikortegag | 0:633c42973f34 | 34 | float pidn; |
ikortegag | 0:633c42973f34 | 35 | int pos=1; |
ikortegag | 0:633c42973f34 | 36 | //int spnum=500, kinum=2, kpnum=1, kdnum=0, pos=1; |
ikortegag | 0:633c42973f34 | 37 | //int incremento=1,flagt=0; |
ikortegag | 0:633c42973f34 | 38 | |
ikortegag | 0:633c42973f34 | 39 | int main() |
ikortegag | 0:633c42973f34 | 40 | { |
ikortegag | 0:633c42973f34 | 41 | lcd.cls(); // Borrar Pantalla |
ikortegag | 0:633c42973f34 | 42 | lcd.writeCommand(C1);//escribimos un comando segun el manual del modulo LCD |
ikortegag | 0:633c42973f34 | 43 | |
ikortegag | 0:633c42973f34 | 44 | lcd.locate(8,0); |
ikortegag | 0:633c42973f34 | 45 | lcd.printf("Kp=%d",kpnum); |
ikortegag | 0:633c42973f34 | 46 | lcd.locate(0,1); |
ikortegag | 0:633c42973f34 | 47 | lcd.printf("Ki=%d",kinum); |
ikortegag | 0:633c42973f34 | 48 | lcd.locate(8,1); |
ikortegag | 0:633c42973f34 | 49 | lcd.printf("Kd=%d",kdnum); |
ikortegag | 0:633c42973f34 | 50 | lcd.locate(0,0); |
ikortegag | 0:633c42973f34 | 51 | lcd.printf("Sp=%d",spnum); |
ikortegag | 0:633c42973f34 | 52 | |
ikortegag | 0:633c42973f34 | 53 | while(1) |
ikortegag | 0:633c42973f34 | 54 | { |
ikortegag | 0:633c42973f34 | 55 | while(k==1) |
ikortegag | 0:633c42973f34 | 56 | { |
ikortegag | 0:633c42973f34 | 57 | if(b1 & spnum<=1000) |
ikortegag | 0:633c42973f34 | 58 | { |
ikortegag | 0:633c42973f34 | 59 | l1 = !l1; |
ikortegag | 0:633c42973f34 | 60 | if(bandera==0) |
ikortegag | 0:633c42973f34 | 61 | { |
ikortegag | 0:633c42973f34 | 62 | t.start(); |
ikortegag | 0:633c42973f34 | 63 | bandera=1; |
ikortegag | 0:633c42973f34 | 64 | } |
ikortegag | 0:633c42973f34 | 65 | wait(0.50); |
ikortegag | 0:633c42973f34 | 66 | if(b1 & spnum<=1000) |
ikortegag | 0:633c42973f34 | 67 | { |
ikortegag | 0:633c42973f34 | 68 | tiempo=t.read(); |
ikortegag | 0:633c42973f34 | 69 | if(tiempo<5) |
ikortegag | 0:633c42973f34 | 70 | { |
ikortegag | 0:633c42973f34 | 71 | spnum++; |
ikortegag | 0:633c42973f34 | 72 | lcd.locate(3,0); |
ikortegag | 0:633c42973f34 | 73 | lcd.printf("%d",spnum); |
ikortegag | 0:633c42973f34 | 74 | } |
ikortegag | 0:633c42973f34 | 75 | |
ikortegag | 0:633c42973f34 | 76 | if(tiempo>=5 & tiempo<10) |
ikortegag | 0:633c42973f34 | 77 | { |
ikortegag | 0:633c42973f34 | 78 | spnum+=10; |
ikortegag | 0:633c42973f34 | 79 | lcd.locate(3,0); |
ikortegag | 0:633c42973f34 | 80 | lcd.printf("%d",spnum); |
ikortegag | 0:633c42973f34 | 81 | } |
ikortegag | 0:633c42973f34 | 82 | |
ikortegag | 0:633c42973f34 | 83 | if(tiempo>=10) |
ikortegag | 0:633c42973f34 | 84 | { |
ikortegag | 0:633c42973f34 | 85 | spnum+=100; |
ikortegag | 0:633c42973f34 | 86 | lcd.locate(3,0); |
ikortegag | 0:633c42973f34 | 87 | lcd.printf("%d",spnum); |
ikortegag | 0:633c42973f34 | 88 | } |
ikortegag | 0:633c42973f34 | 89 | } |
ikortegag | 0:633c42973f34 | 90 | else |
ikortegag | 0:633c42973f34 | 91 | { |
ikortegag | 0:633c42973f34 | 92 | t.start(); |
ikortegag | 0:633c42973f34 | 93 | bandera=0; |
ikortegag | 0:633c42973f34 | 94 | } |
ikortegag | 0:633c42973f34 | 95 | } |
ikortegag | 0:633c42973f34 | 96 | |
ikortegag | 0:633c42973f34 | 97 | |
ikortegag | 0:633c42973f34 | 98 | if(b2 & spnum>=1) |
ikortegag | 0:633c42973f34 | 99 | { |
ikortegag | 0:633c42973f34 | 100 | l2 = !l2; |
ikortegag | 0:633c42973f34 | 101 | |
ikortegag | 0:633c42973f34 | 102 | if(bandera==0) |
ikortegag | 0:633c42973f34 | 103 | { |
ikortegag | 0:633c42973f34 | 104 | t.start(); |
ikortegag | 0:633c42973f34 | 105 | bandera=1; |
ikortegag | 0:633c42973f34 | 106 | } |
ikortegag | 0:633c42973f34 | 107 | |
ikortegag | 0:633c42973f34 | 108 | wait(0.50); |
ikortegag | 0:633c42973f34 | 109 | |
ikortegag | 0:633c42973f34 | 110 | if(b2 & spnum>=1) |
ikortegag | 0:633c42973f34 | 111 | { |
ikortegag | 0:633c42973f34 | 112 | tiempo=t.read(); |
ikortegag | 0:633c42973f34 | 113 | |
ikortegag | 0:633c42973f34 | 114 | if(tiempo<5) |
ikortegag | 0:633c42973f34 | 115 | { |
ikortegag | 0:633c42973f34 | 116 | spnum--; |
ikortegag | 0:633c42973f34 | 117 | lcd.locate(3,0); |
ikortegag | 0:633c42973f34 | 118 | lcd.printf("%d",spnum); |
ikortegag | 0:633c42973f34 | 119 | } |
ikortegag | 0:633c42973f34 | 120 | |
ikortegag | 0:633c42973f34 | 121 | if(tiempo>=5 & tiempo<10) |
ikortegag | 0:633c42973f34 | 122 | { |
ikortegag | 0:633c42973f34 | 123 | spnum-=10; |
ikortegag | 0:633c42973f34 | 124 | lcd.locate(3,0); |
ikortegag | 0:633c42973f34 | 125 | lcd.printf("%d",spnum); |
ikortegag | 0:633c42973f34 | 126 | } |
ikortegag | 0:633c42973f34 | 127 | |
ikortegag | 0:633c42973f34 | 128 | if(tiempo>=10) |
ikortegag | 0:633c42973f34 | 129 | { |
ikortegag | 0:633c42973f34 | 130 | spnum-=100; |
ikortegag | 0:633c42973f34 | 131 | lcd.locate(3,0); |
ikortegag | 0:633c42973f34 | 132 | lcd.printf("%d",spnum); |
ikortegag | 0:633c42973f34 | 133 | } |
ikortegag | 0:633c42973f34 | 134 | } |
ikortegag | 0:633c42973f34 | 135 | else |
ikortegag | 0:633c42973f34 | 136 | { |
ikortegag | 0:633c42973f34 | 137 | t.start(); |
ikortegag | 0:633c42973f34 | 138 | bandera=0; |
ikortegag | 0:633c42973f34 | 139 | } |
ikortegag | 0:633c42973f34 | 140 | } |
ikortegag | 0:633c42973f34 | 141 | if (b3) |
ikortegag | 0:633c42973f34 | 142 | { |
ikortegag | 0:633c42973f34 | 143 | k+=1; |
ikortegag | 0:633c42973f34 | 144 | wait(0.25); |
ikortegag | 0:633c42973f34 | 145 | lcd.locate(12,0);lcd.printf("%d",kpnum); |
ikortegag | 0:633c42973f34 | 146 | } |
ikortegag | 0:633c42973f34 | 147 | |
ikortegag | 0:633c42973f34 | 148 | } |
ikortegag | 0:633c42973f34 | 149 | |
ikortegag | 0:633c42973f34 | 150 | while(k==2) |
ikortegag | 0:633c42973f34 | 151 | { |
ikortegag | 0:633c42973f34 | 152 | if(b1 & kpnum<=1000) |
ikortegag | 0:633c42973f34 | 153 | { |
ikortegag | 0:633c42973f34 | 154 | l1 = !l1; |
ikortegag | 0:633c42973f34 | 155 | if(bandera==0) |
ikortegag | 0:633c42973f34 | 156 | { |
ikortegag | 0:633c42973f34 | 157 | t.start(); |
ikortegag | 0:633c42973f34 | 158 | bandera=1; |
ikortegag | 0:633c42973f34 | 159 | } |
ikortegag | 0:633c42973f34 | 160 | wait(0.50); |
ikortegag | 0:633c42973f34 | 161 | |
ikortegag | 0:633c42973f34 | 162 | if(b1 & kpnum<=1000) |
ikortegag | 0:633c42973f34 | 163 | { |
ikortegag | 0:633c42973f34 | 164 | tiempo=t.read(); |
ikortegag | 0:633c42973f34 | 165 | |
ikortegag | 0:633c42973f34 | 166 | if(tiempo<5) |
ikortegag | 0:633c42973f34 | 167 | { |
ikortegag | 0:633c42973f34 | 168 | kpnum++; |
ikortegag | 0:633c42973f34 | 169 | lcd.locate(12,0); |
ikortegag | 0:633c42973f34 | 170 | lcd.printf("%d",kpnum); |
ikortegag | 0:633c42973f34 | 171 | } |
ikortegag | 0:633c42973f34 | 172 | |
ikortegag | 0:633c42973f34 | 173 | if(tiempo>=5 & tiempo<10) |
ikortegag | 0:633c42973f34 | 174 | { |
ikortegag | 0:633c42973f34 | 175 | kpnum+=10; |
ikortegag | 0:633c42973f34 | 176 | lcd.locate(12,0); |
ikortegag | 0:633c42973f34 | 177 | lcd.printf("%d",kpnum); |
ikortegag | 0:633c42973f34 | 178 | } |
ikortegag | 0:633c42973f34 | 179 | |
ikortegag | 0:633c42973f34 | 180 | if(tiempo>=10) |
ikortegag | 0:633c42973f34 | 181 | { |
ikortegag | 0:633c42973f34 | 182 | kpnum+=100; |
ikortegag | 0:633c42973f34 | 183 | lcd.locate(12,0); |
ikortegag | 0:633c42973f34 | 184 | lcd.printf("%d",kpnum); |
ikortegag | 0:633c42973f34 | 185 | } |
ikortegag | 0:633c42973f34 | 186 | } |
ikortegag | 0:633c42973f34 | 187 | else |
ikortegag | 0:633c42973f34 | 188 | { |
ikortegag | 0:633c42973f34 | 189 | t.start(); |
ikortegag | 0:633c42973f34 | 190 | bandera=0; |
ikortegag | 0:633c42973f34 | 191 | } |
ikortegag | 0:633c42973f34 | 192 | } |
ikortegag | 0:633c42973f34 | 193 | if(b2 & kpnum>=1) |
ikortegag | 0:633c42973f34 | 194 | { |
ikortegag | 0:633c42973f34 | 195 | l2 = !l2; |
ikortegag | 0:633c42973f34 | 196 | |
ikortegag | 0:633c42973f34 | 197 | if(bandera==0) |
ikortegag | 0:633c42973f34 | 198 | { |
ikortegag | 0:633c42973f34 | 199 | t.start(); |
ikortegag | 0:633c42973f34 | 200 | bandera=1; |
ikortegag | 0:633c42973f34 | 201 | } |
ikortegag | 0:633c42973f34 | 202 | wait(0.50); |
ikortegag | 0:633c42973f34 | 203 | |
ikortegag | 0:633c42973f34 | 204 | if(b2 & kpnum>=1) |
ikortegag | 0:633c42973f34 | 205 | { |
ikortegag | 0:633c42973f34 | 206 | tiempo=t.read(); |
ikortegag | 0:633c42973f34 | 207 | |
ikortegag | 0:633c42973f34 | 208 | if(tiempo<5) |
ikortegag | 0:633c42973f34 | 209 | { |
ikortegag | 0:633c42973f34 | 210 | kpnum--; |
ikortegag | 0:633c42973f34 | 211 | lcd.locate(12,0); |
ikortegag | 0:633c42973f34 | 212 | lcd.printf("%d",kpnum); |
ikortegag | 0:633c42973f34 | 213 | } |
ikortegag | 0:633c42973f34 | 214 | |
ikortegag | 0:633c42973f34 | 215 | if(tiempo>=5 & tiempo<10) |
ikortegag | 0:633c42973f34 | 216 | { |
ikortegag | 0:633c42973f34 | 217 | kpnum-=10; |
ikortegag | 0:633c42973f34 | 218 | lcd.locate(12,0); |
ikortegag | 0:633c42973f34 | 219 | lcd.printf("%d",kpnum); |
ikortegag | 0:633c42973f34 | 220 | } |
ikortegag | 0:633c42973f34 | 221 | |
ikortegag | 0:633c42973f34 | 222 | if(tiempo>=10) |
ikortegag | 0:633c42973f34 | 223 | { |
ikortegag | 0:633c42973f34 | 224 | kpnum-=100; |
ikortegag | 0:633c42973f34 | 225 | lcd.locate(12,0); |
ikortegag | 0:633c42973f34 | 226 | lcd.printf("%d",kpnum); |
ikortegag | 0:633c42973f34 | 227 | } |
ikortegag | 0:633c42973f34 | 228 | } |
ikortegag | 0:633c42973f34 | 229 | else |
ikortegag | 0:633c42973f34 | 230 | { |
ikortegag | 0:633c42973f34 | 231 | t.start(); |
ikortegag | 0:633c42973f34 | 232 | bandera=0; |
ikortegag | 0:633c42973f34 | 233 | } |
ikortegag | 0:633c42973f34 | 234 | } |
ikortegag | 0:633c42973f34 | 235 | if (b3) |
ikortegag | 0:633c42973f34 | 236 | { |
ikortegag | 0:633c42973f34 | 237 | k+=1; |
ikortegag | 0:633c42973f34 | 238 | wait(0.25); |
ikortegag | 0:633c42973f34 | 239 | lcd.locate(3,1); lcd.printf("%d",kinum); |
ikortegag | 0:633c42973f34 | 240 | } |
ikortegag | 0:633c42973f34 | 241 | } |
ikortegag | 0:633c42973f34 | 242 | |
ikortegag | 0:633c42973f34 | 243 | |
ikortegag | 0:633c42973f34 | 244 | while(k==3) |
ikortegag | 0:633c42973f34 | 245 | { |
ikortegag | 0:633c42973f34 | 246 | if(b1 & kinum<=1000) |
ikortegag | 0:633c42973f34 | 247 | { |
ikortegag | 0:633c42973f34 | 248 | l1 = !l1; |
ikortegag | 0:633c42973f34 | 249 | |
ikortegag | 0:633c42973f34 | 250 | if(bandera==0) |
ikortegag | 0:633c42973f34 | 251 | { |
ikortegag | 0:633c42973f34 | 252 | t.start(); |
ikortegag | 0:633c42973f34 | 253 | bandera=1; |
ikortegag | 0:633c42973f34 | 254 | } |
ikortegag | 0:633c42973f34 | 255 | wait(0.50); |
ikortegag | 0:633c42973f34 | 256 | |
ikortegag | 0:633c42973f34 | 257 | if(b1 & kinum<=1000) |
ikortegag | 0:633c42973f34 | 258 | { |
ikortegag | 0:633c42973f34 | 259 | tiempo=t.read(); |
ikortegag | 0:633c42973f34 | 260 | |
ikortegag | 0:633c42973f34 | 261 | if(tiempo<5) |
ikortegag | 0:633c42973f34 | 262 | { |
ikortegag | 0:633c42973f34 | 263 | kinum++; |
ikortegag | 0:633c42973f34 | 264 | lcd.locate(3,1); |
ikortegag | 0:633c42973f34 | 265 | lcd.printf("%d",kinum); |
ikortegag | 0:633c42973f34 | 266 | } |
ikortegag | 0:633c42973f34 | 267 | |
ikortegag | 0:633c42973f34 | 268 | if(tiempo>=5 & tiempo<10) |
ikortegag | 0:633c42973f34 | 269 | { |
ikortegag | 0:633c42973f34 | 270 | kinum+=10; |
ikortegag | 0:633c42973f34 | 271 | lcd.locate(3,1); |
ikortegag | 0:633c42973f34 | 272 | lcd.printf("%d",kinum); |
ikortegag | 0:633c42973f34 | 273 | } |
ikortegag | 0:633c42973f34 | 274 | |
ikortegag | 0:633c42973f34 | 275 | if(tiempo>=10) |
ikortegag | 0:633c42973f34 | 276 | { |
ikortegag | 0:633c42973f34 | 277 | kinum+=100; |
ikortegag | 0:633c42973f34 | 278 | lcd.locate(3,1); |
ikortegag | 0:633c42973f34 | 279 | lcd.printf("%d",kinum); |
ikortegag | 0:633c42973f34 | 280 | } |
ikortegag | 0:633c42973f34 | 281 | } |
ikortegag | 0:633c42973f34 | 282 | |
ikortegag | 0:633c42973f34 | 283 | else |
ikortegag | 0:633c42973f34 | 284 | { |
ikortegag | 0:633c42973f34 | 285 | t.start(); |
ikortegag | 0:633c42973f34 | 286 | bandera=0; |
ikortegag | 0:633c42973f34 | 287 | } |
ikortegag | 0:633c42973f34 | 288 | } |
ikortegag | 0:633c42973f34 | 289 | |
ikortegag | 0:633c42973f34 | 290 | if(b2 & kinum>=1) |
ikortegag | 0:633c42973f34 | 291 | { |
ikortegag | 0:633c42973f34 | 292 | l2 = !l2; |
ikortegag | 0:633c42973f34 | 293 | if(bandera==0) |
ikortegag | 0:633c42973f34 | 294 | { |
ikortegag | 0:633c42973f34 | 295 | t.start(); |
ikortegag | 0:633c42973f34 | 296 | bandera=1; |
ikortegag | 0:633c42973f34 | 297 | } |
ikortegag | 0:633c42973f34 | 298 | wait(0.50); |
ikortegag | 0:633c42973f34 | 299 | |
ikortegag | 0:633c42973f34 | 300 | if(b2 & kinum>=1) |
ikortegag | 0:633c42973f34 | 301 | { |
ikortegag | 0:633c42973f34 | 302 | tiempo=t.read(); |
ikortegag | 0:633c42973f34 | 303 | |
ikortegag | 0:633c42973f34 | 304 | if(tiempo<5) |
ikortegag | 0:633c42973f34 | 305 | { |
ikortegag | 0:633c42973f34 | 306 | kinum--; |
ikortegag | 0:633c42973f34 | 307 | lcd.locate(3,1); |
ikortegag | 0:633c42973f34 | 308 | lcd.printf("%d",kinum); |
ikortegag | 0:633c42973f34 | 309 | } |
ikortegag | 0:633c42973f34 | 310 | |
ikortegag | 0:633c42973f34 | 311 | if(tiempo>=5 & tiempo<10) |
ikortegag | 0:633c42973f34 | 312 | { |
ikortegag | 0:633c42973f34 | 313 | kinum-=10; |
ikortegag | 0:633c42973f34 | 314 | lcd.locate(3,1); |
ikortegag | 0:633c42973f34 | 315 | lcd.printf("%d",kinum); |
ikortegag | 0:633c42973f34 | 316 | } |
ikortegag | 0:633c42973f34 | 317 | |
ikortegag | 0:633c42973f34 | 318 | if(tiempo>=10) |
ikortegag | 0:633c42973f34 | 319 | { |
ikortegag | 0:633c42973f34 | 320 | kinum-=100; |
ikortegag | 0:633c42973f34 | 321 | lcd.locate(3,1); |
ikortegag | 0:633c42973f34 | 322 | lcd.printf("%d",kinum); |
ikortegag | 0:633c42973f34 | 323 | } |
ikortegag | 0:633c42973f34 | 324 | } |
ikortegag | 0:633c42973f34 | 325 | else |
ikortegag | 0:633c42973f34 | 326 | { |
ikortegag | 0:633c42973f34 | 327 | t.start(); |
ikortegag | 0:633c42973f34 | 328 | bandera=0; |
ikortegag | 0:633c42973f34 | 329 | } |
ikortegag | 0:633c42973f34 | 330 | } |
ikortegag | 0:633c42973f34 | 331 | if (b3) |
ikortegag | 0:633c42973f34 | 332 | { |
ikortegag | 0:633c42973f34 | 333 | k+=1; |
ikortegag | 0:633c42973f34 | 334 | wait(0.25); |
ikortegag | 0:633c42973f34 | 335 | lcd.locate(12,1); lcd.printf("%d",kdnum); |
ikortegag | 0:633c42973f34 | 336 | } |
ikortegag | 0:633c42973f34 | 337 | } |
ikortegag | 0:633c42973f34 | 338 | |
ikortegag | 0:633c42973f34 | 339 | while(k==4) |
ikortegag | 0:633c42973f34 | 340 | { |
ikortegag | 0:633c42973f34 | 341 | if(b1 & kdnum<=1000) |
ikortegag | 0:633c42973f34 | 342 | { |
ikortegag | 0:633c42973f34 | 343 | l1 = !l1; |
ikortegag | 0:633c42973f34 | 344 | if(bandera==0) |
ikortegag | 0:633c42973f34 | 345 | { |
ikortegag | 0:633c42973f34 | 346 | t.start(); |
ikortegag | 0:633c42973f34 | 347 | bandera=1; |
ikortegag | 0:633c42973f34 | 348 | } |
ikortegag | 0:633c42973f34 | 349 | |
ikortegag | 0:633c42973f34 | 350 | wait(0.50); |
ikortegag | 0:633c42973f34 | 351 | |
ikortegag | 0:633c42973f34 | 352 | if(b1 & kdnum<=1000) |
ikortegag | 0:633c42973f34 | 353 | { |
ikortegag | 0:633c42973f34 | 354 | tiempo=t.read(); |
ikortegag | 0:633c42973f34 | 355 | |
ikortegag | 0:633c42973f34 | 356 | if(tiempo<5) |
ikortegag | 0:633c42973f34 | 357 | { |
ikortegag | 0:633c42973f34 | 358 | kdnum++; |
ikortegag | 0:633c42973f34 | 359 | lcd.locate(12,1); |
ikortegag | 0:633c42973f34 | 360 | lcd.printf("%d",kdnum); |
ikortegag | 0:633c42973f34 | 361 | } |
ikortegag | 0:633c42973f34 | 362 | |
ikortegag | 0:633c42973f34 | 363 | if(tiempo>=5 & tiempo<10) |
ikortegag | 0:633c42973f34 | 364 | { |
ikortegag | 0:633c42973f34 | 365 | kdnum+=10; |
ikortegag | 0:633c42973f34 | 366 | lcd.locate(12,1); |
ikortegag | 0:633c42973f34 | 367 | lcd.printf("%d",kdnum); |
ikortegag | 0:633c42973f34 | 368 | } |
ikortegag | 0:633c42973f34 | 369 | |
ikortegag | 0:633c42973f34 | 370 | if(tiempo>=10) |
ikortegag | 0:633c42973f34 | 371 | { |
ikortegag | 0:633c42973f34 | 372 | kdnum+=100; |
ikortegag | 0:633c42973f34 | 373 | lcd.locate(12,1); |
ikortegag | 0:633c42973f34 | 374 | lcd.printf("%d",kdnum); |
ikortegag | 0:633c42973f34 | 375 | } |
ikortegag | 0:633c42973f34 | 376 | } |
ikortegag | 0:633c42973f34 | 377 | else |
ikortegag | 0:633c42973f34 | 378 | { |
ikortegag | 0:633c42973f34 | 379 | t.start(); |
ikortegag | 0:633c42973f34 | 380 | bandera=0; |
ikortegag | 0:633c42973f34 | 381 | } |
ikortegag | 0:633c42973f34 | 382 | } |
ikortegag | 0:633c42973f34 | 383 | |
ikortegag | 0:633c42973f34 | 384 | |
ikortegag | 0:633c42973f34 | 385 | if(b2 & kdnum>=1) |
ikortegag | 0:633c42973f34 | 386 | { |
ikortegag | 0:633c42973f34 | 387 | l2 = !l2; |
ikortegag | 0:633c42973f34 | 388 | |
ikortegag | 0:633c42973f34 | 389 | if(bandera==0) |
ikortegag | 0:633c42973f34 | 390 | { |
ikortegag | 0:633c42973f34 | 391 | t.start(); |
ikortegag | 0:633c42973f34 | 392 | bandera=1; |
ikortegag | 0:633c42973f34 | 393 | } |
ikortegag | 0:633c42973f34 | 394 | wait(0.50); |
ikortegag | 0:633c42973f34 | 395 | |
ikortegag | 0:633c42973f34 | 396 | if(b2 & kdnum>=1) |
ikortegag | 0:633c42973f34 | 397 | { |
ikortegag | 0:633c42973f34 | 398 | tiempo=t.read(); |
ikortegag | 0:633c42973f34 | 399 | |
ikortegag | 0:633c42973f34 | 400 | if(tiempo<5) |
ikortegag | 0:633c42973f34 | 401 | { |
ikortegag | 0:633c42973f34 | 402 | kdnum--; |
ikortegag | 0:633c42973f34 | 403 | lcd.locate(12,1); |
ikortegag | 0:633c42973f34 | 404 | lcd.printf("%d",kdnum); |
ikortegag | 0:633c42973f34 | 405 | } |
ikortegag | 0:633c42973f34 | 406 | |
ikortegag | 0:633c42973f34 | 407 | if(tiempo>=5 & tiempo<10) |
ikortegag | 0:633c42973f34 | 408 | { |
ikortegag | 0:633c42973f34 | 409 | kdnum-=10; |
ikortegag | 0:633c42973f34 | 410 | lcd.locate(12,1); |
ikortegag | 0:633c42973f34 | 411 | lcd.printf("%d",kdnum); |
ikortegag | 0:633c42973f34 | 412 | } |
ikortegag | 0:633c42973f34 | 413 | |
ikortegag | 0:633c42973f34 | 414 | if(tiempo>=10) |
ikortegag | 0:633c42973f34 | 415 | { |
ikortegag | 0:633c42973f34 | 416 | kdnum-=100; |
ikortegag | 0:633c42973f34 | 417 | lcd.locate(12,1); |
ikortegag | 0:633c42973f34 | 418 | lcd.printf("%d",kdnum); |
ikortegag | 0:633c42973f34 | 419 | } |
ikortegag | 0:633c42973f34 | 420 | } |
ikortegag | 0:633c42973f34 | 421 | else |
ikortegag | 0:633c42973f34 | 422 | { |
ikortegag | 0:633c42973f34 | 423 | t.start(); |
ikortegag | 0:633c42973f34 | 424 | bandera=0; |
ikortegag | 0:633c42973f34 | 425 | } |
ikortegag | 0:633c42973f34 | 426 | } |
ikortegag | 0:633c42973f34 | 427 | |
ikortegag | 0:633c42973f34 | 428 | if (b3) |
ikortegag | 0:633c42973f34 | 429 | { |
ikortegag | 0:633c42973f34 | 430 | k=1; |
ikortegag | 0:633c42973f34 | 431 | wait(0.25); |
ikortegag | 0:633c42973f34 | 432 | lcd.locate(3,0); |
ikortegag | 0:633c42973f34 | 433 | lcd.printf("%d",spnum); |
ikortegag | 0:633c42973f34 | 434 | } |
ikortegag | 0:633c42973f34 | 435 | |
ikortegag | 0:633c42973f34 | 436 | } |
ikortegag | 0:633c42973f34 | 437 | |
ikortegag | 0:633c42973f34 | 438 | |
ikortegag | 0:633c42973f34 | 439 | if (b4) |
ikortegag | 0:633c42973f34 | 440 | { |
ikortegag | 0:633c42973f34 | 441 | break; //sale del bucle si pisan suiche4 |
ikortegag | 0:633c42973f34 | 442 | } |
ikortegag | 0:633c42973f34 | 443 | continue; |
ikortegag | 0:633c42973f34 | 444 | } |
ikortegag | 0:633c42973f34 | 445 | |
ikortegag | 0:633c42973f34 | 446 | |
ikortegag | 0:633c42973f34 | 447 | //Transicion |
ikortegag | 0:633c42973f34 | 448 | |
ikortegag | 0:633c42973f34 | 449 | lcd.writeCommand(C4);//escribimos un comando segun el manual del modulo LCD para quitar cursor bajo |
ikortegag | 0:633c42973f34 | 450 | lcd.cls(); //borra la pantalla |
ikortegag | 0:633c42973f34 | 451 | lcd.printf("GUARDADOS!"); |
ikortegag | 0:633c42973f34 | 452 | wait(1); |
ikortegag | 0:633c42973f34 | 453 | lcd.cls(); |
ikortegag | 0:633c42973f34 | 454 | lcd.printf(" INICIA EL PID"); |
ikortegag | 0:633c42973f34 | 455 | wait(1); |
ikortegag | 0:633c42973f34 | 456 | // se imprimen los parches del control ***************************************** |
ikortegag | 0:633c42973f34 | 457 | lcd.cls(); |
ikortegag | 0:633c42973f34 | 458 | lcd.printf("Er=%d",err); |
ikortegag | 0:633c42973f34 | 459 | lcd.locate(8,0); |
ikortegag | 0:633c42973f34 | 460 | lcd.printf("Me=%d",med); |
ikortegag | 0:633c42973f34 | 461 | lcd.locate(0,1); |
ikortegag | 0:633c42973f34 | 462 | lcd.printf("Sp=%d",spnum); |
ikortegag | 0:633c42973f34 | 463 | lcd.locate(8,1); |
ikortegag | 0:633c42973f34 | 464 | lcd.printf("Co=%d",pid); |
ikortegag | 0:633c42973f34 | 465 | wait(2); |
ikortegag | 0:633c42973f34 | 466 | |
ikortegag | 0:633c42973f34 | 467 | // CICLO PRINCIPAL CONTROLADOR PID |
ikortegag | 0:633c42973f34 | 468 | bandera=0; |
ikortegag | 0:633c42973f34 | 469 | while(1) |
ikortegag | 0:633c42973f34 | 470 | { |
ikortegag | 0:633c42973f34 | 471 | med=999*y.read(); //leer puerto analogo y asignar a med |
ikortegag | 0:633c42973f34 | 472 | err = (spnum-med); //se calcula el error |
ikortegag | 0:633c42973f34 | 473 | |
ikortegag | 0:633c42973f34 | 474 | ap = kpnum*err; //se calcula la accion proporcinal |
ikortegag | 0:633c42973f34 | 475 | |
ikortegag | 0:633c42973f34 | 476 | // se verifica que la accion integral no sea muy grande |
ikortegag | 0:633c42973f34 | 477 | if(ai<100) |
ikortegag | 0:633c42973f34 | 478 | { |
ikortegag | 0:633c42973f34 | 479 | ai =(kinum*err)+ai; //calculo de la integral del error |
ikortegag | 0:633c42973f34 | 480 | } |
ikortegag | 0:633c42973f34 | 481 | |
ikortegag | 0:633c42973f34 | 482 | ad = kdnum*(err-err_v); //calculo de la accion derivativa |
ikortegag | 0:633c42973f34 | 483 | |
ikortegag | 0:633c42973f34 | 484 | pid = (ap+ai+ad); |
ikortegag | 0:633c42973f34 | 485 | |
ikortegag | 0:633c42973f34 | 486 | // se verifica que pid sea positivo ************************************** |
ikortegag | 0:633c42973f34 | 487 | if(pid<=0) |
ikortegag | 0:633c42973f34 | 488 | { |
ikortegag | 0:633c42973f34 | 489 | pid=0; |
ikortegag | 0:633c42973f34 | 490 | } |
ikortegag | 0:633c42973f34 | 491 | |
ikortegag | 0:633c42973f34 | 492 | // se verifica que pid sea menor o igual la valor maximo ***************** |
ikortegag | 0:633c42973f34 | 493 | if (pid > 999) |
ikortegag | 0:633c42973f34 | 494 | { |
ikortegag | 0:633c42973f34 | 495 | pid=999; |
ikortegag | 0:633c42973f34 | 496 | } |
ikortegag | 0:633c42973f34 | 497 | |
ikortegag | 0:633c42973f34 | 498 | // se actualizan las variables ******************************************* |
ikortegag | 0:633c42973f34 | 499 | err_v = err; |
ikortegag | 0:633c42973f34 | 500 | |
ikortegag | 0:633c42973f34 | 501 | //se muestran las variables****************************************** |
ikortegag | 0:633c42973f34 | 502 | if(bandera==0) |
ikortegag | 0:633c42973f34 | 503 | { |
ikortegag | 0:633c42973f34 | 504 | t.start(); |
ikortegag | 0:633c42973f34 | 505 | bandera=1; |
ikortegag | 0:633c42973f34 | 506 | } |
ikortegag | 0:633c42973f34 | 507 | if(t>=0.3) |
ikortegag | 0:633c42973f34 | 508 | { |
ikortegag | 0:633c42973f34 | 509 | lcd.locate(3,0);lcd.printf(" "); |
ikortegag | 0:633c42973f34 | 510 | lcd.locate(3,0);lcd.printf("%d",err); |
ikortegag | 0:633c42973f34 | 511 | lcd.locate(11,0);lcd.printf(" "); |
ikortegag | 0:633c42973f34 | 512 | lcd.locate(11,0);lcd.printf("%d",med); |
ikortegag | 0:633c42973f34 | 513 | lcd.locate(3,1);lcd.printf(" "); |
ikortegag | 0:633c42973f34 | 514 | lcd.locate(3,1);lcd.printf("%d",spnum); |
ikortegag | 0:633c42973f34 | 515 | lcd.locate(11,1);lcd.printf(" "); |
ikortegag | 0:633c42973f34 | 516 | lcd.locate(11,1);lcd.printf("%d",pid); |
ikortegag | 0:633c42973f34 | 517 | bandera=0; |
ikortegag | 0:633c42973f34 | 518 | t.reset(); |
ikortegag | 0:633c42973f34 | 519 | } |
ikortegag | 0:633c42973f34 | 520 | |
ikortegag | 0:633c42973f34 | 521 | //Normalizacion de la salida |
ikortegag | 0:633c42973f34 | 522 | pidn=pid/999; |
ikortegag | 0:633c42973f34 | 523 | // se envia el valor pid a puerto analogico de salida (D/A) ************** |
ikortegag | 0:633c42973f34 | 524 | u.write(pidn); |
ikortegag | 0:633c42973f34 | 525 | // se repite el ciclo |
ikortegag | 0:633c42973f34 | 526 | wait(0.005); |
ikortegag | 0:633c42973f34 | 527 | } |
ikortegag | 0:633c42973f34 | 528 | |
ikortegag | 0:633c42973f34 | 529 | } |