Control PID para horno de reflujo con seguimiento de consigna

Dependencies:   Debounced Pulse1 QEI RTC-DS1307 TextLCD mbed

Fork of Tarea3_procesadores_Ds1307 by Camilo Londoño

Tarea 4 procesadores 2018-1

Juan Camilo Londoño Julieta Serrano Escalante

PID para horno de reflujo conseguimiento de consigna

/media/uploads/jclondonol/4.jpg

Revision:
3:35a40be1047f
Parent:
2:bef1b1c9e387
--- a/main.cpp	Wed May 09 19:55:50 2018 +0000
+++ b/main.cpp	Fri Jun 01 21:58:03 2018 +0000
@@ -5,69 +5,50 @@
 #include "Rtc_Ds1307.h"
 #include <Pulse1.h>
 
-TextLCD lcd(PTB0, PTB1, PTB2, PTB3, PTC2, PTC1); // rs, e, d4, d5, d6, d7
+TextLCD lcd(PTE20, PTB1, PTB2, PTB3, PTC2, PTE21); // rs, e, d4, d5, d6, d7
 Rtc_Ds1307 rtc(PTE0, PTE1);
 QEI wheel (PTD7, PTD6, NC, 30);
 DebouncedIn button_enco(PTC5);
-PwmOut Sonido(PTD1);
-PulseInOut irda(PTD5);// en este puerto se pone el sensor infrarrojo
-
-
-float periodo;
-float Frecuencia = 4000; 
-int C1 = 0x0C;
-int m = 0, flag = 0;
-uint8_t pot[7] = {1, 2, 4, 8, 16, 32, 64};
-uint8_t pot1[7] = {254, 253, 251, 248, 239, 223, 191};
-int Lugar = 0; // Definen el punto en el cual va el programa
-int i = 0, j = 0;
-int pos = 0;   // Reloj:0, Alarma1:1, Alarma2:2, ... , Alarma7:7
-uint8_t state_alarms = 0, pos_alarm = 0, alarma = 0; 
-
-//irda
-int header = 0; //tiempo de cabecera pulso abajo 
-const int head_H = 4532; //+20% medida con osciloscopio en microsegundos
-const int head_L = 4494;//-20%  medida con osciloscopio
-int g = 0, h = 0, count = 0;
-const int T_alto = 1600;//ponga su tiempo de la prueba
-const int T_bajo = 485;//ponga su tiempo de la prueba
-const int num_bits = 32;//ponga su numero de bits
-int num[num_bits];//cadena para almacenar todos los tiempos que conforman los bits de datos
-int sec[num_bits];//cadena para almacenar la cadena codificada en binario
-int dato; // tiempo de cada dato que se lee
-int boton_sel = 10;
-int boton[10][32]= {{1,1,1,0,0,0,0,0,1,1,1,0,0,0,0,0,1,0,0,0,1,0,0,0,0,1,1,1,0,1,1,0},      //0
-                    {1,1,1,0,0,0,0,0,1,1,1,0,0,0,0,0,0,0,1,0,0,0,0,0,1,1,0,1,1,1,1,0},      //1
-                    {1,1,1,0,0,0,0,0,1,1,1,0,0,0,0,0,1,0,1,0,0,0,0,0,0,1,0,1,1,1,1,0},      //2
-                    {1,1,1,0,0,0,0,0,1,1,1,0,0,0,0,0,0,1,1,0,0,0,0,0,1,0,0,1,1,1,1,0},      //3
-                    {1,1,1,0,0,0,0,0,1,1,1,0,0,0,0,0,0,0,0,1,0,0,0,0,1,1,1,0,1,1,1,0},      //4
-                    {1,1,1,0,0,0,0,0,1,1,1,0,0,0,0,0,1,0,0,1,0,0,0,0,0,1,1,0,1,1,1,0},      //5
-                    {1,1,1,0,0,0,0,0,1,1,1,0,0,0,0,0,0,1,0,1,0,0,0,0,1,0,1,0,1,1,1,0},      //6
-                    {1,1,1,0,0,0,0,0,1,1,1,0,0,0,0,0,0,0,1,1,0,0,0,0,1,1,0,0,1,1,1,0},      //7
-                    {1,1,1,0,0,0,0,0,1,1,1,0,0,0,0,0,1,0,1,1,0,0,0,0,0,1,0,0,1,1,1,0},      //8
-                    {1,1,1,0,0,0,0,0,1,1,1,0,0,0,0,0,0,1,1,1,0,0,0,0,1,0,0,0,1,1,1,0}};     //9
+PwmOut U_pwm(PTE29);
+AnalogOut U_analog(PTE30);
+AnalogIn Y(A0);
+DigitalOut pwm_analog(PTC6);
 
 
 int main()
 {
+    int C1 = 0x0C;
+    int m = 0;
+    int Lugar = 0; // Definen el punto en el cual va el programa
+    int i = 0;
+    int pos = 0;  
+    int Kp = 1, Ki = 1, Kd = 1, Sp = 0;
+    float sp_temp = 0;
+    float T1 = 0.1, T2 = 0.1, T3 = 0.1;
+    int flag_pwm = 0;
+    float periodo;
+    float Frecuencia = 2000; 
+    float pid = 0,ai = 0,ad = 0,ap = 0,med = 0,err = 0;
+    float err_v;
+    int tiempo = 0, sec = 0, sec_ant = 0;
+    
     Rtc_Ds1307::Time_rtc tm = {};
-    Rtc_Ds1307::Time_rtc Alarm[7] = {};
     lcd.cls();
     lcd.writeCommand(C1);//escribimos un comando segun el manual del modulo LCD
     lcd.locate(0,0);
+    rtc.getTime(tm);
     periodo=(1/Frecuencia);
-    Sonido.period(periodo);
-    rtc.getTime(tm); //lee el tiempo del DS1307
-    Sonido.write(255);
-
+    U_pwm.period(periodo);
+    U_pwm.pulsewidth(0);
+    U_analog = 0.0;
+    pwm_analog = 0;
+    
 
     while(1)
     {
         switch (Lugar)
         {   
-            case 0:
-            
-                rtc.getTime(tm);
+            case 0:             // Seleccionar Configuracion 
                 m = wheel.getPulses();
                 if(m != 0)
                     {                        
@@ -76,478 +57,433 @@
                         m = 0;        
                         lcd.cls();                               
                     }
-                if(pos > 7)
-                    {                        
-                        pos = -1;                                       
-                    }
-                if(pos < -1)
-                    {                        
-                        pos = 7;                                       
-                    }    
-                if(pos == 0)
-                {   
-                    lcd.locate(0,0);                        
-                    lcd.printf("Time:   ");
-                    lcd.locate(8,0);    
-                    lcd.printf("%02d:",tm.hour);
-                    lcd.printf("%02d:",tm.min);
-                    lcd.printf("%02d",tm.sec);   
-                    lcd.locate(0,1);
-                    lcd.printf("%02d/",tm.mon);
-                    lcd.printf("%02d/",tm.date);
-                    lcd.printf("%02d",tm.year);
-                    wait(0.1);
-                }
+                if(pos > 3){pos = 0;}
+                if(pos < 0){pos = 3;}    
                 
-                if(pos == -1)
-                {   
-                    lcd.locate(0,0);                        
-                    lcd.printf("Alarm Setup IRDA");
-                    wait(0.1);
-                }
-                
-                
-                if(pos > 0)
+                switch(pos)
                 {
-                    lcd.locate(0,0);    
-                    lcd.printf("Alarm %d", pos);
-                    lcd.locate(8,0);    
-                    lcd.printf("%02d:",Alarm[pos - 1].hour);
-                    lcd.printf("%02d:",Alarm[pos - 1].min);
-                    lcd.printf("%02d",Alarm[pos - 1].sec);  
-                    lcd.locate(0,1);
-                    lcd.printf("%02d/",Alarm[pos - 1].mon);
-                    lcd.printf("%02d/",Alarm[pos - 1].date);
-                    lcd.printf("%02d",Alarm[pos - 1].year);
-                    lcd.locate(13,1);
-                    if((state_alarms&(pot[pos - 1])) == pot[pos - 1])
-                    {
-                        lcd.printf("On ");
-                    }
-                    else
-                    {
-                        lcd.printf("Off");
-                    }
-                    
-                    wait(0.1);
-                }
-                for(j=0;j<7;j++)
-                {
-                    if( (tm.date==Alarm[j].date)&&(tm.mon==Alarm[j].mon)&&(tm.year==Alarm[j].year)&&(tm.hour==Alarm[j].hour)&&(tm.min==Alarm[j].min)&&(tm.sec==Alarm[j].sec)&&((state_alarms&(pot[j])) == pot[j]))
-                    {
-                        Lugar = 2;
-                        lcd.cls();
+                    case 0:         
+                        lcd.locate(0,0);                        
+                        lcd.printf("Kp: %03d", Kp);
+                        lcd.locate(8,0);                        
+                        lcd.printf("Ki: %03d", Ki);
+                        lcd.locate(0,1);                        
+                        lcd.printf("Kd: %03d", Kd);
+                        lcd.locate(8,1);                        
+                        lcd.printf("Sp: %03d", Sp);
+                        wait(0.1);
+                    break;
+                    case 1:
                         lcd.locate(0,0);                        
-                        lcd.printf("Active Alarm%d!!!",(j+1));
+                        lcd.printf("T1: %0.1f", T1);
+                        lcd.locate(8,0);                        
+                        lcd.printf("T2: %0.1f", T2);
+                        lcd.locate(0,1);                        
+                        lcd.printf("T3: %0.1f", T3);
+                        lcd.locate(8,1);                        
+                        lcd.printf("(min)");
+                        wait(0.1);
+                    break;
+                    case 2:
+                        lcd.locate(0,0);                        
+                        lcd.printf("Setup Out");
                         lcd.locate(0,1);
-                        lcd.printf("->Disable ");                       
-                        lcd.locate(10,1);                   
-                        lcd.printf("--5min");
-                        pos_alarm = j;
-                    }
+                        if(flag_pwm == 0)
+                        {
+                            lcd.printf("-> Pwm -- Analog");                    
+                        }
+                        else
+                        {
+                            lcd.printf("-- Pwm -> Analog");                    
+                        }
+                    break;
+                    case 3:
+                        lcd.locate(0,0);                        
+                        lcd.printf("Start PID");
+                    break;
                 }
                 
                 if (button_enco.falling())      //si se pulsa boton encoder
                 {  
-                    if(pos == -1)
-                    {Lugar = 3;
-                    lcd.cls();}
-                    else
-                        {Lugar = 1;}
-                
+                    if(pos == 0)
+                    {
+                        Lugar = 1;
+                        i = 0;
+                        lcd.cls();
+                        lcd.locate(0,0);
+                        lcd.printf("Kp: ");
+                    }
+                    if(pos == 1)
+                    {
+                        Lugar = 2;
+                        i = 0;
+                        lcd.cls();
+                        lcd.locate(0,0);
+                        lcd.printf("T1: ");
+                    }
+                    if(pos == 2)
+                    {
+                        Lugar = 3;
+                    }
+                    if(pos == 3)
+                    {
+                        Lugar = 4;
+                        lcd.cls();
+                        tm.min = 0;
+                        tm.sec = 0;
+                        tm.hour = 1;
+                        tm.mon = 1;
+                        tm.date = 1;
+                        tm.year = 2018;
+                        rtc.setTime(tm, false, false);
+                        
+                        rtc.startClock();
+                        lcd.locate(0,1);                        
+                        lcd.printf("Time: ");
+                    }
                 }
              
             break;
             
-            case 1:
+            case 1:                 // Configurar Constantes
                 switch(i)
-                {
-                    case 0:
-                        if(pos == 0)
-                        {
-                            lcd.cls();
-                            lcd.locate(0,0);
-                            lcd.printf("Time Setup");                           
-                        } 
-                                              
-                        if(pos > 0)
-                        {
-                            lcd.cls();
-                            lcd.locate(0,0);
-                            lcd.printf("Alarm %d Setup", pos);                             
-                        }  
-                        wait(1);
-                        i++;
-                        lcd.cls();
-                        lcd.locate(0,0);
-                        lcd.printf("Day: ");
-                    break;
-                    
-                    case 1:
+                {                    
+                    case 0:         // Establecer Kp
                         m = wheel.getPulses();        
                         if (m != 0) 
                         {
-                            tm.date = tm.date + m;
-                            if(tm.date > 31)
+                            Kp = Kp + m;
+                            if(Kp > 99)
                             {
-                                tm.date = 1;
+                                Kp = 0;
                             }
-                            if(tm.date < 1)
+                            if(Kp < 0)
                             {
-                                tm.date = 31;
+                                Kp = 99;
                             }
                             wheel.reset();  
                             m = 0;
                         }
-                        lcd.locate(5,0);
-                        lcd.printf("%02d",tm.date);
+                        lcd.locate(4,0);
+                        lcd.printf("%03d",Kp);
                         
                         if (button_enco.falling())
                         {
                             i++;
                             lcd.cls();
                             lcd.locate(0,0);
-                            lcd.printf("Month: ");
+                            lcd.printf("Ki: ");
                         }
                     break;
                     
-                    case 2:
+                    case 1:             // Establecer Ki
                         m = wheel.getPulses();        
                         if (m != 0) 
                         {
-                            tm.mon = tm.mon + m;
-                            if(tm.mon > 12)
+                            Ki = Ki + m;
+                            if(Ki > 99)
                             {
-                                tm.mon = 1;
+                                Ki = 0;
                             }
-                            if(tm.mon < 1)
+                            if(Ki < 0)
                             {
-                                tm.mon = 12;
+                                Ki = 99;
                             }
                             wheel.reset();  
                             m = 0;
                         }
-                        lcd.locate(7,0);
-                        lcd.printf("%02d",tm.mon);
+                        lcd.locate(4,0);
+                        lcd.printf("%03d",Ki);
                         
                         if (button_enco.falling())
                         {
                             i++;
                             lcd.cls();
                             lcd.locate(0,0);
-                            lcd.printf("Year: ");
+                            lcd.printf("Kd: ");
                         }
                     break;
                     
-                    case 3:
+                    case 2:             // Establecer Kd
                         m = wheel.getPulses();        
                         if (m != 0) 
                         {
-                            tm.year = tm.year + m;
-                            if(tm.year < 2000)
+                            Kd = Kd + m;
+                            if(Kd > 99)
                             {
-                                tm.year = 2000;
+                                Kd = 0;
+                            }
+                            if(Kd < 0)
+                            {
+                                Kd = 99;
                             }
                             wheel.reset();  
                             m = 0;
                         }
-                        lcd.locate(6,0);
-                        lcd.printf("%02d",tm.year);
-                        
-                        if (button_enco.falling())
-                        {
-                            i++;
-                            lcd.cls();
-                            lcd.locate(0,0);
-                            lcd.printf("Hours: ");
-                        }
-                    break;
-                    
-                    case 4:
-                        m = wheel.getPulses();    
-                        if (m != 0) 
-                        {
-                            tm.hour = tm.hour + m;
-                            if(tm.hour > 23)
-                            {
-                                tm.hour = 0;
-                            }
-                            if(tm.hour < 0)
-                            {
-                                tm.hour = 23;
-                            }
-                            wheel.reset();  
-                            m = 0;
-                        }
-                        lcd.locate(7,0);
-                        lcd.printf("%02d",tm.hour);
+                        lcd.locate(4,0);
+                        lcd.printf("%03d",Kd);
                         
                         if (button_enco.falling())
                         {
                             i++;
                             lcd.cls();
                             lcd.locate(0,0);
-                            lcd.printf("Minutes: ");
+                            lcd.printf("Sp: ");
                         }
-                    
                     break;
                     
-                    case 5:
+                    case 3:                 // Establecer Sp
                         m = wheel.getPulses();        
                         if (m != 0) 
                         {
-                            tm.min = tm.min + m;
-                            if(tm.min > 59)
+                            Sp = Sp + m*1;
+                            if(Sp > 100)
                             {
-                                tm.min = 0;
+                                Sp = 0;
                             }
-                            if(tm.min < 0)
+                            if(Sp < 0)
                             {
-                                tm.min = 59;
+                                Sp = 100;
                             }
-                            
                             wheel.reset();  
                             m = 0;
                         }
-                        lcd.locate(9,0);
-                        lcd.printf("%02d",tm.min);
+                        lcd.locate(4,0);
+                        lcd.printf("%03d",Sp);
+                        
+                        if (button_enco.falling())
+                        {
+                                lcd.cls();
+                                lcd.locate(0, 0);
+                                lcd.printf("Parameters Set");      
+                                wait(1);
+                                i = 0;
+                                Lugar = 0;
+                                lcd.cls();                                             
+                        }
+                        
+                    break;
+                }            
+            break;
+                
+            
+            case 2:                 // Configurar Tiempos
+                switch(i)
+                {                    
+                    case 0:         // Establecer T1
+                        m = wheel.getPulses();        
+                        if (m != 0) 
+                        {
+                            T1 = T1 + m*0.1;
+                            if(T1 > 5.0)
+                            {
+                                T1 = 0.1;
+                            }
+                            if(T1 < 0.1)
+                            {
+                                T1 = 5.0;
+                            }
+                            wheel.reset();  
+                            m = 0;
+                        }
+                        lcd.locate(4,0);
+                        lcd.printf("%0.1f (min)",T1);
                         
                         if (button_enco.falling())
                         {
                             i++;
                             lcd.cls();
                             lcd.locate(0,0);
-                            lcd.printf("Seconds: ");
+                            lcd.printf("T2: ");
+                            T2 = T1 + 0.1;
                         }
                     break;
                     
-                    
-                    case 6:
+                    case 1:             // Establecer T2
                         m = wheel.getPulses();        
                         if (m != 0) 
                         {
-                            tm.sec = tm.sec + m;
-                            if(tm.sec > 59)
+                            T2 = T2 + m*0.1;
+                            if(T2 > 5.0)
                             {
-                                tm.sec = 0;
+                                T2 = T1 + 0.1;
                             }
-                            if(tm.sec < 0)
+                            if(T2 < (T1 + 0.1))
                             {
-                                tm.sec = 59;
+                                T2 = 5.0;
                             }
                             wheel.reset();  
                             m = 0;
                         }
-                        lcd.locate(9,0);
-                        lcd.printf("%02d",tm.sec);
+                        lcd.locate(4,0);
+                        lcd.printf("%0.1f (min)",T2);
                         
                         if (button_enco.falling())
                         {
-                            if(pos==0)
+                            i++;
+                            lcd.cls();
+                            lcd.locate(0,0);
+                            lcd.printf("T3: ");
+                            T3 = T2 + 0.1;
+                        }
+                    break;
+                    
+                    case 2:             // Establecer T3
+                        m = wheel.getPulses();        
+                        if (m != 0) 
+                        {
+                            T3 = T3 + m*0.1;
+                            if(T3 > 5.0)
                             {
-                                rtc.setTime(tm, false, false);
-                                rtc.startClock();
+                                T3 = T2 + 0.1;
+                            }
+                            if(T3 < (T2 + 0.1))
+                            {
+                                T3 = 5.0;
+                            }
+                            wheel.reset();  
+                            m = 0;
+                        }
+                        lcd.locate(4,0);
+                        lcd.printf("%0.1f (min)",T3);
+                        
+                        if (button_enco.falling())
+                        {
                                 lcd.cls();
                                 lcd.locate(0, 0);
                                 lcd.printf("Time Set");      
                                 wait(1);
                                 i = 0;
                                 Lugar = 0;
-                                lcd.cls();                      
-                            } 
-                            if(pos > 0)
-                            {
-                                i++;
-                                lcd.cls();
-                                lcd.locate(0,0);
-                                lcd.printf("Enable: Off");
-                            }                          
-                        }
-                    break;
-                    
-                    case 7:
-                        m = wheel.getPulses();        
-                        if (m != 0) 
-                        {
-                            if(flag == 0)
-                            {
-                                lcd.locate(8,0);
-                                lcd.printf("On ");
-                                flag = 1;           //se activa la alarma
-                            }
-                            else 
-                            if(flag == 1)
-                            {
-                                lcd.locate(8,0);
-                                lcd.printf("Off");
-                                flag = 0;           //se desactiva la alarma
-                            }
-                            wheel.reset();  
-                            m = 0;
+                                lcd.cls();                                             
                         }
                         
-                        if (button_enco.falling())
-                        {
-                            if(flag == 1)
-                            {
-                                state_alarms = state_alarms | pot[(pos - 1)];
-                            }
-                            if(flag == 0)
-                            {
-                                state_alarms = state_alarms & pot1[(pos - 1)];
-                            }
-                            Alarm[pos - 1] = tm;
-                            lcd.cls();
-                            lcd.locate(0,0);
-                            lcd.printf("Alarm %d Set", pos);
-                            wait(1);
-                            i = 0;
-                            Lugar = 0;
-                            flag = 0;
-                            lcd.cls();
-                        }
                     break;
                 }            
             break;
             
-            case 2:
-                Sonido.write(0.5);
-                wait(0.2);
-                Sonido.write(255);
-                wait(0.2);
-                Sonido.write(0.5);
-                wait(0.2);
-                Sonido.write(255);
-                wait(0.2);
-                
+            case 3:             // Configurar salida
+            
                 m = wheel.getPulses();
-                    
-                if(alarma == 0)       //pos_alarm
+                if(flag_pwm == 0)
                 {   
                     if(m != 0)
                     {                        
-                        alarma = 1;
+                        flag_pwm = 1;
                         wheel.reset();
                         m = 0;
                         lcd.locate(1,1);
                         lcd.printf("-");                    
-                        lcd.locate(11,1);
+                        lcd.locate(8,1);
                         lcd.printf(">");                                          
                     }
                 }
                 
-                if(alarma == 1)
+                if(flag_pwm == 1)
                 {
                     if(m != 0)
                     {                        
-                        alarma = 0;
+                        flag_pwm = 0;
                         wheel.reset();
                         m = 0;
                         lcd.locate(1,1);
                         lcd.printf(">");                    
-                        lcd.locate(11,1);
+                        lcd.locate(8,1);
                         lcd.printf("-");                                          
                     }
                 }
                 
                 if (button_enco.falling())
                 {
-                    if(alarma == 0)
-                    {
-                        wheel.reset();
-                        m=0;
-                        Sonido.write(255);
-                        lcd.cls();
-                        wait(0.5);
-                        
-                    }
-                    if(alarma==1)
-                    {
-                        rtc.getTime(tm);
-                        if(tm.min >= 55)
-                        {
-                            Alarm[pos_alarm].min = (tm.min + 5) - 60;
-                            Alarm[pos_alarm].hour = tm.hour + 1;
-                        }
-                        else
-                        {
-                            Alarm[pos_alarm].min = tm.min + 5;
-                        }
-                        lcd.cls();
-                        alarma=0;
-                        
-                    }
+                    lcd.cls();
+                    lcd.locate(0, 0);
+                    lcd.printf("Out Set"); 
+                    if(flag_pwm == 1){pwm_analog = 1;}
+                    else{pwm_analog = 0;}
+                    
+                    wait(1);
                     Lugar = 0;
+                    lcd.cls();                                             
                 }
+                
             break;
             
-            case 3:
-        lcd.locate(0,0);
-        lcd.printf("Waiting IRDA");    
-        header = 0;
-        header = irda.read_low_us();    //funcion para leer un pulso de caida o bajo
-        if (header > head_L && header < head_H)//verificar que este en la tolerancia +-20%
+            
+            case 4:             // CICLO PRINCIPAL CONTROLADOR PID
+lop1:           rtc.getTime(tm);
+                lcd.locate(0,0);
+                lcd.printf("%Y : %0.0f     ", med);
+                lcd.locate(6,1);    
+                lcd.printf("%02d:",tm.min);
+                lcd.printf("%02d",tm.sec); 
+        
+        tiempo = tm.sec + tm.min*60; 
+        sec = tm.sec;
+        
+        if(sec != sec_ant)
         {
-            //leo los datos de la trama y se meten a un arreglo
-            wait_us(2000);
-            for(g = 0; g<(num_bits-1); g++) // POR OSCILOSCOPIO se determina que llegan (num_bits),datos
+            sec_ant = sec;
+            if(tiempo <= (T1*60))
             {
-                dato = irda.read_high_us(); //leer un bit de datos que es pulso arriba en este control
-                num[g]=dato;
-                wait_us(332);
+                sp_temp = sp_temp + Sp/(T1*60); 
             }
-            for(g = 0; g<num_bits; g++)       // guardo la secuancia en binario
-            {
-                if(num[g] > ((T_alto+T_bajo)/2)){sec[g]=1;}
-                else {sec[g]=0;}   
-            }
-            for(h = 0; h < 8; h++)
+            
+            if( (tiempo > (T2*60))  && (tiempo < (T3*60)) )
             {
-                for(g = 0; g < 32; g++)
-                {
-                    if(sec[g]==boton[h][g]) //en caso de que un bit no coincida se descarta el boton 1
-                    {
-                        count++;
-                        if(count==32)
-                        {
-                            boton_sel = h - 1;
-                            lcd.cls();
-                            lcd.locate(0,0);
-                            lcd.printf("Alarm %d: ",(boton_sel+1));
-                            if(boton_sel >= 0)
-                            {
-                                if((state_alarms&(pot[boton_sel])) == pot[boton_sel])
-                                {
-                                    state_alarms = state_alarms & pot1[boton_sel];
-                                    lcd.locate(10,0);
-                                    lcd.printf("Off");
-                                    wait(1.5);
-                                    lcd.cls();                      
-                                }
-                                else
-                                {
-                                    state_alarms = state_alarms | pot[boton_sel];
-                                    lcd.locate(10,0);
-                                    lcd.printf("On ");
-                                    wait(1.5);
-                                    lcd.cls();
-                                }
-                            }
-                            else
-                            {
-                                Lugar = 0;
-                                pos = 0;
-                                lcd.cls();
-                            }
-                        }
-                    }
-                }
-                count = 0;
+                sp_temp = sp_temp + ((10)-Sp)/((T3*60)-(T2*60)); 
             }
+            //if(tiempo > (T3*60))
+            //{
+            //sp_temp = 0;
+            //}
+        }   
+        med = Y.read()*100.0;
+        err = (sp_temp-med);  //se calcula el error
+        ap = Kp*10*err*0.01f;     //se calcula la accion proporcinal
+        ai =(Ki*10*err*0.01f)+ai;    //calculo de la integral del error
+        ad = Kd*10*(err-err_v)*0.01f; //calculo de la accion derivativa
+        pid = (ap+ai+ad);
+        // se verifica que pid sea positivo **************************************
+        if(pid<0)
+        {
+            pid = 0;
         }
-        
+
+        // se verifica que pid sea menor o igual la valor maximo *****************
+        if (pid > 100)
+        {
+            pid = 100;
+        }
+
+        //Normalizacion de la salida
+        // se actualizan las variables *******************************************
+        err_v = err;
+        U_analog = pid/100;
+        U_pwm.pulsewidth(U_analog*periodo);
+        //  se envia el valor pid a puerto analogico de salida (D/A) **************
+        //  se repite el ciclo
+        if (button_enco.falling())
+        {
+            lcd.cls();
+            lcd.locate(0, 0);
+            lcd.printf("PID Stop");      
+            wait(1);
+            Lugar = 0;
+            lcd.cls();  
+            U_analog = 0.0; 
+            U_pwm.pulsewidth(0);
+            sec = 0;
+            sec_ant = 0;                                  
+        }
+        else
+        {        
+        wait_ms(300);
+        goto lop1;
+         } 
+         
+               
+        break;
             
-            break;
         }             
     }       
-}
+}
\ No newline at end of file