Jose Calle
/
PID_Simpl_Reto
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Dependencies: Debounced TextLCD1 mbed
main.cpp@1:ce04971eceb4, 2013-11-01 (annotated)
- Committer:
- jmcallef
- Date:
- Fri Nov 01 00:51:04 2013 +0000
- Revision:
- 1:ce04971eceb4
- Parent:
- 0:ab047fb2215f
- Child:
- 2:12dac32e2a8b
IIII
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| jmcallef | 0:ab047fb2215f | 1 | #include "mbed.h" |
| jmcallef | 0:ab047fb2215f | 2 | #include "DebouncedIn.h" |
| jmcallef | 0:ab047fb2215f | 3 | #include "TextLCD.h" |
| jmcallef | 0:ab047fb2215f | 4 | |
| jmcallef | 0:ab047fb2215f | 5 | AnalogIn Vin(PTC2); |
| jmcallef | 0:ab047fb2215f | 6 | TextLCD lcd(PTB10, PTB11, PTE2, PTE3, PTE4, PTE5); // rs, e, d4-d7 |
| jmcallef | 0:ab047fb2215f | 7 | |
| jmcallef | 0:ab047fb2215f | 8 | DigitalOut led1(LED1); |
| jmcallef | 0:ab047fb2215f | 9 | DigitalOut led2(LED2); |
| jmcallef | 0:ab047fb2215f | 10 | DigitalOut led3(LED3); |
| jmcallef | 0:ab047fb2215f | 11 | DigitalOut led4(LED4); |
| jmcallef | 0:ab047fb2215f | 12 | DebouncedIn button1(PTC12); // Aumento |
| jmcallef | 0:ab047fb2215f | 13 | DebouncedIn button2(PTC13); // Disminución |
| jmcallef | 0:ab047fb2215f | 14 | DebouncedIn button3(PTC16); // Cambio de variable |
| jmcallef | 0:ab047fb2215f | 15 | DebouncedIn button4(PTC17); // Reset |
| jmcallef | 0:ab047fb2215f | 16 | |
| jmcallef | 0:ab047fb2215f | 17 | int C1=0x0E; // solo muestra el curzor. |
| jmcallef | 0:ab047fb2215f | 18 | int C2=0x18; // desplaza izquierda. |
| jmcallef | 0:ab047fb2215f | 19 | int C3=0x1A; // desplaza derecha. |
| jmcallef | 0:ab047fb2215f | 20 | int C4=0x0C; // quito cursor bajo. |
| jmcallef | 0:ab047fb2215f | 21 | |
| jmcallef | 0:ab047fb2215f | 22 | int i; // Indice de la variable. |
| jmcallef | 0:ab047fb2215f | 23 | int j; // Controla cambio de posición. |
| jmcallef | 0:ab047fb2215f | 24 | int kp, ki, kd, sp, cont; |
| jmcallef | 0:ab047fb2215f | 25 | int med, pid, err, ap, ai, ad, err_v; |
| jmcallef | 0:ab047fb2215f | 26 | |
| jmcallef | 0:ab047fb2215f | 27 | int main(){ |
| jmcallef | 0:ab047fb2215f | 28 | lcd.writeCommand(C1); // Escribimos un comando segun el manual del modulo LCD |
| jmcallef | 0:ab047fb2215f | 29 | lcd.cls(); // Borro toda la pantalla |
| jmcallef | 0:ab047fb2215f | 30 | lcd.locate(0,0); // Localizo donde se escribirá el siguiente comando. |
| jmcallef | 0:ab047fb2215f | 31 | lcd.printf("Sp %d",sp); // Escribe Sp (aparecen desde el punto (0,0) |
| jmcallef | 0:ab047fb2215f | 32 | lcd.locate(8,0); // Localizo donde se escribirá el siguiente comando. |
| jmcallef | 0:ab047fb2215f | 33 | lcd.printf("Kp %d",kp); // Escribe Kp (aparecen desde el punto (8,0) |
| jmcallef | 0:ab047fb2215f | 34 | lcd.locate(0,1); |
| jmcallef | 0:ab047fb2215f | 35 | lcd.printf("Ki %d",ki); |
| jmcallef | 0:ab047fb2215f | 36 | lcd.locate(8,1); |
| jmcallef | 0:ab047fb2215f | 37 | lcd.printf("Kd %d",kd); |
| jmcallef | 0:ab047fb2215f | 38 | |
| jmcallef | 0:ab047fb2215f | 39 | |
| jmcallef | 0:ab047fb2215f | 40 | while(1){ |
| jmcallef | 0:ab047fb2215f | 41 | led3 =1; |
| jmcallef | 0:ab047fb2215f | 42 | if (button3.falling()){ |
| jmcallef | 0:ab047fb2215f | 43 | led3 =!led3; // Prendo el LED color rojo cada vez que pulso el boton 3 ya que pasa a valer 0 (encendido). |
| jmcallef | 0:ab047fb2215f | 44 | ++j; |
| jmcallef | 0:ab047fb2215f | 45 | } // INCREMENTA POSICION DEL MENU CON BOTON 3 |
| jmcallef | 0:ab047fb2215f | 46 | if (j==0){ |
| jmcallef | 0:ab047fb2215f | 47 | lcd.locate(3,0); |
| jmcallef | 0:ab047fb2215f | 48 | lcd.printf("%d",sp); |
| jmcallef | 0:ab047fb2215f | 49 | wait(0.2); |
| jmcallef | 0:ab047fb2215f | 50 | |
| jmcallef | 0:ab047fb2215f | 51 | led1 = 1; |
| jmcallef | 0:ab047fb2215f | 52 | |
| jmcallef | 0:ab047fb2215f | 53 | if(button1.falling()) { |
| jmcallef | 0:ab047fb2215f | 54 | led1 =!led1; // Prendo el LED color azul cada vez que pulso el boton 1 ya que pasa a valer 0 (encendido). |
| jmcallef | 0:ab047fb2215f | 55 | //++sp; // Incrementa valor al pulsar el botón --> Ahora no lo usamos acá ya que necesitamos incremental. |
| jmcallef | 0:ab047fb2215f | 56 | |
| jmcallef | 0:ab047fb2215f | 57 | |
| jmcallef | 0:ab047fb2215f | 58 | // Ahora comienza el incremental. |
| jmcallef | 0:ab047fb2215f | 59 | |
| jmcallef | 0:ab047fb2215f | 60 | if (!button1) { |
| jmcallef | 0:ab047fb2215f | 61 | cont=0; |
| jmcallef | 0:ab047fb2215f | 62 | wait(0.2); |
| jmcallef | 0:ab047fb2215f | 63 | |
| jmcallef | 0:ab047fb2215f | 64 | while(cont<20){ |
| jmcallef | 0:ab047fb2215f | 65 | cont = cont + 1; |
| jmcallef | 0:ab047fb2215f | 66 | sp=sp+1; |
| jmcallef | 0:ab047fb2215f | 67 | if (sp>1000){ // Ponemos un tope incremental en 1.000 |
| jmcallef | 0:ab047fb2215f | 68 | sp=1000; |
| jmcallef | 0:ab047fb2215f | 69 | } |
| jmcallef | 0:ab047fb2215f | 70 | lcd.locate(0,0); |
| jmcallef | 0:ab047fb2215f | 71 | lcd.printf("Sp %d",sp); |
| jmcallef | 0:ab047fb2215f | 72 | |
| jmcallef | 0:ab047fb2215f | 73 | wait(0.3); |
| jmcallef | 0:ab047fb2215f | 74 | if(button1){ |
| jmcallef | 0:ab047fb2215f | 75 | break; |
| jmcallef | 0:ab047fb2215f | 76 | } |
| jmcallef | 0:ab047fb2215f | 77 | while(cont>=20 and cont<=40){ |
| jmcallef | 0:ab047fb2215f | 78 | cont=cont+1; |
| jmcallef | 0:ab047fb2215f | 79 | sp=sp+10; |
| jmcallef | 0:ab047fb2215f | 80 | if (sp>1000){ // Ponemos un tope incremental en 10.000 |
| jmcallef | 0:ab047fb2215f | 81 | sp=1000; |
| jmcallef | 0:ab047fb2215f | 82 | } |
| jmcallef | 0:ab047fb2215f | 83 | lcd.locate(0,0); |
| jmcallef | 0:ab047fb2215f | 84 | lcd.printf("Sp %d",sp); |
| jmcallef | 0:ab047fb2215f | 85 | |
| jmcallef | 0:ab047fb2215f | 86 | wait(0.3); |
| jmcallef | 0:ab047fb2215f | 87 | if(button1){ |
| jmcallef | 0:ab047fb2215f | 88 | break; |
| jmcallef | 0:ab047fb2215f | 89 | } |
| jmcallef | 0:ab047fb2215f | 90 | |
| jmcallef | 0:ab047fb2215f | 91 | while(cont>40){ |
| jmcallef | 0:ab047fb2215f | 92 | cont = cont + 1; |
| jmcallef | 0:ab047fb2215f | 93 | sp=sp+100; |
| jmcallef | 0:ab047fb2215f | 94 | if (sp>1000){ // Ponemos un tope incremental en 10.000 |
| jmcallef | 0:ab047fb2215f | 95 | sp=1000; |
| jmcallef | 0:ab047fb2215f | 96 | } |
| jmcallef | 0:ab047fb2215f | 97 | lcd.locate(0,0); |
| jmcallef | 0:ab047fb2215f | 98 | lcd.printf("Sp %d",sp); |
| jmcallef | 0:ab047fb2215f | 99 | |
| jmcallef | 0:ab047fb2215f | 100 | wait(0.3); |
| jmcallef | 0:ab047fb2215f | 101 | if(button1){ |
| jmcallef | 0:ab047fb2215f | 102 | break; |
| jmcallef | 0:ab047fb2215f | 103 | } |
| jmcallef | 0:ab047fb2215f | 104 | } |
| jmcallef | 0:ab047fb2215f | 105 | } |
| jmcallef | 0:ab047fb2215f | 106 | } |
| jmcallef | 0:ab047fb2215f | 107 | } |
| jmcallef | 0:ab047fb2215f | 108 | |
| jmcallef | 0:ab047fb2215f | 109 | // Aqui termina el incremental. |
| jmcallef | 0:ab047fb2215f | 110 | } |
| jmcallef | 0:ab047fb2215f | 111 | |
| jmcallef | 0:ab047fb2215f | 112 | |
| jmcallef | 0:ab047fb2215f | 113 | led2 =1; |
| jmcallef | 0:ab047fb2215f | 114 | if (button2.falling()) { |
| jmcallef | 0:ab047fb2215f | 115 | led2 =!led2; // Prendo el LED color rojo cada vez que pulso el boton 2 ya que pasa a valer 0 (encendido). |
| jmcallef | 0:ab047fb2215f | 116 | |
| jmcallef | 0:ab047fb2215f | 117 | //--sp; // Reduce el valor al pulsar el botón. |
| jmcallef | 0:ab047fb2215f | 118 | } |
| jmcallef | 0:ab047fb2215f | 119 | |
| jmcallef | 0:ab047fb2215f | 120 | |
| jmcallef | 0:ab047fb2215f | 121 | // Ahora comienza el decremental. |
| jmcallef | 0:ab047fb2215f | 122 | |
| jmcallef | 0:ab047fb2215f | 123 | if (!button2) { |
| jmcallef | 0:ab047fb2215f | 124 | cont=0; |
| jmcallef | 0:ab047fb2215f | 125 | wait(0.2); |
| jmcallef | 0:ab047fb2215f | 126 | |
| jmcallef | 0:ab047fb2215f | 127 | while(cont<20){ |
| jmcallef | 0:ab047fb2215f | 128 | cont = cont + 1; |
| jmcallef | 0:ab047fb2215f | 129 | sp=sp-1; |
| jmcallef | 0:ab047fb2215f | 130 | |
| jmcallef | 0:ab047fb2215f | 131 | if (sp<=0){ // No permitimos valores negativos, definimos valor mínimo en 0. |
| jmcallef | 0:ab047fb2215f | 132 | sp=0; |
| jmcallef | 0:ab047fb2215f | 133 | } |
| jmcallef | 0:ab047fb2215f | 134 | lcd.locate(3,0); |
| jmcallef | 0:ab047fb2215f | 135 | lcd.printf(" "); |
| jmcallef | 0:ab047fb2215f | 136 | lcd.locate(0,0); |
| jmcallef | 0:ab047fb2215f | 137 | lcd.printf("Sp %d",sp); |
| jmcallef | 0:ab047fb2215f | 138 | |
| jmcallef | 0:ab047fb2215f | 139 | wait(0.3); |
| jmcallef | 0:ab047fb2215f | 140 | if(button2){ |
| jmcallef | 0:ab047fb2215f | 141 | break; |
| jmcallef | 0:ab047fb2215f | 142 | } |
| jmcallef | 0:ab047fb2215f | 143 | |
| jmcallef | 0:ab047fb2215f | 144 | while(cont>=20 and cont<=40){ |
| jmcallef | 0:ab047fb2215f | 145 | cont=cont+1; |
| jmcallef | 0:ab047fb2215f | 146 | sp=sp-10; |
| jmcallef | 0:ab047fb2215f | 147 | if (sp<0){ // No permitimos valores negativos, definimos valor mínimo en 0. |
| jmcallef | 0:ab047fb2215f | 148 | sp=0; |
| jmcallef | 0:ab047fb2215f | 149 | } |
| jmcallef | 0:ab047fb2215f | 150 | |
| jmcallef | 0:ab047fb2215f | 151 | lcd.locate(0,0); |
| jmcallef | 0:ab047fb2215f | 152 | lcd.printf("Sp %d ",sp); |
| jmcallef | 0:ab047fb2215f | 153 | |
| jmcallef | 0:ab047fb2215f | 154 | |
| jmcallef | 0:ab047fb2215f | 155 | wait(0.3); |
| jmcallef | 0:ab047fb2215f | 156 | if(button2){ |
| jmcallef | 0:ab047fb2215f | 157 | break; |
| jmcallef | 0:ab047fb2215f | 158 | } |
| jmcallef | 0:ab047fb2215f | 159 | |
| jmcallef | 0:ab047fb2215f | 160 | while(cont>40){ |
| jmcallef | 0:ab047fb2215f | 161 | cont = cont + 1; |
| jmcallef | 0:ab047fb2215f | 162 | sp=sp-100; |
| jmcallef | 0:ab047fb2215f | 163 | |
| jmcallef | 0:ab047fb2215f | 164 | if (sp<0){ // No permitimos valores negativos, definimos valor mínimo en 0. |
| jmcallef | 0:ab047fb2215f | 165 | sp=0; |
| jmcallef | 0:ab047fb2215f | 166 | } |
| jmcallef | 0:ab047fb2215f | 167 | |
| jmcallef | 0:ab047fb2215f | 168 | lcd.locate(0,0); |
| jmcallef | 0:ab047fb2215f | 169 | lcd.printf("Sp %d ",sp); |
| jmcallef | 0:ab047fb2215f | 170 | |
| jmcallef | 0:ab047fb2215f | 171 | |
| jmcallef | 0:ab047fb2215f | 172 | wait(0.3); |
| jmcallef | 0:ab047fb2215f | 173 | if(button2){ |
| jmcallef | 0:ab047fb2215f | 174 | break; |
| jmcallef | 0:ab047fb2215f | 175 | } |
| jmcallef | 0:ab047fb2215f | 176 | } |
| jmcallef | 0:ab047fb2215f | 177 | } |
| jmcallef | 0:ab047fb2215f | 178 | } |
| jmcallef | 0:ab047fb2215f | 179 | } |
| jmcallef | 0:ab047fb2215f | 180 | |
| jmcallef | 0:ab047fb2215f | 181 | // Aqui termina el decremental. |
| jmcallef | 0:ab047fb2215f | 182 | |
| jmcallef | 0:ab047fb2215f | 183 | |
| jmcallef | 0:ab047fb2215f | 184 | } |
| jmcallef | 0:ab047fb2215f | 185 | if (j==1){ |
| jmcallef | 0:ab047fb2215f | 186 | lcd.locate(11,0); |
| jmcallef | 0:ab047fb2215f | 187 | lcd.printf("%d",kp); |
| jmcallef | 0:ab047fb2215f | 188 | wait(0.3); |
| jmcallef | 0:ab047fb2215f | 189 | led1 =1; |
| jmcallef | 0:ab047fb2215f | 190 | if (button1.falling()) { |
| jmcallef | 0:ab047fb2215f | 191 | led1 =!led1; |
| jmcallef | 0:ab047fb2215f | 192 | // ++kp; |
| jmcallef | 0:ab047fb2215f | 193 | } |
| jmcallef | 0:ab047fb2215f | 194 | |
| jmcallef | 0:ab047fb2215f | 195 | // Ahora comienza el incremental. |
| jmcallef | 0:ab047fb2215f | 196 | |
| jmcallef | 0:ab047fb2215f | 197 | if (!button1) { |
| jmcallef | 0:ab047fb2215f | 198 | cont=0; |
| jmcallef | 0:ab047fb2215f | 199 | wait(0.2); |
| jmcallef | 0:ab047fb2215f | 200 | |
| jmcallef | 0:ab047fb2215f | 201 | while(cont<20){ |
| jmcallef | 0:ab047fb2215f | 202 | cont = cont + 1; |
| jmcallef | 0:ab047fb2215f | 203 | kp=kp+1; |
| jmcallef | 0:ab047fb2215f | 204 | if (kp>1000){ // Ponemos un tope incremental en 10.000 |
| jmcallef | 0:ab047fb2215f | 205 | kp=1000; |
| jmcallef | 0:ab047fb2215f | 206 | } |
| jmcallef | 0:ab047fb2215f | 207 | lcd.locate(8,0); |
| jmcallef | 0:ab047fb2215f | 208 | lcd.printf("Kp %d",kp); |
| jmcallef | 0:ab047fb2215f | 209 | |
| jmcallef | 0:ab047fb2215f | 210 | wait(0.3); |
| jmcallef | 0:ab047fb2215f | 211 | if(button1){ |
| jmcallef | 0:ab047fb2215f | 212 | break; |
| jmcallef | 0:ab047fb2215f | 213 | } |
| jmcallef | 0:ab047fb2215f | 214 | while(cont>=20){ |
| jmcallef | 0:ab047fb2215f | 215 | cont=cont+1; |
| jmcallef | 0:ab047fb2215f | 216 | kp=kp+10; |
| jmcallef | 0:ab047fb2215f | 217 | if (kp>1000){ // Ponemos un tope incremental en 10.000 |
| jmcallef | 0:ab047fb2215f | 218 | kp=1000; |
| jmcallef | 0:ab047fb2215f | 219 | } |
| jmcallef | 0:ab047fb2215f | 220 | lcd.locate(8,0); |
| jmcallef | 0:ab047fb2215f | 221 | lcd.printf("Kp %d",kp); |
| jmcallef | 0:ab047fb2215f | 222 | |
| jmcallef | 0:ab047fb2215f | 223 | wait(0.3); |
| jmcallef | 0:ab047fb2215f | 224 | if(button1){ |
| jmcallef | 0:ab047fb2215f | 225 | break; |
| jmcallef | 0:ab047fb2215f | 226 | } |
| jmcallef | 0:ab047fb2215f | 227 | |
| jmcallef | 0:ab047fb2215f | 228 | while(cont>40){ |
| jmcallef | 0:ab047fb2215f | 229 | cont = cont + 1; |
| jmcallef | 0:ab047fb2215f | 230 | kp=kp+100; |
| jmcallef | 0:ab047fb2215f | 231 | if (kp>1000){ // Ponemos un tope incremental en 10.000 |
| jmcallef | 0:ab047fb2215f | 232 | kp=1000; |
| jmcallef | 0:ab047fb2215f | 233 | } |
| jmcallef | 0:ab047fb2215f | 234 | lcd.locate(8,0); |
| jmcallef | 0:ab047fb2215f | 235 | lcd.printf("Kp %d",kp); |
| jmcallef | 0:ab047fb2215f | 236 | |
| jmcallef | 0:ab047fb2215f | 237 | wait(0.3); |
| jmcallef | 0:ab047fb2215f | 238 | if(button1){ |
| jmcallef | 0:ab047fb2215f | 239 | break; |
| jmcallef | 0:ab047fb2215f | 240 | } |
| jmcallef | 0:ab047fb2215f | 241 | } |
| jmcallef | 0:ab047fb2215f | 242 | } |
| jmcallef | 0:ab047fb2215f | 243 | } |
| jmcallef | 0:ab047fb2215f | 244 | } |
| jmcallef | 0:ab047fb2215f | 245 | |
| jmcallef | 0:ab047fb2215f | 246 | // Aqui termina el incremental. |
| jmcallef | 0:ab047fb2215f | 247 | } |
| jmcallef | 0:ab047fb2215f | 248 | |
| jmcallef | 0:ab047fb2215f | 249 | |
| jmcallef | 0:ab047fb2215f | 250 | led2 =1; |
| jmcallef | 0:ab047fb2215f | 251 | if (button2.falling()) { |
| jmcallef | 0:ab047fb2215f | 252 | led2 =!led2; // Prendo el LED color rojo cada vez que pulso el boton 2 ya que pasa a valer 0 (encendido). |
| jmcallef | 0:ab047fb2215f | 253 | |
| jmcallef | 0:ab047fb2215f | 254 | //--sp; // Reduce el valor al pulsar el botón. |
| jmcallef | 0:ab047fb2215f | 255 | } |
| jmcallef | 0:ab047fb2215f | 256 | |
| jmcallef | 0:ab047fb2215f | 257 | |
| jmcallef | 0:ab047fb2215f | 258 | // Ahora comienza el decremental. |
| jmcallef | 0:ab047fb2215f | 259 | |
| jmcallef | 0:ab047fb2215f | 260 | if (!button2) { |
| jmcallef | 0:ab047fb2215f | 261 | cont=0; |
| jmcallef | 0:ab047fb2215f | 262 | wait(0.2); |
| jmcallef | 0:ab047fb2215f | 263 | |
| jmcallef | 0:ab047fb2215f | 264 | while(cont<20){ |
| jmcallef | 0:ab047fb2215f | 265 | cont = cont + 1; |
| jmcallef | 0:ab047fb2215f | 266 | |
| jmcallef | 0:ab047fb2215f | 267 | kp=kp-1; |
| jmcallef | 0:ab047fb2215f | 268 | |
| jmcallef | 0:ab047fb2215f | 269 | if (kp<=0){ // No permitimos valores negativos, definimos valor mínimo en 0. |
| jmcallef | 0:ab047fb2215f | 270 | kp=0; |
| jmcallef | 0:ab047fb2215f | 271 | } |
| jmcallef | 0:ab047fb2215f | 272 | |
| jmcallef | 0:ab047fb2215f | 273 | lcd.locate(8,0); |
| jmcallef | 0:ab047fb2215f | 274 | lcd.printf(" "); |
| jmcallef | 0:ab047fb2215f | 275 | lcd.locate(8,0); |
| jmcallef | 0:ab047fb2215f | 276 | lcd.printf("Kp %d",kp); |
| jmcallef | 0:ab047fb2215f | 277 | |
| jmcallef | 0:ab047fb2215f | 278 | wait(0.3); |
| jmcallef | 0:ab047fb2215f | 279 | if(button2){ |
| jmcallef | 0:ab047fb2215f | 280 | break; |
| jmcallef | 0:ab047fb2215f | 281 | } |
| jmcallef | 0:ab047fb2215f | 282 | |
| jmcallef | 0:ab047fb2215f | 283 | while(cont>=20){ |
| jmcallef | 0:ab047fb2215f | 284 | cont=cont+1; |
| jmcallef | 0:ab047fb2215f | 285 | kp=kp-10; |
| jmcallef | 0:ab047fb2215f | 286 | if (kp<0){ // No permitimos valores negativos, definimos valor mínimo en 0. |
| jmcallef | 0:ab047fb2215f | 287 | kp=0; |
| jmcallef | 0:ab047fb2215f | 288 | } |
| jmcallef | 0:ab047fb2215f | 289 | |
| jmcallef | 0:ab047fb2215f | 290 | lcd.locate(8,0); |
| jmcallef | 0:ab047fb2215f | 291 | lcd.printf(" "); |
| jmcallef | 0:ab047fb2215f | 292 | lcd.locate(8,0); |
| jmcallef | 0:ab047fb2215f | 293 | lcd.printf("Kp %d ",kp); |
| jmcallef | 0:ab047fb2215f | 294 | |
| jmcallef | 0:ab047fb2215f | 295 | wait(0.3); |
| jmcallef | 0:ab047fb2215f | 296 | if(button2){ |
| jmcallef | 0:ab047fb2215f | 297 | break; |
| jmcallef | 0:ab047fb2215f | 298 | } |
| jmcallef | 0:ab047fb2215f | 299 | |
| jmcallef | 0:ab047fb2215f | 300 | while(cont>40){ |
| jmcallef | 0:ab047fb2215f | 301 | cont = cont + 1; |
| jmcallef | 0:ab047fb2215f | 302 | kp=kp-100; |
| jmcallef | 0:ab047fb2215f | 303 | |
| jmcallef | 0:ab047fb2215f | 304 | if (kp<0){ // No permitimos valores negativos, definimos valor mínimo en 0. |
| jmcallef | 0:ab047fb2215f | 305 | kp=0; |
| jmcallef | 0:ab047fb2215f | 306 | } |
| jmcallef | 0:ab047fb2215f | 307 | lcd.locate(8,0); |
| jmcallef | 0:ab047fb2215f | 308 | lcd.printf(" "); |
| jmcallef | 0:ab047fb2215f | 309 | lcd.locate(8,0); |
| jmcallef | 0:ab047fb2215f | 310 | lcd.printf("Kp %d ",kp); |
| jmcallef | 0:ab047fb2215f | 311 | |
| jmcallef | 0:ab047fb2215f | 312 | |
| jmcallef | 0:ab047fb2215f | 313 | wait(0.3); |
| jmcallef | 0:ab047fb2215f | 314 | if(button2){ |
| jmcallef | 0:ab047fb2215f | 315 | break; |
| jmcallef | 0:ab047fb2215f | 316 | } |
| jmcallef | 0:ab047fb2215f | 317 | } |
| jmcallef | 0:ab047fb2215f | 318 | } |
| jmcallef | 0:ab047fb2215f | 319 | } |
| jmcallef | 0:ab047fb2215f | 320 | } |
| jmcallef | 0:ab047fb2215f | 321 | |
| jmcallef | 0:ab047fb2215f | 322 | |
| jmcallef | 0:ab047fb2215f | 323 | |
| jmcallef | 0:ab047fb2215f | 324 | if (j==2){ |
| jmcallef | 0:ab047fb2215f | 325 | lcd.locate(3,1); |
| jmcallef | 0:ab047fb2215f | 326 | lcd.printf("%d",ki); |
| jmcallef | 0:ab047fb2215f | 327 | wait(0.3); |
| jmcallef | 0:ab047fb2215f | 328 | led1 =1; |
| jmcallef | 0:ab047fb2215f | 329 | if (button1.falling()){ |
| jmcallef | 0:ab047fb2215f | 330 | led1 =!led1; |
| jmcallef | 0:ab047fb2215f | 331 | |
| jmcallef | 0:ab047fb2215f | 332 | //++sp; // Incrementa valor al pulsar el botón --> Ahora no lo usamos acá ya que necesitamos incremental. |
| jmcallef | 0:ab047fb2215f | 333 | |
| jmcallef | 0:ab047fb2215f | 334 | |
| jmcallef | 0:ab047fb2215f | 335 | // Ahora comienza el incremental. |
| jmcallef | 0:ab047fb2215f | 336 | |
| jmcallef | 0:ab047fb2215f | 337 | if (!button1) { |
| jmcallef | 0:ab047fb2215f | 338 | cont=0; |
| jmcallef | 0:ab047fb2215f | 339 | wait(0.2); |
| jmcallef | 0:ab047fb2215f | 340 | |
| jmcallef | 0:ab047fb2215f | 341 | while(cont<20){ |
| jmcallef | 0:ab047fb2215f | 342 | cont = cont + 1; |
| jmcallef | 0:ab047fb2215f | 343 | ki=ki+1; |
| jmcallef | 0:ab047fb2215f | 344 | if (ki>1000){ // Ponemos un tope incremental en 1.000 |
| jmcallef | 0:ab047fb2215f | 345 | ki=1000; |
| jmcallef | 0:ab047fb2215f | 346 | } |
| jmcallef | 0:ab047fb2215f | 347 | lcd.locate(0,1); |
| jmcallef | 0:ab047fb2215f | 348 | lcd.printf("Ki %d",ki); |
| jmcallef | 0:ab047fb2215f | 349 | |
| jmcallef | 0:ab047fb2215f | 350 | wait(0.3); |
| jmcallef | 0:ab047fb2215f | 351 | if(button1){ |
| jmcallef | 0:ab047fb2215f | 352 | break; |
| jmcallef | 0:ab047fb2215f | 353 | } |
| jmcallef | 0:ab047fb2215f | 354 | while(cont>=20 and cont<=40){ |
| jmcallef | 0:ab047fb2215f | 355 | cont=cont+1; |
| jmcallef | 0:ab047fb2215f | 356 | ki=ki+10; |
| jmcallef | 0:ab047fb2215f | 357 | if (ki>1000){ // Ponemos un tope incremental en 10.000 |
| jmcallef | 0:ab047fb2215f | 358 | ki=1000; |
| jmcallef | 0:ab047fb2215f | 359 | } |
| jmcallef | 0:ab047fb2215f | 360 | lcd.locate(0,1); |
| jmcallef | 0:ab047fb2215f | 361 | lcd.printf("Ki %d",ki); |
| jmcallef | 0:ab047fb2215f | 362 | |
| jmcallef | 0:ab047fb2215f | 363 | wait(0.3); |
| jmcallef | 0:ab047fb2215f | 364 | if(button1){ |
| jmcallef | 0:ab047fb2215f | 365 | break; |
| jmcallef | 0:ab047fb2215f | 366 | } |
| jmcallef | 0:ab047fb2215f | 367 | |
| jmcallef | 0:ab047fb2215f | 368 | while(cont>40){ |
| jmcallef | 0:ab047fb2215f | 369 | cont = cont + 1; |
| jmcallef | 0:ab047fb2215f | 370 | ki=ki+100; |
| jmcallef | 0:ab047fb2215f | 371 | if (ki>1000){ // Ponemos un tope incremental en 10.000 |
| jmcallef | 0:ab047fb2215f | 372 | ki=1000; |
| jmcallef | 0:ab047fb2215f | 373 | } |
| jmcallef | 0:ab047fb2215f | 374 | lcd.locate(0,1); |
| jmcallef | 0:ab047fb2215f | 375 | lcd.printf("Ki %d",ki); |
| jmcallef | 0:ab047fb2215f | 376 | |
| jmcallef | 0:ab047fb2215f | 377 | wait(0.3); |
| jmcallef | 0:ab047fb2215f | 378 | if(button1){ |
| jmcallef | 0:ab047fb2215f | 379 | break; |
| jmcallef | 0:ab047fb2215f | 380 | } |
| jmcallef | 0:ab047fb2215f | 381 | } |
| jmcallef | 0:ab047fb2215f | 382 | } |
| jmcallef | 0:ab047fb2215f | 383 | } |
| jmcallef | 0:ab047fb2215f | 384 | } |
| jmcallef | 0:ab047fb2215f | 385 | } |
| jmcallef | 0:ab047fb2215f | 386 | // Aqui termina el incremental. |
| jmcallef | 0:ab047fb2215f | 387 | } |
| jmcallef | 0:ab047fb2215f | 388 | |
| jmcallef | 0:ab047fb2215f | 389 | |
| jmcallef | 0:ab047fb2215f | 390 | led2 =1; |
| jmcallef | 0:ab047fb2215f | 391 | if (button2.falling()) { |
| jmcallef | 0:ab047fb2215f | 392 | led2 =!led2; // Prendo el LED color rojo cada vez que pulso el boton 2 ya que pasa a valer 0 (encendido). |
| jmcallef | 0:ab047fb2215f | 393 | |
| jmcallef | 0:ab047fb2215f | 394 | //--sp; // Reduce el valor al pulsar el botón. |
| jmcallef | 0:ab047fb2215f | 395 | } |
| jmcallef | 0:ab047fb2215f | 396 | |
| jmcallef | 0:ab047fb2215f | 397 | |
| jmcallef | 0:ab047fb2215f | 398 | // Ahora comienza el decremental. |
| jmcallef | 0:ab047fb2215f | 399 | |
| jmcallef | 0:ab047fb2215f | 400 | if (!button2) { |
| jmcallef | 0:ab047fb2215f | 401 | cont=0; |
| jmcallef | 0:ab047fb2215f | 402 | wait(0.2); |
| jmcallef | 0:ab047fb2215f | 403 | |
| jmcallef | 0:ab047fb2215f | 404 | while(cont<20){ |
| jmcallef | 0:ab047fb2215f | 405 | cont = cont + 1; |
| jmcallef | 0:ab047fb2215f | 406 | ki=ki-1; |
| jmcallef | 0:ab047fb2215f | 407 | |
| jmcallef | 0:ab047fb2215f | 408 | if (ki<=0){ // No permitimos valores negativos, definimos valor mínimo en 0. |
| jmcallef | 0:ab047fb2215f | 409 | ki=0; |
| jmcallef | 0:ab047fb2215f | 410 | } |
| jmcallef | 0:ab047fb2215f | 411 | lcd.locate(3,1); |
| jmcallef | 0:ab047fb2215f | 412 | lcd.printf(" "); |
| jmcallef | 0:ab047fb2215f | 413 | lcd.locate(0,1); |
| jmcallef | 0:ab047fb2215f | 414 | lcd.printf("Ki %d",ki); |
| jmcallef | 0:ab047fb2215f | 415 | |
| jmcallef | 0:ab047fb2215f | 416 | wait(0.3); |
| jmcallef | 0:ab047fb2215f | 417 | if(button2){ |
| jmcallef | 0:ab047fb2215f | 418 | break; |
| jmcallef | 0:ab047fb2215f | 419 | } |
| jmcallef | 0:ab047fb2215f | 420 | |
| jmcallef | 0:ab047fb2215f | 421 | while(cont>=20 and cont<=40){ |
| jmcallef | 0:ab047fb2215f | 422 | cont=cont+1; |
| jmcallef | 0:ab047fb2215f | 423 | ki=ki-10; |
| jmcallef | 0:ab047fb2215f | 424 | if (sp<0){ // No permitimos valores negativos, definimos valor mínimo en 0. |
| jmcallef | 0:ab047fb2215f | 425 | ki=0; |
| jmcallef | 0:ab047fb2215f | 426 | } |
| jmcallef | 0:ab047fb2215f | 427 | |
| jmcallef | 0:ab047fb2215f | 428 | lcd.locate(3,1); |
| jmcallef | 0:ab047fb2215f | 429 | lcd.printf(" "); |
| jmcallef | 0:ab047fb2215f | 430 | lcd.locate(0,0); |
| jmcallef | 0:ab047fb2215f | 431 | lcd.printf("Ki %d ",ki); |
| jmcallef | 0:ab047fb2215f | 432 | |
| jmcallef | 0:ab047fb2215f | 433 | |
| jmcallef | 0:ab047fb2215f | 434 | wait(0.3); |
| jmcallef | 0:ab047fb2215f | 435 | if(button2){ |
| jmcallef | 0:ab047fb2215f | 436 | break; |
| jmcallef | 0:ab047fb2215f | 437 | } |
| jmcallef | 0:ab047fb2215f | 438 | |
| jmcallef | 0:ab047fb2215f | 439 | while(cont>40){ |
| jmcallef | 0:ab047fb2215f | 440 | cont = cont + 1; |
| jmcallef | 0:ab047fb2215f | 441 | ki=ki-100; |
| jmcallef | 0:ab047fb2215f | 442 | |
| jmcallef | 0:ab047fb2215f | 443 | if (ki<0){ // No permitimos valores negativos, definimos valor mínimo en 0. |
| jmcallef | 0:ab047fb2215f | 444 | ki=0; |
| jmcallef | 0:ab047fb2215f | 445 | } |
| jmcallef | 0:ab047fb2215f | 446 | |
| jmcallef | 0:ab047fb2215f | 447 | lcd.locate(3,1); |
| jmcallef | 0:ab047fb2215f | 448 | lcd.printf(" "); |
| jmcallef | 0:ab047fb2215f | 449 | lcd.locate(0,0); |
| jmcallef | 0:ab047fb2215f | 450 | lcd.printf("Ki %d ",ki); |
| jmcallef | 0:ab047fb2215f | 451 | |
| jmcallef | 0:ab047fb2215f | 452 | |
| jmcallef | 0:ab047fb2215f | 453 | wait(0.3); |
| jmcallef | 0:ab047fb2215f | 454 | if(button2){ |
| jmcallef | 0:ab047fb2215f | 455 | break; |
| jmcallef | 0:ab047fb2215f | 456 | } |
| jmcallef | 0:ab047fb2215f | 457 | } |
| jmcallef | 0:ab047fb2215f | 458 | } |
| jmcallef | 0:ab047fb2215f | 459 | } |
| jmcallef | 0:ab047fb2215f | 460 | } |
| jmcallef | 0:ab047fb2215f | 461 | |
| jmcallef | 0:ab047fb2215f | 462 | // Aqui termina el decremental. |
| jmcallef | 0:ab047fb2215f | 463 | |
| jmcallef | 0:ab047fb2215f | 464 | if (j==3){ |
| jmcallef | 0:ab047fb2215f | 465 | lcd.locate(11,1); |
| jmcallef | 0:ab047fb2215f | 466 | lcd.printf("%d",kd); |
| jmcallef | 0:ab047fb2215f | 467 | wait(0.3); |
| jmcallef | 0:ab047fb2215f | 468 | led1 =1; |
| jmcallef | 0:ab047fb2215f | 469 | if (button1.falling()){ |
| jmcallef | 0:ab047fb2215f | 470 | led1 =!led1; |
| jmcallef | 0:ab047fb2215f | 471 | |
| jmcallef | 0:ab047fb2215f | 472 | //++sp; // Incrementa valor al pulsar el botón --> Ahora no lo usamos acá ya que necesitamos incremental. |
| jmcallef | 0:ab047fb2215f | 473 | |
| jmcallef | 0:ab047fb2215f | 474 | |
| jmcallef | 0:ab047fb2215f | 475 | // Ahora comienza el incremental. |
| jmcallef | 0:ab047fb2215f | 476 | |
| jmcallef | 0:ab047fb2215f | 477 | if (!button1) { |
| jmcallef | 0:ab047fb2215f | 478 | cont=0; |
| jmcallef | 0:ab047fb2215f | 479 | wait(0.2); |
| jmcallef | 0:ab047fb2215f | 480 | |
| jmcallef | 0:ab047fb2215f | 481 | while(cont<20){ |
| jmcallef | 0:ab047fb2215f | 482 | cont = cont + 1; |
| jmcallef | 0:ab047fb2215f | 483 | kd=kd+1; |
| jmcallef | 0:ab047fb2215f | 484 | |
| jmcallef | 0:ab047fb2215f | 485 | if (kd>1000){ // Ponemos un tope incremental en 1.000 |
| jmcallef | 0:ab047fb2215f | 486 | kd=1000; |
| jmcallef | 0:ab047fb2215f | 487 | } |
| jmcallef | 0:ab047fb2215f | 488 | lcd.locate(8,1); |
| jmcallef | 0:ab047fb2215f | 489 | lcd.printf("Kd %d",kd); |
| jmcallef | 0:ab047fb2215f | 490 | |
| jmcallef | 0:ab047fb2215f | 491 | wait(0.3); |
| jmcallef | 0:ab047fb2215f | 492 | if(button1){ |
| jmcallef | 0:ab047fb2215f | 493 | break; |
| jmcallef | 0:ab047fb2215f | 494 | } |
| jmcallef | 0:ab047fb2215f | 495 | while(cont>=20 and cont<=40){ |
| jmcallef | 0:ab047fb2215f | 496 | cont=cont+1; |
| jmcallef | 0:ab047fb2215f | 497 | kd=kd+10; |
| jmcallef | 0:ab047fb2215f | 498 | if (kd>1000){ // Ponemos un tope incremental en 100 |
| jmcallef | 0:ab047fb2215f | 499 | kd=1000; |
| jmcallef | 0:ab047fb2215f | 500 | } |
| jmcallef | 0:ab047fb2215f | 501 | lcd.locate(8,1); |
| jmcallef | 0:ab047fb2215f | 502 | lcd.printf("Kd %d",kd); |
| jmcallef | 0:ab047fb2215f | 503 | |
| jmcallef | 0:ab047fb2215f | 504 | wait(0.3); |
| jmcallef | 0:ab047fb2215f | 505 | if(button1){ |
| jmcallef | 0:ab047fb2215f | 506 | break; |
| jmcallef | 0:ab047fb2215f | 507 | } |
| jmcallef | 0:ab047fb2215f | 508 | |
| jmcallef | 0:ab047fb2215f | 509 | while(cont>40){ |
| jmcallef | 0:ab047fb2215f | 510 | cont = cont + 1; |
| jmcallef | 0:ab047fb2215f | 511 | kd=kd+100; |
| jmcallef | 0:ab047fb2215f | 512 | if (kd>1000){ // Ponemos un tope incremental en 1000 |
| jmcallef | 0:ab047fb2215f | 513 | kd=1000; |
| jmcallef | 0:ab047fb2215f | 514 | } |
| jmcallef | 0:ab047fb2215f | 515 | lcd.locate(8,1); |
| jmcallef | 0:ab047fb2215f | 516 | lcd.printf("Kd %d",kd); |
| jmcallef | 0:ab047fb2215f | 517 | |
| jmcallef | 0:ab047fb2215f | 518 | wait(0.3); |
| jmcallef | 0:ab047fb2215f | 519 | if(button1){ |
| jmcallef | 0:ab047fb2215f | 520 | break; |
| jmcallef | 0:ab047fb2215f | 521 | } |
| jmcallef | 0:ab047fb2215f | 522 | } |
| jmcallef | 0:ab047fb2215f | 523 | } |
| jmcallef | 0:ab047fb2215f | 524 | } |
| jmcallef | 0:ab047fb2215f | 525 | } |
| jmcallef | 0:ab047fb2215f | 526 | } |
| jmcallef | 0:ab047fb2215f | 527 | // Aqui termina el incremental. |
| jmcallef | 0:ab047fb2215f | 528 | } |
| jmcallef | 0:ab047fb2215f | 529 | |
| jmcallef | 0:ab047fb2215f | 530 | |
| jmcallef | 0:ab047fb2215f | 531 | led2 =1; |
| jmcallef | 0:ab047fb2215f | 532 | if (button2.falling()) { |
| jmcallef | 0:ab047fb2215f | 533 | led2 =!led2; // Prendo el LED color rojo cada vez que pulso el boton 2 ya que pasa a valer 0 (encendido). |
| jmcallef | 0:ab047fb2215f | 534 | |
| jmcallef | 0:ab047fb2215f | 535 | //--sp; // Reduce el valor al pulsar el botón. |
| jmcallef | 0:ab047fb2215f | 536 | } |
| jmcallef | 0:ab047fb2215f | 537 | |
| jmcallef | 0:ab047fb2215f | 538 | |
| jmcallef | 0:ab047fb2215f | 539 | // Ahora comienza el decremental. |
| jmcallef | 0:ab047fb2215f | 540 | |
| jmcallef | 0:ab047fb2215f | 541 | if (!button2) { |
| jmcallef | 0:ab047fb2215f | 542 | cont=0; |
| jmcallef | 0:ab047fb2215f | 543 | wait(0.2); |
| jmcallef | 0:ab047fb2215f | 544 | |
| jmcallef | 0:ab047fb2215f | 545 | while(cont<20){ |
| jmcallef | 0:ab047fb2215f | 546 | cont = cont + 1; |
| jmcallef | 0:ab047fb2215f | 547 | kd=kd-1; |
| jmcallef | 0:ab047fb2215f | 548 | |
| jmcallef | 0:ab047fb2215f | 549 | if (kd<=0){ // No permitimos valores negativos, definimos valor mínimo en 0. |
| jmcallef | 0:ab047fb2215f | 550 | kd=0; |
| jmcallef | 0:ab047fb2215f | 551 | } |
| jmcallef | 0:ab047fb2215f | 552 | lcd.locate(11,1); |
| jmcallef | 0:ab047fb2215f | 553 | lcd.printf(" "); |
| jmcallef | 0:ab047fb2215f | 554 | lcd.locate(8,1); |
| jmcallef | 0:ab047fb2215f | 555 | lcd.printf("Kd %d",kd); |
| jmcallef | 0:ab047fb2215f | 556 | |
| jmcallef | 0:ab047fb2215f | 557 | wait(0.3); |
| jmcallef | 0:ab047fb2215f | 558 | if(button2){ |
| jmcallef | 0:ab047fb2215f | 559 | break; |
| jmcallef | 0:ab047fb2215f | 560 | } |
| jmcallef | 0:ab047fb2215f | 561 | |
| jmcallef | 0:ab047fb2215f | 562 | while(cont>=20 and cont<=40){ |
| jmcallef | 0:ab047fb2215f | 563 | cont=cont+1; |
| jmcallef | 0:ab047fb2215f | 564 | kd=kd-10; |
| jmcallef | 0:ab047fb2215f | 565 | if (kd<0){ // No permitimos valores negativos, definimos valor mínimo en 0. |
| jmcallef | 0:ab047fb2215f | 566 | kd=0; |
| jmcallef | 0:ab047fb2215f | 567 | } |
| jmcallef | 0:ab047fb2215f | 568 | |
| jmcallef | 0:ab047fb2215f | 569 | lcd.locate(11,1); |
| jmcallef | 0:ab047fb2215f | 570 | lcd.printf(" "); |
| jmcallef | 0:ab047fb2215f | 571 | lcd.locate(8,1); |
| jmcallef | 0:ab047fb2215f | 572 | lcd.printf("Kd %d ",kd); |
| jmcallef | 0:ab047fb2215f | 573 | |
| jmcallef | 0:ab047fb2215f | 574 | |
| jmcallef | 0:ab047fb2215f | 575 | wait(0.3); |
| jmcallef | 0:ab047fb2215f | 576 | if(button2){ |
| jmcallef | 0:ab047fb2215f | 577 | break; |
| jmcallef | 0:ab047fb2215f | 578 | } |
| jmcallef | 0:ab047fb2215f | 579 | |
| jmcallef | 0:ab047fb2215f | 580 | while(cont>40){ |
| jmcallef | 0:ab047fb2215f | 581 | cont = cont + 1; |
| jmcallef | 0:ab047fb2215f | 582 | kd=kd-100; |
| jmcallef | 0:ab047fb2215f | 583 | |
| jmcallef | 0:ab047fb2215f | 584 | if (kd<0){ // No permitimos valores negativos, definimos valor mínimo en 0. |
| jmcallef | 0:ab047fb2215f | 585 | kd=0; |
| jmcallef | 0:ab047fb2215f | 586 | } |
| jmcallef | 0:ab047fb2215f | 587 | |
| jmcallef | 0:ab047fb2215f | 588 | lcd.locate(11,1); |
| jmcallef | 0:ab047fb2215f | 589 | lcd.printf(" "); |
| jmcallef | 0:ab047fb2215f | 590 | lcd.locate(8,1); |
| jmcallef | 0:ab047fb2215f | 591 | lcd.printf("Kd %d ",kd); |
| jmcallef | 0:ab047fb2215f | 592 | |
| jmcallef | 0:ab047fb2215f | 593 | |
| jmcallef | 0:ab047fb2215f | 594 | wait(0.3); |
| jmcallef | 0:ab047fb2215f | 595 | if(button2){ |
| jmcallef | 0:ab047fb2215f | 596 | break; |
| jmcallef | 0:ab047fb2215f | 597 | } |
| jmcallef | 0:ab047fb2215f | 598 | } |
| jmcallef | 0:ab047fb2215f | 599 | } |
| jmcallef | 0:ab047fb2215f | 600 | } |
| jmcallef | 0:ab047fb2215f | 601 | } |
| jmcallef | 0:ab047fb2215f | 602 | |
| jmcallef | 0:ab047fb2215f | 603 | // Aqui termina el decremental. |
| jmcallef | 0:ab047fb2215f | 604 | |
| jmcallef | 0:ab047fb2215f | 605 | if (button4.falling()){ |
| jmcallef | 0:ab047fb2215f | 606 | break; //sale del bucle si pisan suiche4 |
| jmcallef | 0:ab047fb2215f | 607 | } |
| jmcallef | 0:ab047fb2215f | 608 | } |
| jmcallef | 0:ab047fb2215f | 609 | |
| jmcallef | 0:ab047fb2215f | 610 | //********************************************************************************** |
| jmcallef | 0:ab047fb2215f | 611 | //******************************************************************************************************* |
| jmcallef | 0:ab047fb2215f | 612 | |
| jmcallef | 0:ab047fb2215f | 613 | |
| jmcallef | 0:ab047fb2215f | 614 | |
| jmcallef | 0:ab047fb2215f | 615 | lcd.writeCommand(C4);//escribimos un comando segun el manual del modulo LCD para quitar cursor bajo |
| jmcallef | 0:ab047fb2215f | 616 | lcd.cls(); //borra la pantalla |
| jmcallef | 0:ab047fb2215f | 617 | lcd.printf(" GUARDADOS!"); |
| jmcallef | 0:ab047fb2215f | 618 | wait(2); |
| jmcallef | 0:ab047fb2215f | 619 | lcd.cls(); |
| jmcallef | 0:ab047fb2215f | 620 | lcd.printf(" INICIA EL PID"); |
| jmcallef | 0:ab047fb2215f | 621 | wait(2); |
| jmcallef | 0:ab047fb2215f | 622 | // se imprimen los parches del control ***************************************** |
| jmcallef | 0:ab047fb2215f | 623 | lcd.cls(); |
| jmcallef | 1:ce04971eceb4 | 624 | lcd.printf("Error%d",err); |
| jmcallef | 0:ab047fb2215f | 625 | lcd.locate(8,0); |
| jmcallef | 1:ce04971eceb4 | 626 | lcd.printf("Medida%d",med); |
| jmcallef | 0:ab047fb2215f | 627 | lcd.locate(0,1); |
| jmcallef | 0:ab047fb2215f | 628 | lcd.printf("Sp%d",sp); |
| jmcallef | 0:ab047fb2215f | 629 | lcd.locate(8,1); |
| jmcallef | 0:ab047fb2215f | 630 | lcd.printf("Co%d",pid); |
| jmcallef | 0:ab047fb2215f | 631 | wait(5); |
| jmcallef | 0:ab047fb2215f | 632 | |
| jmcallef | 0:ab047fb2215f | 633 | // CICLO PRINCIPAL CONTROLADOR PID |
| jmcallef | 0:ab047fb2215f | 634 | |
| jmcallef | 0:ab047fb2215f | 635 | while(1) { |
| jmcallef | 1:ce04971eceb4 | 636 | med=Vin; |
| jmcallef | 0:ab047fb2215f | 637 | //leer puerto analogo y asignar a med |
| jmcallef | 0:ab047fb2215f | 638 | err = (sp-med); |
| jmcallef | 0:ab047fb2215f | 639 | ap = kp*err; |
| jmcallef | 0:ab047fb2215f | 640 | ai =(ki*err)+ai; //calculo de la integral del error |
| jmcallef | 0:ab047fb2215f | 641 | // se verifica que la accion integral no sea muy grande |
| jmcallef | 0:ab047fb2215f | 642 | ad = kd*(err-err_v); //calculo de la accion derivativa |
| jmcallef | 0:ab047fb2215f | 643 | pid = (ap+ai+ad); |
| jmcallef | 0:ab047fb2215f | 644 | //****se muestran las variables****************************************** |
| jmcallef | 0:ab047fb2215f | 645 | if (pid > 999){ |
| jmcallef | 0:ab047fb2215f | 646 | pid=1000; |
| jmcallef | 0:ab047fb2215f | 647 | } |
| jmcallef | 0:ab047fb2215f | 648 | |
| jmcallef | 0:ab047fb2215f | 649 | wait(.5); |
| jmcallef | 1:ce04971eceb4 | 650 | lcd.locate(5,0); |
| jmcallef | 0:ab047fb2215f | 651 | lcd.printf("%d",err); |
| jmcallef | 1:ce04971eceb4 | 652 | lcd.locate(14,0); |
| jmcallef | 0:ab047fb2215f | 653 | lcd.printf("%d",med); |
| jmcallef | 0:ab047fb2215f | 654 | lcd.locate(2,1); |
| jmcallef | 0:ab047fb2215f | 655 | lcd.printf("%d",sp); |
| jmcallef | 0:ab047fb2215f | 656 | lcd.locate(10,1); |
| jmcallef | 0:ab047fb2215f | 657 | lcd.printf("%d",pid); |
| jmcallef | 0:ab047fb2215f | 658 | |
| jmcallef | 0:ab047fb2215f | 659 | |
| jmcallef | 1:ce04971eceb4 | 660 | |
| jmcallef | 0:ab047fb2215f | 661 | // se actualizan las variables ******************************************* |
| jmcallef | 0:ab047fb2215f | 662 | err_v = err; |
| jmcallef | 0:ab047fb2215f | 663 | // se verifica que pid sea positivo ************************************** |
| jmcallef | 0:ab047fb2215f | 664 | |
| jmcallef | 0:ab047fb2215f | 665 | // se verifica que pid sea menor o igual la valor maximo ***************** |
| jmcallef | 0:ab047fb2215f | 666 | |
| jmcallef | 0:ab047fb2215f | 667 | |
| jmcallef | 0:ab047fb2215f | 668 | // se envia el valor pid a puerto analogico de salida (D/A) ************** |
| jmcallef | 0:ab047fb2215f | 669 | // se repite el ciclo |
| jmcallef | 0:ab047fb2215f | 670 | } |
| jmcallef | 0:ab047fb2215f | 671 | |
| jmcallef | 0:ab047fb2215f | 672 | |
| jmcallef | 0:ab047fb2215f | 673 | |
| jmcallef | 0:ab047fb2215f | 674 | } |