joshema 216 / Mbed 2 deprecated TAREA_1_PID_BLUETOOTH

Procesadores, 2016 - II. Tarea #1. Oswaldo Andrés Giraldo Giraldo, Héctor Andrés Hoyos Ceballos, Jose Fernando Montoya Vargas, María Fernanda Villa Tamayo. Programa para establecer la comunicación con una aplicación en App Inventor por medio de Bluetooth.

Dependencies:   TextLCD mbed

Fork of TAREA_1_PID_BLUETOOTH by joshema 216

main.cpp@0:24c2d41ff63f, 2016-11-16 (annotated)

Committer:
joshema216
Date:
Wed Nov 16 02:14:33 2016 +0000
Revision:
0:24c2d41ff63f
Programa para establecer la comunicaci?n con una aplicaci?n dise?ada en App Inventor por medio de Bluetooth.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
joshema216 0:24c2d41ff63f 1 // Programa para ejecutar un control PID que lee las constantes del controlador desde la UART,
joshema216 0:24c2d41ff63f 2 // que son enviadas por Bluetooth desde un proyecto de App Inventor ejecutado en un dispositivo
joshema216 0:24c2d41ff63f 3 // Android como cadena de caracteres. Cuando se inicia el proceso de control se envían los
joshema216 0:24c2d41ff63f 4 // parámetros del mismo por Bluetooth hacia el dispositivo Android, el proyecto en App Inventor
joshema216 0:24c2d41ff63f 5 // permite recibir la cadena de parámetros y separarlos para asignarlos a su respectivo indicador.
joshema216 0:24c2d41ff63f 6
joshema216 0:24c2d41ff63f 7 // Oswaldo Andrés Giraldo Giraldo - C.C.: 1152458465
joshema216 0:24c2d41ff63f 8 // Héctor Andrés Hoyos Ceballos - C.C.: 1039466317
joshema216 0:24c2d41ff63f 9 // Jose Fernando Montoya Vargas - C.C.: 1039468676
joshema216 0:24c2d41ff63f 10 // María Fernanda Villa Tamayo - C.C.: 1152457490
joshema216 0:24c2d41ff63f 11
joshema216 0:24c2d41ff63f 12 #include "mbed.h"
joshema216 0:24c2d41ff63f 13 #include "TextLCD.h"
joshema216 0:24c2d41ff63f 14
joshema216 0:24c2d41ff63f 15 TextLCD lcd(PTB10, PTB11, PTE2, PTE3, PTE4, PTE5); // RS, E, D4 - D7
joshema216 0:24c2d41ff63f 16 Serial andr(USBTX, USBRX); // TX, RX
joshema216 0:24c2d41ff63f 17 Serial device(PTE0, PTE1); // TX, RX
joshema216 0:24c2d41ff63f 18
joshema216 0:24c2d41ff63f 19 AnalogIn y(PTB3); // Entrada análoga
joshema216 0:24c2d41ff63f 20 AnalogOut u(PTE30); // Salida análoga
joshema216 0:24c2d41ff63f 21 DigitalOut led1(LED1);
joshema216 0:24c2d41ff63f 22 DigitalOut led2(LED2);
joshema216 0:24c2d41ff63f 23 DigitalOut led3(LED3);
joshema216 0:24c2d41ff63f 24
joshema216 0:24c2d41ff63f 25 // Códigos movimiento del cursor.
joshema216 0:24c2d41ff63f 26 //int C1=0x0E; // Sólo muestra el cursor.
joshema216 0:24c2d41ff63f 27 int C2=0x18; // Desplaza hacia la izquierda.
joshema216 0:24c2d41ff63f 28 int C3=0x1A; // Desplaza hacia la derecha.
joshema216 0:24c2d41ff63f 29 int C4=0x0C; // Quita cursor bajo.
joshema216 0:24c2d41ff63f 30 int C1=0x0F;
joshema216 0:24c2d41ff63f 31
joshema216 0:24c2d41ff63f 32 float pid,o,ai,ad,ap,med,err,medr;
joshema216 0:24c2d41ff63f 33 float err_v;
joshema216 0:24c2d41ff63f 34 int spnum = 0, kinum = 0,kpnum = 0, kdnum = 0;
joshema216 0:24c2d41ff63f 35 char outmed[16], outmedn[16], outpid[16], outpidn[16], outspnum[16], outspnumn[16], outerr[16], outerrn[16], varout[40];
joshema216 0:24c2d41ff63f 36
joshema216 0:24c2d41ff63f 37 Timer t;
joshema216 0:24c2d41ff63f 38 char buffer[4], resp[4], ind;
joshema216 0:24c2d41ff63f 39 int count, i;
joshema216 0:24c2d41ff63f 40 int k = 0, j = 0, num = 0;
joshema216 0:24c2d41ff63f 41
joshema216 0:24c2d41ff63f 42 // Reverses a string 'str' of length 'len'
joshema216 0:24c2d41ff63f 43 // driver program to test above funtion.
joshema216 0:24c2d41ff63f 44 void reverse(char *str, int len)
joshema216 0:24c2d41ff63f 45 {
joshema216 0:24c2d41ff63f 46 int i=0, j=len-1, temp;
joshema216 0:24c2d41ff63f 47 while (i<j)
joshema216 0:24c2d41ff63f 48 {
joshema216 0:24c2d41ff63f 49 temp = str[i];
joshema216 0:24c2d41ff63f 50 str[i] = str[j];
joshema216 0:24c2d41ff63f 51 str[j] = temp;
joshema216 0:24c2d41ff63f 52 i++; j--;
joshema216 0:24c2d41ff63f 53 }
joshema216 0:24c2d41ff63f 54 }
joshema216 0:24c2d41ff63f 55
joshema216 0:24c2d41ff63f 56 // Converts a given integer x to string str[]. d is the number
joshema216 0:24c2d41ff63f 57 // of digits required in output. If d is more than the number
joshema216 0:24c2d41ff63f 58 // of digits in x, then 0s are added at the beginning.
joshema216 0:24c2d41ff63f 59 int intToStr(int x, char str[], int d)
joshema216 0:24c2d41ff63f 60 {
joshema216 0:24c2d41ff63f 61 int i = 0;
joshema216 0:24c2d41ff63f 62 while (x)
joshema216 0:24c2d41ff63f 63 {
joshema216 0:24c2d41ff63f 64 str[i++] = (x%10) + '0';
joshema216 0:24c2d41ff63f 65 x = x/10;
joshema216 0:24c2d41ff63f 66 }
joshema216 0:24c2d41ff63f 67
joshema216 0:24c2d41ff63f 68 // If number of digits required is more, then
joshema216 0:24c2d41ff63f 69 // add 0s at the beginning
joshema216 0:24c2d41ff63f 70 while (i < d)
joshema216 0:24c2d41ff63f 71 str[i++] = '0';
joshema216 0:24c2d41ff63f 72
joshema216 0:24c2d41ff63f 73 reverse(str, i);
joshema216 0:24c2d41ff63f 74 str[i] = '\0';
joshema216 0:24c2d41ff63f 75 return i;
joshema216 0:24c2d41ff63f 76 }
joshema216 0:24c2d41ff63f 77
joshema216 0:24c2d41ff63f 78 // Converts a floating point number to string.
joshema216 0:24c2d41ff63f 79 void ftoa(float n, char *res, int afterpoint)
joshema216 0:24c2d41ff63f 80 {
joshema216 0:24c2d41ff63f 81 // Extract integer part
joshema216 0:24c2d41ff63f 82 int ipart = (int)n;
joshema216 0:24c2d41ff63f 83
joshema216 0:24c2d41ff63f 84 // Extract floating part
joshema216 0:24c2d41ff63f 85 float fpart = n - (float)ipart;
joshema216 0:24c2d41ff63f 86
joshema216 0:24c2d41ff63f 87 // convert integer part to string
joshema216 0:24c2d41ff63f 88 int i = intToStr(ipart, res, 0);
joshema216 0:24c2d41ff63f 89
joshema216 0:24c2d41ff63f 90 // check for display option after point
joshema216 0:24c2d41ff63f 91 if (afterpoint != 0)
joshema216 0:24c2d41ff63f 92 {
joshema216 0:24c2d41ff63f 93 res[i] = '.'; // add dot
joshema216 0:24c2d41ff63f 94
joshema216 0:24c2d41ff63f 95 // Get the value of fraction part upto given no.
joshema216 0:24c2d41ff63f 96 // of points after dot. The third parameter is needed
joshema216 0:24c2d41ff63f 97 // to handle cases like 233.007
joshema216 0:24c2d41ff63f 98 float fp=10;
joshema216 0:24c2d41ff63f 99 fpart =fpart * pow(fp,afterpoint);
joshema216 0:24c2d41ff63f 100
joshema216 0:24c2d41ff63f 101 intToStr((int)fpart, res + i + 1, afterpoint);
joshema216 0:24c2d41ff63f 102 }
joshema216 0:24c2d41ff63f 103 }
joshema216 0:24c2d41ff63f 104
joshema216 0:24c2d41ff63f 105 // Lee la cadena de caracteres que llegan a la UART.
joshema216 0:24c2d41ff63f 106 int readBuffer(char *buffer,int count)
joshema216 0:24c2d41ff63f 107 {
joshema216 0:24c2d41ff63f 108 int i=0;
joshema216 0:24c2d41ff63f 109 t.start(); // start timer
joshema216 0:24c2d41ff63f 110 while(1) {
joshema216 0:24c2d41ff63f 111 while (device.readable()) {
joshema216 0:24c2d41ff63f 112 char c = device.getc();
joshema216 0:24c2d41ff63f 113 if (c == '\r' || c == '\n') c = '$';
joshema216 0:24c2d41ff63f 114 buffer[i++] = c;
joshema216 0:24c2d41ff63f 115 if(i > count)break;
joshema216 0:24c2d41ff63f 116 }
joshema216 0:24c2d41ff63f 117 if(i > count)break;
joshema216 0:24c2d41ff63f 118 if(t.read() > 1) {
joshema216 0:24c2d41ff63f 119 t.stop();
joshema216 0:24c2d41ff63f 120 t.reset();
joshema216 0:24c2d41ff63f 121 break;
joshema216 0:24c2d41ff63f 122 }
joshema216 0:24c2d41ff63f 123 }
joshema216 0:24c2d41ff63f 124 return 0;
joshema216 0:24c2d41ff63f 125 }
joshema216 0:24c2d41ff63f 126
joshema216 0:24c2d41ff63f 127 // Limpia una cadena de caracteres.
joshema216 0:24c2d41ff63f 128 void cleanBuffer(char *buffer, int count)
joshema216 0:24c2d41ff63f 129 {
joshema216 0:24c2d41ff63f 130 for(int i=0; i < count; i++) {
joshema216 0:24c2d41ff63f 131 buffer[i] = '\0';
joshema216 0:24c2d41ff63f 132 }
joshema216 0:24c2d41ff63f 133 }
joshema216 0:24c2d41ff63f 134
joshema216 0:24c2d41ff63f 135 int main(void) {
joshema216 0:24c2d41ff63f 136 device.baud(9600);// Configura los baudios de la FRDMKL25Z en 9600.
joshema216 0:24c2d41ff63f 137 device.format(8,Serial::None,1); // Configura el formato de los datos de la UART.
joshema216 0:24c2d41ff63f 138 lcd.locate(1,1); // Se posiciona en col 1 fil 1.
joshema216 0:24c2d41ff63f 139 lcd.printf("**Control PID**");
joshema216 0:24c2d41ff63f 140 wait(2);
joshema216 0:24c2d41ff63f 141
joshema216 0:24c2d41ff63f 142 lop0: // CICLO DE ASIGNACIÓN DE VARIABLES.
joshema216 0:24c2d41ff63f 143 lcd.cls(); // Borrar Pantalla.
joshema216 0:24c2d41ff63f 144 lcd.writeCommand(C1);// Escribimos un comando segun el manual del modulo LCD.
joshema216 0:24c2d41ff63f 145 lcd.locate(8,0);
joshema216 0:24c2d41ff63f 146 lcd.printf("Kp=%d",kpnum); // Constante proporcional.
joshema216 0:24c2d41ff63f 147 lcd.locate(0,1);
joshema216 0:24c2d41ff63f 148 lcd.printf("Ki=%d",kinum); // Constante integral.
joshema216 0:24c2d41ff63f 149 lcd.locate(8,1);
joshema216 0:24c2d41ff63f 150 lcd.printf("Kd=%d",kdnum); // Constante derivativa.
joshema216 0:24c2d41ff63f 151 lcd.locate(0,0);
joshema216 0:24c2d41ff63f 152 lcd.printf("Sp=%d",spnum); // Set point (punto de ajuste)
joshema216 0:24c2d41ff63f 153
joshema216 0:24c2d41ff63f 154 while(1){
joshema216 0:24c2d41ff63f 155 if(device.readable()){ // Si llega algún paquete por la UART.
joshema216 0:24c2d41ff63f 156 readBuffer(buffer,4); // Leer la cadena de caracteres.
joshema216 0:24c2d41ff63f 157 led1 =!led1;
joshema216 0:24c2d41ff63f 158 //andr.putc(device.getc());
joshema216 0:24c2d41ff63f 159 andr.printf("%s\r\n",buffer);
joshema216 0:24c2d41ff63f 160 ind = buffer[0]; // Las cadenas que llegan tienen un indicador en la primera posición.
joshema216 0:24c2d41ff63f 161
joshema216 0:24c2d41ff63f 162 if (ind == '4') { // Si llega una cadena con el indicador '4' (Sp).
joshema216 0:24c2d41ff63f 163 resp[0] = buffer[1]; // Toma el valor de la constante ingresada.
joshema216 0:24c2d41ff63f 164 resp[1] = buffer[2];
joshema216 0:24c2d41ff63f 165 resp[2] = buffer[3];
joshema216 0:24c2d41ff63f 166 spnum = strtod(resp,NULL); // Asigna la cadena a un entero.
joshema216 0:24c2d41ff63f 167 //andr.printf("%s\r\n",resp);
joshema216 0:24c2d41ff63f 168 lcd.locate(3,0);
joshema216 0:24c2d41ff63f 169 lcd.printf(" ");
joshema216 0:24c2d41ff63f 170 lcd.locate(3,0);
joshema216 0:24c2d41ff63f 171 lcd.printf("%d", spnum); // Imprime la referencia.
joshema216 0:24c2d41ff63f 172 led1 =!led1;
joshema216 0:24c2d41ff63f 173 }
joshema216 0:24c2d41ff63f 174
joshema216 0:24c2d41ff63f 175 if (ind == '1') { // Si llega una cadena con el indicador '1' (Kp).
joshema216 0:24c2d41ff63f 176 resp[0] = buffer[1]; // Toma el valor de la constante ingresada.
joshema216 0:24c2d41ff63f 177 resp[1] = buffer[2];
joshema216 0:24c2d41ff63f 178 resp[2] = buffer[3];
joshema216 0:24c2d41ff63f 179 kpnum = strtod(resp,NULL); // Asigna la cadena a un entero.
joshema216 0:24c2d41ff63f 180 //pc.printf("%s\r\n",resp);
joshema216 0:24c2d41ff63f 181 lcd.locate(11,0);
joshema216 0:24c2d41ff63f 182 lcd.printf(" ");
joshema216 0:24c2d41ff63f 183 lcd.locate(11,0);
joshema216 0:24c2d41ff63f 184 lcd.printf("%d", kpnum); // Imprime Kp.
joshema216 0:24c2d41ff63f 185 led1 =!led1;
joshema216 0:24c2d41ff63f 186 }
joshema216 0:24c2d41ff63f 187
joshema216 0:24c2d41ff63f 188 if (ind == '2') { // Si llega una cadena con el indicador '2' (Ki).
joshema216 0:24c2d41ff63f 189 resp[0] = buffer[1]; // Toma el valor de la constante ingresada.
joshema216 0:24c2d41ff63f 190 resp[1] = buffer[2];
joshema216 0:24c2d41ff63f 191 resp[2] = buffer[3];
joshema216 0:24c2d41ff63f 192 kinum = strtod(resp,NULL); // Asigna la cadena a un entero.
joshema216 0:24c2d41ff63f 193 //pc.printf("%s\r\n",resp);
joshema216 0:24c2d41ff63f 194 lcd.locate(3,1);
joshema216 0:24c2d41ff63f 195 lcd.printf(" ");
joshema216 0:24c2d41ff63f 196 lcd.locate(3,1);
joshema216 0:24c2d41ff63f 197 lcd.printf("%d", kinum); //Imprime Ki.
joshema216 0:24c2d41ff63f 198 led1 =!led1;
joshema216 0:24c2d41ff63f 199 }
joshema216 0:24c2d41ff63f 200
joshema216 0:24c2d41ff63f 201 if (ind == '3') { // Si llega una cadena con el indicador '3' (Kd).
joshema216 0:24c2d41ff63f 202 resp[0] = buffer[1]; // Toma el valor de la constante ingresada.
joshema216 0:24c2d41ff63f 203 resp[1] = buffer[2];
joshema216 0:24c2d41ff63f 204 resp[2] = buffer[3];
joshema216 0:24c2d41ff63f 205 kdnum = strtod(resp,NULL); // Asigna la cadena a un entero.
joshema216 0:24c2d41ff63f 206 //pc.printf("%s\r\n",resp);
joshema216 0:24c2d41ff63f 207 lcd.locate(11,1);
joshema216 0:24c2d41ff63f 208 lcd.printf(" ");
joshema216 0:24c2d41ff63f 209 lcd.locate(11,1);
joshema216 0:24c2d41ff63f 210 lcd.printf("%d", kdnum); // Imprime Kd.
joshema216 0:24c2d41ff63f 211 led1 =!led1;
joshema216 0:24c2d41ff63f 212 }
joshema216 0:24c2d41ff63f 213
joshema216 0:24c2d41ff63f 214 if (ind == '5') { // Si llega una cadena con el indicador '5' (Borrar).
joshema216 0:24c2d41ff63f 215 led1 =!led1;
joshema216 0:24c2d41ff63f 216 led2 =!led2;
joshema216 0:24c2d41ff63f 217 led3 =!led3;
joshema216 0:24c2d41ff63f 218 kpnum = 0; // Borra las constantes del controlador.
joshema216 0:24c2d41ff63f 219 kinum = 0;
joshema216 0:24c2d41ff63f 220 kdnum = 0;
joshema216 0:24c2d41ff63f 221 spnum = 0;
joshema216 0:24c2d41ff63f 222 lcd.cls(); // Borrar Pantalla.
joshema216 0:24c2d41ff63f 223 lcd.locate(1,1); // Se posiciona en col 1 fil 1.
joshema216 0:24c2d41ff63f 224 lcd.printf("DATOS BORRADOS");
joshema216 0:24c2d41ff63f 225 wait(2);
joshema216 0:24c2d41ff63f 226 lcd.cls(); // Borrar Pantalla.
joshema216 0:24c2d41ff63f 227 lcd.writeCommand(C1);// Escribimos un comando segun el manual del modulo LCD.
joshema216 0:24c2d41ff63f 228 lcd.locate(8,0);
joshema216 0:24c2d41ff63f 229 lcd.printf("Kp=%d",kpnum);
joshema216 0:24c2d41ff63f 230 lcd.locate(0,1);
joshema216 0:24c2d41ff63f 231 lcd.printf("Ki=%d",kinum);
joshema216 0:24c2d41ff63f 232 lcd.locate(8,1);
joshema216 0:24c2d41ff63f 233 lcd.printf("Kd=%d",kdnum);
joshema216 0:24c2d41ff63f 234 lcd.locate(0,0);
joshema216 0:24c2d41ff63f 235 lcd.printf("Sp=%d",spnum);
joshema216 0:24c2d41ff63f 236 led2 =!led2;
joshema216 0:24c2d41ff63f 237 led3 =!led3;
joshema216 0:24c2d41ff63f 238 }
joshema216 0:24c2d41ff63f 239
joshema216 0:24c2d41ff63f 240 if (ind == '7') { // Si llega una cadena con el indicador '7' (Detener).
joshema216 0:24c2d41ff63f 241 led1 =!led1; // No hacer nada, pues el controlador no se ha ejecutado.
joshema216 0:24c2d41ff63f 242 }
joshema216 0:24c2d41ff63f 243
joshema216 0:24c2d41ff63f 244 if (ind == '6') { // Si llega una cadena con el indicador '6' (Iniciar).
joshema216 0:24c2d41ff63f 245 led1 =!led1;
joshema216 0:24c2d41ff63f 246 led3 =!led3;
joshema216 0:24c2d41ff63f 247
joshema216 0:24c2d41ff63f 248 // Transición.
joshema216 0:24c2d41ff63f 249 lcd.writeCommand(C4);//Escribimos un comando segun el manual del modulo LCD para quitar cursor bajo.
joshema216 0:24c2d41ff63f 250 lcd.cls(); // Borra la pantalla.
joshema216 0:24c2d41ff63f 251 lcd.locate(1,1); // Se posiciona en col 1 fil 1.
joshema216 0:24c2d41ff63f 252 lcd.printf("DATOS GUARDADOS");
joshema216 0:24c2d41ff63f 253 wait(1);
joshema216 0:24c2d41ff63f 254 lcd.cls();
joshema216 0:24c2d41ff63f 255 lcd.locate(1,1); // Se posiciona en col 1 fil 1.
joshema216 0:24c2d41ff63f 256 lcd.printf("INICIO DEL PID");
joshema216 0:24c2d41ff63f 257 wait(2);
joshema216 0:24c2d41ff63f 258
joshema216 0:24c2d41ff63f 259 // Se imprimen los parches del control.
joshema216 0:24c2d41ff63f 260 lcd.cls();
joshema216 0:24c2d41ff63f 261 lcd.printf("Er=%3.0f",err);
joshema216 0:24c2d41ff63f 262 lcd.locate(8,0);
joshema216 0:24c2d41ff63f 263 lcd.printf("Me=%3.0f",med);
joshema216 0:24c2d41ff63f 264 lcd.locate(0,1);
joshema216 0:24c2d41ff63f 265 lcd.printf("Sp=%3.0f",spnum);
joshema216 0:24c2d41ff63f 266 lcd.locate(8,1);
joshema216 0:24c2d41ff63f 267 lcd.printf("Co=%3.0f",pid);
joshema216 0:24c2d41ff63f 268 wait(1);
joshema216 0:24c2d41ff63f 269
joshema216 0:24c2d41ff63f 270 // CICLO PRINCIPAL CONTROLADOR PID.
joshema216 0:24c2d41ff63f 271 lop1:
joshema216 0:24c2d41ff63f 272 med = y.read()*999; // Se toma la medida actual por el puerto analógico.
joshema216 0:24c2d41ff63f 273 //andr.printf("%f", med);
joshema216 0:24c2d41ff63f 274 err = (spnum-med); // Se calcula el error.
joshema216 0:24c2d41ff63f 275 //andr.printf("%f", err);
joshema216 0:24c2d41ff63f 276 ap = kpnum*err*0.01f; // Se calcula la acción proporcinal.
joshema216 0:24c2d41ff63f 277 ai =(kinum*err*0.01f)+ai; // Cálculo de la integral del error.
joshema216 0:24c2d41ff63f 278 ad = kdnum*(err-err_v)*0.01f; // Cálculo de la acción derivativa.
joshema216 0:24c2d41ff63f 279 pid = (ap+ai+ad); // Se actualiza el valor del la acción de control.
joshema216 0:24c2d41ff63f 280 //andr.printf("%f", pid);
joshema216 0:24c2d41ff63f 281
joshema216 0:24c2d41ff63f 282 // Se verifica que pid sea positivo.
joshema216 0:24c2d41ff63f 283 if(pid<=0) {
joshema216 0:24c2d41ff63f 284 pid=0;
joshema216 0:24c2d41ff63f 285 }
joshema216 0:24c2d41ff63f 286
joshema216 0:24c2d41ff63f 287 // Se verifica que pid sea menor o igual la valor máximo.
joshema216 0:24c2d41ff63f 288 if (pid > 999) {
joshema216 0:24c2d41ff63f 289 pid=999;
joshema216 0:24c2d41ff63f 290 }
joshema216 0:24c2d41ff63f 291
joshema216 0:24c2d41ff63f 292 // Se envían los datos del control como caracteres.
joshema216 0:24c2d41ff63f 293 cleanBuffer(varout, 40);
joshema216 0:24c2d41ff63f 294 cleanBuffer(outerr, 16);
joshema216 0:24c2d41ff63f 295 cleanBuffer(outmed, 16);
joshema216 0:24c2d41ff63f 296 cleanBuffer(outpid, 16);
joshema216 0:24c2d41ff63f 297 cleanBuffer(outspnum, 16);
joshema216 0:24c2d41ff63f 298
joshema216 0:24c2d41ff63f 299 ftoa(spnum, outspnum, 4); // Se convierte el Set point a caracter.
joshema216 0:24c2d41ff63f 300
joshema216 0:24c2d41ff63f 301 if (err < 0 && err > -1){ // Se convierte el Error a caracter.
joshema216 0:24c2d41ff63f 302 err = (-1)*err;
joshema216 0:24c2d41ff63f 303 strcat(outerr, "0");
joshema216 0:24c2d41ff63f 304 ftoa(err, outerrn, 4);
joshema216 0:24c2d41ff63f 305 strcat(outerr, outerrn);
joshema216 0:24c2d41ff63f 306 }
joshema216 0:24c2d41ff63f 307 else if (err <= -1){
joshema216 0:24c2d41ff63f 308 err = (-1)*err;
joshema216 0:24c2d41ff63f 309 ftoa(err, outerr, 4);
joshema216 0:24c2d41ff63f 310 }
joshema216 0:24c2d41ff63f 311 else if (err > 0 && err < 1){
joshema216 0:24c2d41ff63f 312 strcat(outerr, "0");
joshema216 0:24c2d41ff63f 313 ftoa(err, outerrn, 4);
joshema216 0:24c2d41ff63f 314 strcat(outerr, outerrn);
joshema216 0:24c2d41ff63f 315 }
joshema216 0:24c2d41ff63f 316 else{
joshema216 0:24c2d41ff63f 317 ftoa(err, outerr, 4);
joshema216 0:24c2d41ff63f 318 }
joshema216 0:24c2d41ff63f 319
joshema216 0:24c2d41ff63f 320 if (med < 1){ // Se convierte la Medida a caracter.
joshema216 0:24c2d41ff63f 321 strcat(outmed, "0");
joshema216 0:24c2d41ff63f 322 ftoa(med, outmedn, 4);
joshema216 0:24c2d41ff63f 323 strcat(outmed, outmedn);
joshema216 0:24c2d41ff63f 324 }
joshema216 0:24c2d41ff63f 325 else{
joshema216 0:24c2d41ff63f 326 ftoa(med, outmed, 4);
joshema216 0:24c2d41ff63f 327 }
joshema216 0:24c2d41ff63f 328
joshema216 0:24c2d41ff63f 329 if (pid < 1){ // Se convierte la Acción de control a caracter.
joshema216 0:24c2d41ff63f 330 strcat(outpid, "0");
joshema216 0:24c2d41ff63f 331 ftoa(pid, outpidn, 4);
joshema216 0:24c2d41ff63f 332 strcat(outpid, outpidn);
joshema216 0:24c2d41ff63f 333 }
joshema216 0:24c2d41ff63f 334 else{
joshema216 0:24c2d41ff63f 335 ftoa(pid, outpid, 4);
joshema216 0:24c2d41ff63f 336 }
joshema216 0:24c2d41ff63f 337
joshema216 0:24c2d41ff63f 338 strcat(varout, " /"); // Se prepara la cadena a ser enviada, se separa cada constante del control por "/".
joshema216 0:24c2d41ff63f 339 strcat(varout, outspnum);
joshema216 0:24c2d41ff63f 340 strcat(varout, "/");
joshema216 0:24c2d41ff63f 341 strcat(varout, outerr);
joshema216 0:24c2d41ff63f 342 strcat(varout, "/");
joshema216 0:24c2d41ff63f 343 strcat(varout, outmed);
joshema216 0:24c2d41ff63f 344 strcat(varout, "/");
joshema216 0:24c2d41ff63f 345 strcat(varout, outpid);
joshema216 0:24c2d41ff63f 346
joshema216 0:24c2d41ff63f 347 device.printf(varout);
joshema216 0:24c2d41ff63f 348 andr.printf("%s\n", varout);
joshema216 0:24c2d41ff63f 349
joshema216 0:24c2d41ff63f 350 // Se muestran las variables en la LCD.
joshema216 0:24c2d41ff63f 351 lcd.locate(3,0);
joshema216 0:24c2d41ff63f 352 lcd.printf(" ");
joshema216 0:24c2d41ff63f 353 lcd.locate(3,0);
joshema216 0:24c2d41ff63f 354 lcd.printf("%3.0f",err);
joshema216 0:24c2d41ff63f 355 lcd.locate(11,0);
joshema216 0:24c2d41ff63f 356 lcd.printf(" ");
joshema216 0:24c2d41ff63f 357 lcd.locate(11,0);
joshema216 0:24c2d41ff63f 358 lcd.printf("%3.0f",med);
joshema216 0:24c2d41ff63f 359 lcd.locate(3,1);
joshema216 0:24c2d41ff63f 360 lcd.printf(" ");
joshema216 0:24c2d41ff63f 361 lcd.locate(3,1);
joshema216 0:24c2d41ff63f 362 lcd.printf("%3.0d",spnum);
joshema216 0:24c2d41ff63f 363 lcd.locate(11,1);
joshema216 0:24c2d41ff63f 364 lcd.printf(" ");
joshema216 0:24c2d41ff63f 365 lcd.locate(11,1);
joshema216 0:24c2d41ff63f 366 lcd.printf("%3.0f",pid);
joshema216 0:24c2d41ff63f 367
joshema216 0:24c2d41ff63f 368 // Normalización de la salida.
joshema216 0:24c2d41ff63f 369 // Se actualizan las variables.
joshema216 0:24c2d41ff63f 370 err_v = err;
joshema216 0:24c2d41ff63f 371 o = pid/999;
joshema216 0:24c2d41ff63f 372 u.write(o); // Se envía el valor pid a puerto analogico de salida (D/A).
joshema216 0:24c2d41ff63f 373
joshema216 0:24c2d41ff63f 374 // Se repite el ciclo.
joshema216 0:24c2d41ff63f 375 wait_ms(300);
joshema216 0:24c2d41ff63f 376
joshema216 0:24c2d41ff63f 377 if(device.readable()){ // Si llega alguna cadena de caracteresp por la UART, principalmente para detener el controlador.
joshema216 0:24c2d41ff63f 378 //andr.putc(device.getc());
joshema216 0:24c2d41ff63f 379 readBuffer(buffer,4);
joshema216 0:24c2d41ff63f 380 //andr.printf("%s\r\n",buffer);
joshema216 0:24c2d41ff63f 381 ind = buffer[0];
joshema216 0:24c2d41ff63f 382
joshema216 0:24c2d41ff63f 383 if (ind == '7'){ // Si llega una cadena con el indicador '7' (Dentener).
joshema216 0:24c2d41ff63f 384 andr.printf("%s", ind);
joshema216 0:24c2d41ff63f 385 pid = 0; // Regresa las variables del proceso de control a cero.
joshema216 0:24c2d41ff63f 386 ai = 0;
joshema216 0:24c2d41ff63f 387 ad = 0;
joshema216 0:24c2d41ff63f 388 ap = 0;
joshema216 0:24c2d41ff63f 389 med = 0;
joshema216 0:24c2d41ff63f 390 err = 0;
joshema216 0:24c2d41ff63f 391 err_v = 0;
joshema216 0:24c2d41ff63f 392
joshema216 0:24c2d41ff63f 393 lcd.cls(); // Borrar Pantalla
joshema216 0:24c2d41ff63f 394 lcd.locate(1,1); //se posiciona en col 1 fil 1
joshema216 0:24c2d41ff63f 395 lcd.printf("PID DETENIDO");
joshema216 0:24c2d41ff63f 396 wait(2);
joshema216 0:24c2d41ff63f 397 lcd.cls(); // Borrar Pantalla
joshema216 0:24c2d41ff63f 398 lcd.writeCommand(C1);//escribimos un comando segun el manual del modulo LCD
joshema216 0:24c2d41ff63f 399 led3 =!led3;
joshema216 0:24c2d41ff63f 400
joshema216 0:24c2d41ff63f 401 lcd.locate(8,0);
joshema216 0:24c2d41ff63f 402 lcd.printf("Kp=%d",kpnum);
joshema216 0:24c2d41ff63f 403 lcd.locate(0,1);
joshema216 0:24c2d41ff63f 404 lcd.printf("Ki=%d",kinum);
joshema216 0:24c2d41ff63f 405 lcd.locate(8,1);
joshema216 0:24c2d41ff63f 406 lcd.printf("Kd=%d",kdnum);
joshema216 0:24c2d41ff63f 407 lcd.locate(0,0);
joshema216 0:24c2d41ff63f 408 lcd.printf("Sp=%d",spnum);
joshema216 0:24c2d41ff63f 409 }
joshema216 0:24c2d41ff63f 410 cleanBuffer(buffer,4);
joshema216 0:24c2d41ff63f 411 goto lop0; // Si en efecto se detiene el PID vuelve al ciclo de asignación de variables.
joshema216 0:24c2d41ff63f 412 }
joshema216 0:24c2d41ff63f 413 goto lop1; // Si no se detiene el PID entonces vuelve al ciclo de control.
joshema216 0:24c2d41ff63f 414 }
joshema216 0:24c2d41ff63f 415 cleanBuffer(buffer,4);
joshema216 0:24c2d41ff63f 416 }
joshema216 0:24c2d41ff63f 417 //andr.putc(device.getc());
joshema216 0:24c2d41ff63f 418 }
joshema216 0:24c2d41ff63f 419 }