se incrementa y decrementa parámetros con el encoder.
Dependencies: QEI TextLCD mbed
Fork of TAREA_4_PROCESADORES by
main.cpp@2:fba5e2ee8bee, 2014-05-23 (annotated)
- Committer:
- jana
- Date:
- Fri May 23 18:31:15 2014 +0000
- Revision:
- 2:fba5e2ee8bee
- Parent:
- 1:9ca362d07dd0
encoder_procesadores
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Wilmar87 | 0:dd68101b1b99 | 1 | #include "mbed.h" |
Wilmar87 | 0:dd68101b1b99 | 2 | #include "TextLCD.h" |
Wilmar87 | 0:dd68101b1b99 | 3 | #include "DebouncedIn.h" |
Wilmar87 | 0:dd68101b1b99 | 4 | #include "QEI.h" |
Wilmar87 | 0:dd68101b1b99 | 5 | |
Wilmar87 | 0:dd68101b1b99 | 6 | AnalogIn Vin(PTC2); |
Wilmar87 | 0:dd68101b1b99 | 7 | AnalogOut Vout(PTE30); |
jana | 2:fba5e2ee8bee | 8 | PwmOut Pwm(PTA5); |
jana | 2:fba5e2ee8bee | 9 | float p1 = 0.001; |
jana | 2:fba5e2ee8bee | 10 | |
jana | 2:fba5e2ee8bee | 11 | int PWMmodule(float p1) |
jana | 2:fba5e2ee8bee | 12 | { |
jana | 2:fba5e2ee8bee | 13 | Pwm.period(p1); |
jana | 2:fba5e2ee8bee | 14 | Pwm.write(0.1); |
jana | 2:fba5e2ee8bee | 15 | wait(0.1); |
jana | 2:fba5e2ee8bee | 16 | Pwm.write(1); |
jana | 2:fba5e2ee8bee | 17 | wait(0.1); |
jana | 2:fba5e2ee8bee | 18 | Pwm.write(0.5); |
jana | 2:fba5e2ee8bee | 19 | wait(0.1); |
jana | 2:fba5e2ee8bee | 20 | Pwm.write(2); |
jana | 2:fba5e2ee8bee | 21 | wait(0.1); |
jana | 2:fba5e2ee8bee | 22 | Pwm.write(0.01); |
jana | 2:fba5e2ee8bee | 23 | wait(0.1); |
jana | 2:fba5e2ee8bee | 24 | Pwm.write(0.001); |
jana | 2:fba5e2ee8bee | 25 | wait(0.1); |
jana | 2:fba5e2ee8bee | 26 | Pwm.write(0); |
jana | 2:fba5e2ee8bee | 27 | return 0; |
jana | 2:fba5e2ee8bee | 28 | } |
Wilmar87 | 0:dd68101b1b99 | 29 | |
Wilmar87 | 0:dd68101b1b99 | 30 | TextLCD lcd(PTB10, PTB11, PTE2, PTE3, PTE4, PTE5); //Puertos LCD rs, e, d4, d5, d6, d7 |
jana | 2:fba5e2ee8bee | 31 | QEI encoder (PTD7, PTD6, NC, 624); //Puertos de la tarjeta asignados para el Encoder |
Wilmar87 | 0:dd68101b1b99 | 32 | |
jana | 2:fba5e2ee8bee | 33 | DigitalOut led1(LED1); |
jana | 2:fba5e2ee8bee | 34 | DigitalOut led2(LED2); |
jana | 2:fba5e2ee8bee | 35 | DigitalOut led3(LED3); |
jana | 2:fba5e2ee8bee | 36 | DebouncedIn boton_encoder(PTC5); //cambiar la posición- EL BOTON DEL ENCODER |
jana | 2:fba5e2ee8bee | 37 | |
Wilmar87 | 0:dd68101b1b99 | 38 | |
Wilmar87 | 0:dd68101b1b99 | 39 | //Códigos LCD |
jana | 2:fba5e2ee8bee | 40 | int C2=0x18; // desplaza izquierda |
jana | 2:fba5e2ee8bee | 41 | int C3=0x1A; // desplaza derecha |
jana | 2:fba5e2ee8bee | 42 | int C4=0x0C; // quito cursor bajo |
jana | 2:fba5e2ee8bee | 43 | int C1=0x0E; // Muestra el cursor |
Wilmar87 | 0:dd68101b1b99 | 44 | |
Wilmar87 | 0:dd68101b1b99 | 45 | |
jana | 2:fba5e2ee8bee | 46 | |
jana | 2:fba5e2ee8bee | 47 | int s, kp, ki, kd, sp, dato, spmax, kpmax, kimax, kdmax; // declaracion de variables |
jana | 2:fba5e2ee8bee | 48 | |
Wilmar87 | 0:dd68101b1b99 | 49 | |
Wilmar87 | 0:dd68101b1b99 | 50 | |
Wilmar87 | 0:dd68101b1b99 | 51 | |
Wilmar87 | 0:dd68101b1b99 | 52 | int main() { |
Wilmar87 | 0:dd68101b1b99 | 53 | |
jana | 2:fba5e2ee8bee | 54 | // Ubica e imprime nombre de los parámetros en del PID en la pantalla LCD |
Wilmar87 | 0:dd68101b1b99 | 55 | lcd.cls(); |
jana | 2:fba5e2ee8bee | 56 | lcd.writeCommand(C1); //comando para mostrar el cursor en el LCD |
jana | 2:fba5e2ee8bee | 57 | lcd.locate(2,0); |
Wilmar87 | 0:dd68101b1b99 | 58 | lcd.printf("Sp="); |
jana | 2:fba5e2ee8bee | 59 | lcd.locate(10,0); |
Wilmar87 | 0:dd68101b1b99 | 60 | lcd.printf("Kp="); |
jana | 2:fba5e2ee8bee | 61 | lcd.locate(2,1); |
Wilmar87 | 0:dd68101b1b99 | 62 | lcd.printf("Ki="); |
jana | 2:fba5e2ee8bee | 63 | lcd.locate(10,1); |
Wilmar87 | 0:dd68101b1b99 | 64 | lcd.printf("Kd="); |
Wilmar87 | 0:dd68101b1b99 | 65 | |
Wilmar87 | 0:dd68101b1b99 | 66 | |
Wilmar87 | 0:dd68101b1b99 | 67 | //Inicio del ciclo |
Wilmar87 | 0:dd68101b1b99 | 68 | |
Wilmar87 | 0:dd68101b1b99 | 69 | while(1) { |
jana | 2:fba5e2ee8bee | 70 | if (boton_encoder.falling()) { //Detecta el aumento y disminucion del valor del encoder |
lopjohn_26 | 1:9ca362d07dd0 | 71 | |
jana | 2:fba5e2ee8bee | 72 | PWMmodule(p1); |
jana | 2:fba5e2ee8bee | 73 | encoder.reset(); |
jana | 2:fba5e2ee8bee | 74 | ++s; |
jana | 2:fba5e2ee8bee | 75 | if (s>=3){ |
jana | 2:fba5e2ee8bee | 76 | s=0; |
jana | 2:fba5e2ee8bee | 77 | } |
Wilmar87 | 0:dd68101b1b99 | 78 | } |
Wilmar87 | 0:dd68101b1b99 | 79 | |
jana | 2:fba5e2ee8bee | 80 | dato = encoder.getPulses(); //Asigna el valor de los pulsos del encoder a una variable |
jana | 2:fba5e2ee8bee | 81 | |
jana | 2:fba5e2ee8bee | 82 | |
jana | 2:fba5e2ee8bee | 83 | |
jana | 2:fba5e2ee8bee | 84 | switch(s) { |
Wilmar87 | 0:dd68101b1b99 | 85 | |
Wilmar87 | 0:dd68101b1b99 | 86 | case 0: |
jana | 2:fba5e2ee8bee | 87 | |
jana | 2:fba5e2ee8bee | 88 | spmax=sp+dato; |
Wilmar87 | 0:dd68101b1b99 | 89 | |
jana | 2:fba5e2ee8bee | 90 | if(spmax>=999){ |
jana | 2:fba5e2ee8bee | 91 | |
jana | 2:fba5e2ee8bee | 92 | lcd.locate(4,0); |
Wilmar87 | 0:dd68101b1b99 | 93 | lcd.printf("= ",sp); |
jana | 2:fba5e2ee8bee | 94 | lcd.locate(5,0); |
Wilmar87 | 0:dd68101b1b99 | 95 | lcd.printf("%i",sp); |
jana | 2:fba5e2ee8bee | 96 | } |
jana | 2:fba5e2ee8bee | 97 | else { |
jana | 2:fba5e2ee8bee | 98 | sp = sp + dato; |
jana | 2:fba5e2ee8bee | 99 | encoder.reset(); |
jana | 2:fba5e2ee8bee | 100 | if (sp<0){ |
jana | 2:fba5e2ee8bee | 101 | sp=0; |
jana | 2:fba5e2ee8bee | 102 | } |
jana | 2:fba5e2ee8bee | 103 | lcd.locate(4,0); |
jana | 2:fba5e2ee8bee | 104 | lcd.printf("= ",sp); |
jana | 2:fba5e2ee8bee | 105 | lcd.locate(5,0); |
jana | 2:fba5e2ee8bee | 106 | lcd.printf("%i",sp); |
jana | 2:fba5e2ee8bee | 107 | } |
jana | 2:fba5e2ee8bee | 108 | if (boton_encoder.falling()) { |
lopjohn_26 | 1:9ca362d07dd0 | 109 | |
jana | 2:fba5e2ee8bee | 110 | PWMmodule(p1); |
lopjohn_26 | 1:9ca362d07dd0 | 111 | |
jana | 2:fba5e2ee8bee | 112 | s=1; |
Wilmar87 | 0:dd68101b1b99 | 113 | led1=0; |
Wilmar87 | 0:dd68101b1b99 | 114 | wait(.15); |
Wilmar87 | 0:dd68101b1b99 | 115 | led1=1; |
jana | 2:fba5e2ee8bee | 116 | encoder.reset(); |
Wilmar87 | 0:dd68101b1b99 | 117 | } |
jana | 2:fba5e2ee8bee | 118 | break; |
jana | 2:fba5e2ee8bee | 119 | |
jana | 2:fba5e2ee8bee | 120 | case 1: |
jana | 2:fba5e2ee8bee | 121 | |
jana | 2:fba5e2ee8bee | 122 | kpmax=kp+dato; |
Wilmar87 | 0:dd68101b1b99 | 123 | |
jana | 2:fba5e2ee8bee | 124 | if(kpmax>=999){ |
jana | 2:fba5e2ee8bee | 125 | |
jana | 2:fba5e2ee8bee | 126 | lcd.locate(12,0); |
jana | 2:fba5e2ee8bee | 127 | lcd.printf("= ",kp); |
jana | 2:fba5e2ee8bee | 128 | lcd.locate(13,0); |
jana | 2:fba5e2ee8bee | 129 | lcd.printf("%i",kp); |
jana | 2:fba5e2ee8bee | 130 | } |
jana | 2:fba5e2ee8bee | 131 | else { |
jana | 2:fba5e2ee8bee | 132 | |
jana | 2:fba5e2ee8bee | 133 | kp = kp + dato; |
jana | 2:fba5e2ee8bee | 134 | encoder.reset(); |
jana | 2:fba5e2ee8bee | 135 | if (kp<0){ |
jana | 2:fba5e2ee8bee | 136 | kp=0; |
jana | 2:fba5e2ee8bee | 137 | } |
Wilmar87 | 0:dd68101b1b99 | 138 | |
jana | 2:fba5e2ee8bee | 139 | lcd.locate(12,0); |
jana | 2:fba5e2ee8bee | 140 | lcd.printf("= ",kp); |
jana | 2:fba5e2ee8bee | 141 | lcd.locate(13,0); |
jana | 2:fba5e2ee8bee | 142 | lcd.printf("%i",kp); |
jana | 2:fba5e2ee8bee | 143 | } |
jana | 2:fba5e2ee8bee | 144 | if (boton_encoder.falling()) { |
jana | 2:fba5e2ee8bee | 145 | |
jana | 2:fba5e2ee8bee | 146 | PWMmodule(p1); |
jana | 2:fba5e2ee8bee | 147 | |
jana | 2:fba5e2ee8bee | 148 | s=2; |
jana | 2:fba5e2ee8bee | 149 | led2=0; |
jana | 2:fba5e2ee8bee | 150 | wait(.15); |
jana | 2:fba5e2ee8bee | 151 | led2=1; |
jana | 2:fba5e2ee8bee | 152 | encoder.reset(); |
jana | 2:fba5e2ee8bee | 153 | } |
jana | 2:fba5e2ee8bee | 154 | break; |
jana | 2:fba5e2ee8bee | 155 | |
jana | 2:fba5e2ee8bee | 156 | case 2: |
jana | 2:fba5e2ee8bee | 157 | |
jana | 2:fba5e2ee8bee | 158 | kimax=ki+dato; |
Wilmar87 | 0:dd68101b1b99 | 159 | |
jana | 2:fba5e2ee8bee | 160 | if(kimax>=999){ |
jana | 2:fba5e2ee8bee | 161 | |
jana | 2:fba5e2ee8bee | 162 | lcd.locate(4,1); |
jana | 2:fba5e2ee8bee | 163 | lcd.printf("= ",ki); |
jana | 2:fba5e2ee8bee | 164 | lcd.locate(5,1); |
jana | 2:fba5e2ee8bee | 165 | lcd.printf("%i",ki); |
jana | 2:fba5e2ee8bee | 166 | } |
jana | 2:fba5e2ee8bee | 167 | else { |
jana | 2:fba5e2ee8bee | 168 | ki = ki + dato; //Asigna el valor del encoder al parámetro y tiene en cuenta el valor anterior |
jana | 2:fba5e2ee8bee | 169 | encoder.reset(); //Resetea el valor del encoder |
jana | 2:fba5e2ee8bee | 170 | if (ki<0){ |
jana | 2:fba5e2ee8bee | 171 | ki=0; //No se muestran valores negativos |
jana | 2:fba5e2ee8bee | 172 | } |
jana | 2:fba5e2ee8bee | 173 | |
jana | 2:fba5e2ee8bee | 174 | lcd.locate(4,1); |
jana | 2:fba5e2ee8bee | 175 | lcd.printf("= ",ki); |
jana | 2:fba5e2ee8bee | 176 | lcd.locate(5,1); |
jana | 2:fba5e2ee8bee | 177 | lcd.printf("%i",ki); |
jana | 2:fba5e2ee8bee | 178 | } |
jana | 2:fba5e2ee8bee | 179 | if (boton_encoder.falling()) { //Aumenta de posición el cursor a la siguiente parametro |
jana | 2:fba5e2ee8bee | 180 | |
jana | 2:fba5e2ee8bee | 181 | PWMmodule(p1); |
jana | 2:fba5e2ee8bee | 182 | |
jana | 2:fba5e2ee8bee | 183 | s=3; |
jana | 2:fba5e2ee8bee | 184 | led3=0; |
jana | 2:fba5e2ee8bee | 185 | wait(.15); |
jana | 2:fba5e2ee8bee | 186 | led3=1; |
jana | 2:fba5e2ee8bee | 187 | encoder.reset(); //------------- Resetea el valor del encoder |
jana | 2:fba5e2ee8bee | 188 | } |
jana | 2:fba5e2ee8bee | 189 | break; |
jana | 2:fba5e2ee8bee | 190 | |
jana | 2:fba5e2ee8bee | 191 | case 3: |
jana | 2:fba5e2ee8bee | 192 | |
jana | 2:fba5e2ee8bee | 193 | kdmax=kd+dato; |
jana | 2:fba5e2ee8bee | 194 | |
jana | 2:fba5e2ee8bee | 195 | if(kdmax>=999){ |
jana | 2:fba5e2ee8bee | 196 | |
jana | 2:fba5e2ee8bee | 197 | lcd.locate(12,1); |
jana | 2:fba5e2ee8bee | 198 | lcd.printf("= ",kd); |
jana | 2:fba5e2ee8bee | 199 | lcd.locate(13,1); |
jana | 2:fba5e2ee8bee | 200 | lcd.printf("%i",kd); |
jana | 2:fba5e2ee8bee | 201 | } |
jana | 2:fba5e2ee8bee | 202 | else { |
jana | 2:fba5e2ee8bee | 203 | kd = kd + dato; |
jana | 2:fba5e2ee8bee | 204 | encoder.reset(); |
jana | 2:fba5e2ee8bee | 205 | if (kd<0){ |
jana | 2:fba5e2ee8bee | 206 | kd=0; |
jana | 2:fba5e2ee8bee | 207 | } |
jana | 2:fba5e2ee8bee | 208 | |
jana | 2:fba5e2ee8bee | 209 | lcd.locate(12,1); |
jana | 2:fba5e2ee8bee | 210 | lcd.printf("= ",kd); |
jana | 2:fba5e2ee8bee | 211 | lcd.locate(13,1); |
jana | 2:fba5e2ee8bee | 212 | lcd.printf("%i",kd); |
jana | 2:fba5e2ee8bee | 213 | } |
jana | 2:fba5e2ee8bee | 214 | if (boton_encoder.falling()) { |
jana | 2:fba5e2ee8bee | 215 | |
jana | 2:fba5e2ee8bee | 216 | PWMmodule(p1); |
jana | 2:fba5e2ee8bee | 217 | |
jana | 2:fba5e2ee8bee | 218 | s=4; |
jana | 2:fba5e2ee8bee | 219 | led1=0; |
jana | 2:fba5e2ee8bee | 220 | wait(.15); |
jana | 2:fba5e2ee8bee | 221 | led1=1; |
jana | 2:fba5e2ee8bee | 222 | encoder.reset(); |
jana | 2:fba5e2ee8bee | 223 | |
jana | 2:fba5e2ee8bee | 224 | } |
jana | 2:fba5e2ee8bee | 225 | break; |
jana | 2:fba5e2ee8bee | 226 | } |
jana | 2:fba5e2ee8bee | 227 | } |
Wilmar87 | 0:dd68101b1b99 | 228 | |
Wilmar87 | 0:dd68101b1b99 | 229 | } |
Wilmar87 | 0:dd68101b1b99 | 230 |