Camilo Londoño
/
Tarea4_pid_horno
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Dependencies: Debounced Pulse1 QEI RTC-DS1307 TextLCD mbed
Fork of
Tarea3_procesadores_Ds1307
by 
Camilo Londoño
main.cpp
- Committer:
- jclondonol
- Date:
- 2018-06-01
- Revision:
- 3:35a40be1047f
- Parent:
- 2:bef1b1c9e387
File content as of revision 3:35a40be1047f:
#include "mbed.h"
#include "DebouncedIn.h"
#include "TextLCD.h"
#include "QEI.h"
#include "Rtc_Ds1307.h"
#include <Pulse1.h>
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 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 = {};
lcd.cls();
lcd.writeCommand(C1);//escribimos un comando segun el manual del modulo LCD
lcd.locate(0,0);
rtc.getTime(tm);
periodo=(1/Frecuencia);
U_pwm.period(periodo);
U_pwm.pulsewidth(0);
U_analog = 0.0;
pwm_analog = 0;
while(1)
{
switch (Lugar)
{
case 0: // Seleccionar Configuracion
m = wheel.getPulses();
if(m != 0)
{
wheel.reset();
pos = pos + m;
m = 0;
lcd.cls();
}
if(pos > 3){pos = 0;}
if(pos < 0){pos = 3;}
switch(pos)
{
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("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);
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 == 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: // Configurar Constantes
switch(i)
{
case 0: // Establecer Kp
m = wheel.getPulses();
if (m != 0)
{
Kp = Kp + m;
if(Kp > 99)
{
Kp = 0;
}
if(Kp < 0)
{
Kp = 99;
}
wheel.reset();
m = 0;
}
lcd.locate(4,0);
lcd.printf("%03d",Kp);
if (button_enco.falling())
{
i++;
lcd.cls();
lcd.locate(0,0);
lcd.printf("Ki: ");
}
break;
case 1: // Establecer Ki
m = wheel.getPulses();
if (m != 0)
{
Ki = Ki + m;
if(Ki > 99)
{
Ki = 0;
}
if(Ki < 0)
{
Ki = 99;
}
wheel.reset();
m = 0;
}
lcd.locate(4,0);
lcd.printf("%03d",Ki);
if (button_enco.falling())
{
i++;
lcd.cls();
lcd.locate(0,0);
lcd.printf("Kd: ");
}
break;
case 2: // Establecer Kd
m = wheel.getPulses();
if (m != 0)
{
Kd = Kd + m;
if(Kd > 99)
{
Kd = 0;
}
if(Kd < 0)
{
Kd = 99;
}
wheel.reset();
m = 0;
}
lcd.locate(4,0);
lcd.printf("%03d",Kd);
if (button_enco.falling())
{
i++;
lcd.cls();
lcd.locate(0,0);
lcd.printf("Sp: ");
}
break;
case 3: // Establecer Sp
m = wheel.getPulses();
if (m != 0)
{
Sp = Sp + m*1;
if(Sp > 100)
{
Sp = 0;
}
if(Sp < 0)
{
Sp = 100;
}
wheel.reset();
m = 0;
}
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("T2: ");
T2 = T1 + 0.1;
}
break;
case 1: // Establecer T2
m = wheel.getPulses();
if (m != 0)
{
T2 = T2 + m*0.1;
if(T2 > 5.0)
{
T2 = T1 + 0.1;
}
if(T2 < (T1 + 0.1))
{
T2 = 5.0;
}
wheel.reset();
m = 0;
}
lcd.locate(4,0);
lcd.printf("%0.1f (min)",T2);
if (button_enco.falling())
{
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)
{
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();
}
break;
}
break;
case 3: // Configurar salida
m = wheel.getPulses();
if(flag_pwm == 0)
{
if(m != 0)
{
flag_pwm = 1;
wheel.reset();
m = 0;
lcd.locate(1,1);
lcd.printf("-");
lcd.locate(8,1);
lcd.printf(">");
}
}
if(flag_pwm == 1)
{
if(m != 0)
{
flag_pwm = 0;
wheel.reset();
m = 0;
lcd.locate(1,1);
lcd.printf(">");
lcd.locate(8,1);
lcd.printf("-");
}
}
if (button_enco.falling())
{
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 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)
{
sec_ant = sec;
if(tiempo <= (T1*60))
{
sp_temp = sp_temp + Sp/(T1*60);
}
if( (tiempo > (T2*60)) && (tiempo < (T3*60)) )
{
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;
}
}
}