joshema 216
Procesadores, 2016 - II. Tarea #3. Oswaldo Andrés Giraldo Giraldo, Héctor Andrés Hoyos Ceballos, Jose Fernando Montoya Vargas, María Fernanda Villa Tamayo. Programa para establecer la comunicación con un sensor infrarrojo con el protocolo IrDA.
Dependencies: Pulse1 TextLCD mbed
Fork of
TAREA_3_PID_IRDA
by 
joshema 216
main.cpp
- Committer:
- joshema216
- Date:
- 2016-11-16
- Revision:
- 5:d4784bf79e0c
- Parent:
- 4:3af282af5e21
File content as of revision 5:d4784bf79e0c:
// Programa para ejecutar un control PID que lee las constantes del controlador desde la
// manipulación de un control LG AKB73275620 por medio de un protocolo IrDA. Un sensor
// infrarrojo lee los pulsos de entrada y asigna la acción correspondiente dependiendo
// de la tecla pulsada. Para cada tecla el control manda una cadena de pulsos distinta,
// se usarán las teclas de los números del 0 al 9 para asignar fácilmente las constantes
// del controlador, una tecla de "OK" para acceder a la siguiente constante, una tecla de
// "Back" para borrar lo asignado en la constante y una tecla de "Power" para iniciar el
// ciclo de control.
// Oswaldo Andrés Giraldo Giraldo - C.C.: 1152458465
// Héctor Andrés Hoyos Ceballos - C.C.: 1039466317
// Jose Fernando Montoya Vargas - C.C.: 1039468676
// María Fernanda Villa Tamayo - C.C.: 1152457490
#include "mbed.h"
#include <Pulse1.h>
#include "stdio.h"
#include "math.h"
#include "TextLCD.h"
//control remoto sony disparo camara
//puede convertir la trama en un entero
//para cualquier tecla
PulseInOut irda(PTD5);// En este puerto se pone el sensor infrarrojo.
Serial pc(USBTX, USBRX);
TextLCD lcd(PTB10, PTB11, PTE2, PTE3, PTE4, PTE5); // RS, E, D4 - D7.
AnalogIn y(PTB3); // Entrada análoga.
AnalogOut u(PTE30); // Salida análoga.
DigitalOut led1(LED1);
DigitalOut led2(LED2);
DigitalOut led3(LED3);
int C1=0x0E; // Sólo muestra el cursor.
int C2=0x18; // Desplaza hacia la izquierda.
int C3=0x1A; // Desplaza hacia la derecha.
int C4=0x0C; // Quita el cursor bajo.
float pid, o, ai, ad, ap, med, err;
float err_v;
int spnum = 0, kinum = 0, kpnum = 0, kdnum = 0, pos = 1, cen = 0, dec = 0, uni = 0, uninum = 0, decnum = 0, cennum = 0, tec = 0;
int header = 0; // Tiempo de cabecera pulso abajo
const int head_H = 9977; //+10% de la cabecera medida, con osciloscopio en microsegundos.
const int head_L = 8163;//-10% de la cabecera medida, con osciloscopio.
int i = 0;
const int T_alto = 1240; // Tiempo en ALTO de un 1 lógico.
const int T_bajo = 680; // Tiempo en BAJO de un 1 lógico.
const int num_bits = 32; // Número de bits al pisar una tecla.
int num[num_bits]; // Cadena para almacenar todos los tiempos que conforman los bits de datos
int dato; // Tiempo de cada dato que se lee.
int numero;
int binM[32];
int bin_max[32];
int main(){
lcd.locate(0,1);
lcd.printf("**Control PID**");
wait(2);
lcd.cls(); // Borrar Pantalla.
lcd.writeCommand(C1); // Escribimos un comando segun el manual del modulo LCD.
lcd.locate(8, 0);
lcd.printf("Kp=%d", kpnum);
lcd.locate(0, 1);
lcd.printf("Ki=%d", kinum);
lcd.locate(8, 1);
lcd.printf("Kd=%d", kdnum);
lcd.locate(0, 0);
lcd.printf("Sp=%d", spnum);
while(1){
ini1: fflush( stdin );
header = 0;
led2 = 1;
led1 = 1;
header = irda.read_low_us(); // Función para leer un pulso de caida o bajo en header.
if (header > head_L && header < head_H) goto seguir; // Verificar que este en la tolerancia +-10%
else goto ini1;
seguir:
// Leer los datos de la trama y asignarlos a un arreglo.
wait_us(400);// ES EL TIEMPO DE HEADER QUE NO SE Lee O EL ALTO
led2 = 1;
for(i = 0; i < (num_bits - 1); ++i){ // POR OSCILOSCOPIO se determina que llegan (num_bits), datos.
dato = irda.read_high_us(); // Leer un bit de datos que es pulso arriba en este control.
num[i] = dato;
wait_us(400);
}
wait(0.5); // Esperar luego de leer todo el arreglo y ponerlo en pantalla.
pc.printf("%d",header);
/*for(i = 0; i < (num_bits - 1); ++i){
pc.printf(",%d",num[i]);
}*/
wait(0.1);
pc.printf("\n\n");
for(i = 0; i < (num_bits - 1); ++i){
if(num[i] > ((T_alto + T_bajo)/2)){
bin_max[i] = 1;
}
else{
bin_max[i] = 0;
}
}
binM[0] = 1;
for(i = 1; i < (num_bits - 1); ++i){
binM[i] = binM[i - 1]*2;
}
numero = 0;
/*for(i = 0; i < (num_bits - 1); ++i){
pc.printf(",%d", binM[i]);
}*/
for(i = 0; i < (num_bits - 1); ++i){
numero = numero + (binM[i]*bin_max[i]);
}
pc.printf("\n\n");
pc.printf("Numero = %d", numero);
pc.printf("\n\n");
// Datos del control utilizado.
//'1846672132' - Número 1
//'1829960452' - Número 2
//'1813248772' - Número 3
//'1796537092' - Número 4
//'1779825412' - Número 5
//'1763113732' - Número 6
//'1746402052' - Número 7
//'1729690372' - Número 8
//'1712978692' - Número 9
//'1863383812' - Número 0
//'994376452' - OK
//'1462303492' - Back
//'1997077252' - Power
if (numero == 1846672132){ // Número 1
tec = 1;
if (cen == 0 && dec == 0 && uni == 0){
uninum = tec;
uni = 1;
if(pos == 1){
spnum = uninum;
lcd.locate(3, 0);
lcd.printf(" ");
lcd.locate(3, 0);
lcd.printf("%d", spnum);
}
else if (pos == 2){
kpnum = uninum;
lcd.locate(11, 0);
lcd.printf(" ");
lcd.locate(11, 0);
lcd.printf("%d", kpnum);
}
else if(pos == 3){
kinum = uninum;
lcd.locate(3, 1);
lcd.printf(" ");
lcd.locate(3, 1);
lcd.printf("%d", kinum);
}
else if(pos == 4){
kdnum = uninum;
lcd.locate(11, 1);
lcd.printf(" ");
lcd.locate(11, 1);
lcd.printf("%d", kdnum);
}
}
else if (cen == 0 && dec == 0 && uni != 0){
decnum = tec;
dec = 1;
if(pos == 1){
spnum = uninum*10 + decnum;
lcd.locate(3, 0);
lcd.printf("%d", spnum);
}
else if (pos == 2){
kpnum = uninum*10 + decnum;
lcd.locate(11, 0);
lcd.printf("%d", kpnum);
}
else if(pos == 3){
kinum = uninum*10 + decnum;
lcd.locate(3, 1);
lcd.printf("%d", kinum);
}
else if(pos == 4){
kdnum = uninum*10 + decnum;
lcd.locate(11, 1);
lcd.printf("%d", kdnum);
}
}
else if (cen == 0 && dec != 0 && uni != 0){
cennum = tec;
cen = 1;
if(pos == 1){
spnum = uninum*100 + decnum*10 + cennum;
lcd.locate(3, 0);
lcd.printf("%d", spnum);
}
else if (pos == 2){
kpnum = uninum*100 + decnum*10 + cennum;
lcd.locate(11, 0);
lcd.printf("%d", kpnum);
}
else if(pos == 3){
kinum = uninum*100 + decnum*10 + cennum;
lcd.locate(3, 1);
lcd.printf("%d", kinum);
}
else if(pos == 4){
kdnum = uninum*100 + decnum*10 + cennum;
lcd.locate(11, 1);
lcd.printf("%d", kdnum);
}
uni = 0;
dec = 0;
cen = 0;
}
}
if (numero == 1829960452){ // Número 2
tec = 2;
if (cen == 0 && dec == 0 && uni == 0){
uninum = tec;
uni = 1;
if(pos == 1){
spnum = uninum;
lcd.locate(3, 0);
lcd.printf(" ");
lcd.locate(3, 0);
lcd.printf("%d", spnum);
}
else if (pos == 2){
kpnum = uninum;
lcd.locate(11, 0);
lcd.printf(" ");
lcd.locate(11, 0);
lcd.printf("%d", kpnum);
}
else if(pos == 3){
kinum = uninum;
lcd.locate(3, 1);
lcd.printf(" ");
lcd.locate(3, 1);
lcd.printf("%d", kinum);
}
else if(pos == 4){
kdnum = uninum;
lcd.locate(11, 1);
lcd.printf(" ");
lcd.locate(11, 1);
lcd.printf("%d", kdnum);
}
}
else if (cen == 0 && dec == 0 && uni != 0){
decnum = tec;
dec = 1;
if(pos == 1){
spnum = uninum*10 + decnum;
lcd.locate(3, 0);
lcd.printf("%d", spnum);
}
else if (pos == 2){
kpnum = uninum*10 + decnum;
lcd.locate(11, 0);
lcd.printf("%d", kpnum);
}
else if(pos == 3){
kinum = uninum*10 + decnum;
lcd.locate(3, 1);
lcd.printf("%d", kinum);
}
else if(pos == 4){
kdnum = uninum*10 + decnum;
lcd.locate(11, 1);
lcd.printf("%d", kdnum);
}
}
else if (cen == 0 && dec != 0 && uni != 0){
cennum = tec;
cen = 1;
if(pos == 1){
spnum = uninum*100 + decnum*10 + cennum;
lcd.locate(3, 0);
lcd.printf("%d", spnum);
}
else if (pos == 2){
kpnum = uninum*100 + decnum*10 + cennum;
lcd.locate(11, 0);
lcd.printf("%d", kpnum);
}
else if(pos == 3){
kinum = uninum*100 + decnum*10 + cennum;
lcd.locate(3, 1);
lcd.printf("%d", kinum);
}
else if(pos == 4){
kdnum = uninum*100 + decnum*10 + cennum;
lcd.locate(11, 1);
lcd.printf("%d", kdnum);
}
uni = 0;
dec = 0;
cen = 0;
}
}
if (numero == 1813248772){ // Número 3
tec = 3;
if (cen == 0 && dec == 0 && uni == 0){
uninum = tec;
uni = 1;
if(pos == 1){
spnum = uninum;
lcd.locate(3, 0);
lcd.printf(" ");
lcd.locate(3, 0);
lcd.printf("%d", spnum);
}
else if (pos == 2){
kpnum = uninum;
lcd.locate(11, 0);
lcd.printf(" ");
lcd.locate(11, 0);
lcd.printf("%d", kpnum);
}
else if(pos == 3){
kinum = uninum;
lcd.locate(3, 1);
lcd.printf(" ");
lcd.locate(3, 1);
lcd.printf("%d", kinum);
}
else if(pos == 4){
kdnum = uninum;
lcd.locate(11, 1);
lcd.printf(" ");
lcd.locate(11, 1);
lcd.printf("%d", kdnum);
}
}
else if (cen == 0 && dec == 0 && uni != 0){
decnum = tec;
dec = 1;
if(pos == 1){
spnum = uninum*10 + decnum;
lcd.locate(3, 0);
lcd.printf("%d", spnum);
}
else if (pos == 2){
kpnum = uninum*10 + decnum;
lcd.locate(11, 0);
lcd.printf("%d", kpnum);
}
else if(pos == 3){
kinum = uninum*10 + decnum;
lcd.locate(3, 1);
lcd.printf("%d", kinum);
}
else if(pos == 4){
kdnum = uninum*10 + decnum;
lcd.locate(11, 1);
lcd.printf("%d", kdnum);
}
}
else if (cen == 0 && dec != 0 && uni != 0){
cennum = tec;
cen = 1;
if(pos == 1){
spnum = uninum*100 + decnum*10 + cennum;
lcd.locate(3, 0);
lcd.printf("%d", spnum);
}
else if (pos == 2){
kpnum = uninum*100 + decnum*10 + cennum;
lcd.locate(11, 0);
lcd.printf("%d", kpnum);
}
else if(pos == 3){
kinum = uninum*100 + decnum*10 + cennum;
lcd.locate(3, 1);
lcd.printf("%d", kinum);
}
else if(pos == 4){
kdnum = uninum*100 + decnum*10 + cennum;
lcd.locate(11, 1);
lcd.printf("%d", kdnum);
}
uni = 0;
dec = 0;
cen = 0;
}
}
if (numero == 1796537092){ // Número 4
tec = 4;
if (cen == 0 && dec == 0 && uni == 0){
uninum = tec;
uni = 1;
if(pos == 1){
spnum = uninum;
lcd.locate(3, 0);
lcd.printf(" ");
lcd.locate(3, 0);
lcd.printf("%d", spnum);
}
else if (pos == 2){
kpnum = uninum;
lcd.locate(11, 0);
lcd.printf(" ");
lcd.locate(11, 0);
lcd.printf("%d", kpnum);
}
else if(pos == 3){
kinum = uninum;
lcd.locate(3, 1);
lcd.printf(" ");
lcd.locate(3, 1);
lcd.printf("%d", kinum);
}
else if(pos == 4){
kdnum = uninum;
lcd.locate(11, 1);
lcd.printf(" ");
lcd.locate(11, 1);
lcd.printf("%d", kdnum);
}
}
else if (cen == 0 && dec == 0 && uni != 0){
decnum = tec;
dec = 1;
if(pos == 1){
spnum = uninum*10 + decnum;
lcd.locate(3, 0);
lcd.printf("%d", spnum);
}
else if (pos == 2){
kpnum = uninum*10 + decnum;
lcd.locate(11, 0);
lcd.printf("%d", kpnum);
}
else if(pos == 3){
kinum = uninum*10 + decnum;
lcd.locate(3, 1);
lcd.printf("%d", kinum);
}
else if(pos == 4){
kdnum = uninum*10 + decnum;
lcd.locate(11, 1);
lcd.printf("%d", kdnum);
}
}
else if (cen == 0 && dec != 0 && uni != 0){
cennum = tec;
cen = 1;
if(pos == 1){
spnum = uninum*100 + decnum*10 + cennum;
lcd.locate(3, 0);
lcd.printf("%d", spnum);
}
else if (pos == 2){
kpnum = uninum*100 + decnum*10 + cennum;
lcd.locate(11, 0);
lcd.printf("%d", kpnum);
}
else if(pos == 3){
kinum = uninum*100 + decnum*10 + cennum;
lcd.locate(3, 1);
lcd.printf("%d", kinum);
}
else if(pos == 4){
kdnum = uninum*100 + decnum*10 + cennum;
lcd.locate(11, 1);
lcd.printf("%d", kdnum);
}
uni = 0;
dec = 0;
cen = 0;
}
}
if (numero == 1779825412){ // Número 5
tec = 5;
if (cen == 0 && dec == 0 && uni == 0){
uninum = tec;
uni = 1;
if(pos == 1){
spnum = uninum;
lcd.locate(3, 0);
lcd.printf(" ");
lcd.locate(3, 0);
lcd.printf("%d", spnum);
}
else if (pos == 2){
kpnum = uninum;
lcd.locate(11, 0);
lcd.printf(" ");
lcd.locate(11, 0);
lcd.printf("%d", kpnum);
}
else if(pos == 3){
kinum = uninum;
lcd.locate(3, 1);
lcd.printf(" ");
lcd.locate(3, 1);
lcd.printf("%d", kinum);
}
else if(pos == 4){
kdnum = uninum;
lcd.locate(11, 1);
lcd.printf(" ");
lcd.locate(11, 1);
lcd.printf("%d", kdnum);
}
}
else if (cen == 0 && dec == 0 && uni != 0){
decnum = tec;
dec = 1;
if(pos == 1){
spnum = uninum*10 + decnum;
lcd.locate(3, 0);
lcd.printf("%d", spnum);
}
else if (pos == 2){
kpnum = uninum*10 + decnum;
lcd.locate(11, 0);
lcd.printf("%d", kpnum);
}
else if(pos == 3){
kinum = uninum*10 + decnum;
lcd.locate(3, 1);
lcd.printf("%d", kinum);
}
else if(pos == 4){
kdnum = uninum*10 + decnum;
lcd.locate(11, 1);
lcd.printf("%d", kdnum);
}
}
else if (cen == 0 && dec != 0 && uni != 0){
cennum = tec;
cen = 1;
if(pos == 1){
spnum = uninum*100 + decnum*10 + cennum;
lcd.locate(3, 0);
lcd.printf("%d", spnum);
}
else if (pos == 2){
kpnum = uninum*100 + decnum*10 + cennum;
lcd.locate(11, 0);
lcd.printf("%d", kpnum);
}
else if(pos == 3){
kinum = uninum*100 + decnum*10 + cennum;
lcd.locate(3, 1);
lcd.printf("%d", kinum);
}
else if(pos == 4){
kdnum = uninum*100 + decnum*10 + cennum;
lcd.locate(11, 1);
lcd.printf("%d", kdnum);
}
uni = 0;
dec = 0;
cen = 0;
}
}
if (numero == 1763113732){ // Número 6
tec = 6;
if (cen == 0 && dec == 0 && uni == 0){
uninum = tec;
uni = 1;
if(pos == 1){
spnum = uninum;
lcd.locate(3, 0);
lcd.printf(" ");
lcd.locate(3, 0);
lcd.printf("%d", spnum);
}
else if (pos == 2){
kpnum = uninum;
lcd.locate(11, 0);
lcd.printf(" ");
lcd.locate(11, 0);
lcd.printf("%d", kpnum);
}
else if(pos == 3){
kinum = uninum;
lcd.locate(3, 1);
lcd.printf(" ");
lcd.locate(3, 1);
lcd.printf("%d", kinum);
}
else if(pos == 4){
kdnum = uninum;
lcd.locate(11, 1);
lcd.printf(" ");
lcd.locate(11, 1);
lcd.printf("%d", kdnum);
}
}
else if (cen == 0 && dec == 0 && uni != 0){
decnum = tec;
dec = 1;
if(pos == 1){
spnum = uninum*10 + decnum;
lcd.locate(3, 0);
lcd.printf("%d", spnum);
}
else if (pos == 2){
kpnum = uninum*10 + decnum;
lcd.locate(11, 0);
lcd.printf("%d", kpnum);
}
else if(pos == 3){
kinum = uninum*10 + decnum;
lcd.locate(3, 1);
lcd.printf("%d", kinum);
}
else if(pos == 4){
kdnum = uninum*10 + decnum;
lcd.locate(11, 1);
lcd.printf("%d", kdnum);
}
}
else if (cen == 0 && dec != 0 && uni != 0){
cennum = tec;
cen = 1;
if(pos == 1){
spnum = uninum*100 + decnum*10 + cennum;
lcd.locate(3, 0);
lcd.printf("%d", spnum);
}
else if (pos == 2){
kpnum = uninum*100 + decnum*10 + cennum;
lcd.locate(11, 0);
lcd.printf("%d", kpnum);
}
else if(pos == 3){
kinum = uninum*100 + decnum*10 + cennum;
lcd.locate(3, 1);
lcd.printf("%d", kinum);
}
else if(pos == 4){
kdnum = uninum*100 + decnum*10 + cennum;
lcd.locate(11, 1);
lcd.printf("%d", kdnum);
}
uni = 0;
dec = 0;
cen = 0;
}
}
if (numero == 1746402052){ // Número 7
tec = 7;
if (cen == 0 && dec == 0 && uni == 0){
uninum = tec;
uni = 1;
if(pos == 1){
spnum = uninum;
lcd.locate(3, 0);
lcd.printf(" ");
lcd.locate(3, 0);
lcd.printf("%d", spnum);
}
else if (pos == 2){
kpnum = uninum;
lcd.locate(11, 0);
lcd.printf(" ");
lcd.locate(11, 0);
lcd.printf("%d", kpnum);
}
else if(pos == 3){
kinum = uninum;
lcd.locate(3, 1);
lcd.printf(" ");
lcd.locate(3, 1);
lcd.printf("%d", kinum);
}
else if(pos == 4){
kdnum = uninum;
lcd.locate(11, 1);
lcd.printf(" ");
lcd.locate(11, 1);
lcd.printf("%d", kdnum);
}
}
else if (cen == 0 && dec == 0 && uni != 0){
decnum = tec;
dec = 1;
if(pos == 1){
spnum = uninum*10 + decnum;
lcd.locate(3, 0);
lcd.printf("%d", spnum);
}
else if (pos == 2){
kpnum = uninum*10 + decnum;
lcd.locate(11, 0);
lcd.printf("%d", kpnum);
}
else if(pos == 3){
kinum = uninum*10 + decnum;
lcd.locate(3, 1);
lcd.printf("%d", kinum);
}
else if(pos == 4){
kdnum = uninum*10 + decnum;
lcd.locate(11, 1);
lcd.printf("%d", kdnum);
}
}
else if (cen == 0 && dec != 0 && uni != 0){
cennum = tec;
cen = 1;
if (pos == 1){
spnum = uninum*100 + decnum*10 + cennum;
lcd.locate(3, 0);
lcd.printf("%d", spnum);
}
else if (pos == 2){
kpnum = uninum*100 + decnum*10 + cennum;
lcd.locate(11, 0);
lcd.printf("%d", kpnum);
}
else if(pos == 3){
kinum = uninum*100 + decnum*10 + cennum;
lcd.locate(3, 1);
lcd.printf("%d", kinum);
}
else if(pos == 4){
kdnum = uninum*100 + decnum*10 + cennum;
lcd.locate(11, 1);
lcd.printf("%d", kdnum);
}
uni = 0;
dec = 0;
cen = 0;
}
}
if (numero == 1729690372){ // Número 8
tec = 8;
if (cen == 0 && dec == 0 && uni == 0){
uninum = tec;
uni = 1;
if(pos == 1){
spnum = uninum;
lcd.locate(3, 0);
lcd.printf(" ");
lcd.locate(3, 0);
lcd.printf("%d", spnum);
}
else if(pos == 2){
kpnum = uninum;
lcd.locate(11, 0);
lcd.printf(" ");
lcd.locate(11, 0);
lcd.printf("%d", kpnum);
}
else if(pos == 3){
kinum = uninum;
lcd.locate(3, 1);
lcd.printf(" ");
lcd.locate(3, 1);
lcd.printf("%d", kinum);
}
else if(pos == 4){
kdnum = uninum;
lcd.locate(11, 1);
lcd.printf(" ");
lcd.locate(11, 1);
lcd.printf("%d", kdnum);
}
}
else if (cen == 0 && dec == 0 && uni != 0){
decnum = tec;
dec = 1;
if(pos == 1){
spnum = uninum*10 + decnum;
lcd.locate(3, 0);
lcd.printf("%d", spnum);
}
else if(pos == 2){
kpnum = uninum*10 + decnum;
lcd.locate(11, 0);
lcd.printf("%d", kpnum);
}
else if(pos == 3){
kinum = uninum*10 + decnum;
lcd.locate(3, 1);
lcd.printf("%d", kinum);
}
else if(pos == 4){
kdnum = uninum*10 + decnum;
lcd.locate(11, 1);
lcd.printf("%d", kdnum);
}
}
else if (cen == 0 && dec != 0 && uni != 0){
cennum = tec;
cen = 1;
if(pos == 1){
spnum = uninum*100 + decnum*10 + cennum;
lcd.locate(3, 0);
lcd.printf("%d", spnum);
}
else if (pos == 2){
kpnum = uninum*100 + decnum*10 + cennum;
lcd.locate(11, 0);
lcd.printf("%d", kpnum);
}
else if(pos == 3){
kinum = uninum*100 + decnum*10 + cennum;
lcd.locate(3, 1);
lcd.printf("%d", kinum);
}
else if(pos == 4){
kdnum = uninum*100 + decnum*10 + cennum;
lcd.locate(11, 1);
lcd.printf("%d", kdnum);
}
uni = 0;
dec = 0;
cen = 0;
}
}
if (numero == 1712978692){ // Número 9
tec = 9;
if (cen == 0 && dec == 0 && uni == 0){
uninum = tec;
uni = 1;
if(pos == 1){
spnum = uninum;
lcd.locate(3, 0);
lcd.printf(" ");
lcd.locate(3, 0);
lcd.printf("%d", spnum);
}
else if (pos == 2){
kpnum = uninum;
lcd.locate(11, 0);
lcd.printf(" ");
lcd.locate(11, 0);
lcd.printf("%d", kpnum);
}
else if(pos == 3){
kinum = uninum;
lcd.locate(3, 1);
lcd.printf(" ");
lcd.locate(3, 1);
lcd.printf("%d", kinum);
}
else if(pos == 4){
kdnum = uninum;
lcd.locate(11, 1);
lcd.printf(" ");
lcd.locate(11, 1);
lcd.printf("%d", kdnum);
}
}
else if (cen == 0 && dec == 0 && uni != 0){
decnum = tec;
dec = 1;
if(pos == 1){
spnum = uninum*10 + decnum;
lcd.locate(3, 0);
lcd.printf("%d", spnum);
}
else if(pos == 2){
kpnum = uninum*10 + decnum;
lcd.locate(11, 0);
lcd.printf("%d", kpnum);
}
else if(pos == 3){
kinum = uninum*10 + decnum;
lcd.locate(3, 1);
lcd.printf("%d", kinum);
}
else if(pos == 4){
kdnum = uninum*10 + decnum;
lcd.locate(11, 1);
lcd.printf("%d", kdnum);
}
}
else if (cen == 0 && dec != 0 && uni != 0){
cennum = tec;
cen = 1;
if(pos == 1){
spnum = uninum*100 + decnum*10 + cennum;
lcd.locate(3, 0);
lcd.printf("%d", spnum);
}
else if (pos == 2){
kpnum = uninum*100 + decnum*10 + cennum;
lcd.locate(11, 0);
lcd.printf("%d", kpnum);
}
else if(pos == 3){
kinum = uninum*100 + decnum*10 + cennum;
lcd.locate(3, 1);
lcd.printf("%d", kinum);
}
else if(pos == 4){
kdnum = uninum*100 + decnum*10 + cennum;
lcd.locate(11, 1);
lcd.printf("%d", kdnum);
}
uni = 0;
dec = 0;
cen = 0;
}
}
if (numero == 1863383812){ // Número 0
tec = 0;
if (cen == 0 && dec == 0 && uni == 0){
uninum = tec;
uni = 1;
if(pos == 1){
spnum = uninum;
lcd.locate(3, 0);
lcd.printf(" ");
lcd.locate(3, 0);
lcd.printf("%d", spnum);
}
else if (pos == 2){
kpnum = uninum;
lcd.locate(11, 0);
lcd.locate(11, 0);
lcd.printf(" ");
lcd.printf("%d", kpnum);
}
else if(pos == 3){
kinum = uninum;
lcd.locate(3, 1);
lcd.printf(" ");
lcd.locate(3, 1);
lcd.printf("%d", kinum);
}
else if(pos == 4){
kdnum = uninum;
lcd.locate(11, 1);
lcd.printf(" ");
lcd.locate(11, 1);
lcd.printf("%d", kdnum);
}
}
else if (cen == 0 && dec == 0 && uni != 0){
decnum = tec;
dec = 1;
if(pos == 1){
spnum = uninum*10 + decnum;
lcd.locate(3, 0);
lcd.printf("%d", spnum);
}
else if (pos == 2){
kpnum = uninum*10 + decnum;
lcd.locate(11, 0);
lcd.printf("%d", kpnum);
}
else if(pos == 3){
kinum = uninum*10 + decnum;
lcd.locate(3, 1);
lcd.printf("%d", kinum);
}
else if(pos == 4){
kdnum = uninum*10 + decnum;
lcd.locate(11, 1);
lcd.printf("%d", kdnum);
}
}
else if (cen == 0 && dec != 0 && uni != 0){
cennum = tec;
cen = 1;
if(pos == 1){
spnum = uninum*100 + decnum*10 + cennum;
lcd.locate(3, 0);
lcd.printf("%d", spnum);
}
else if (pos == 2){
kpnum = uninum*100 + decnum*10 + cennum;
lcd.locate(11, 0);
lcd.printf("%d", kpnum);
}
else if(pos == 3){
kinum = uninum*100 + decnum*10 + cennum;
lcd.locate(3, 1);
lcd.printf("%d", kinum);
}
else if(pos == 4){
kdnum = uninum*100 + decnum*10 + cennum;
lcd.locate(11, 1);
lcd.printf("%d", kdnum);
}
uni = 0;
dec = 0;
cen = 0;
}
}
if (numero == 1462303492){ // Back (Borrar el número actual).
if(pos == 1){
uni = 0;
dec = 0;
cen = 0;
spnum = 0;
lcd.locate(3, 0);
lcd.printf(" ");
lcd.locate(3, 0);
lcd.printf("%d", spnum);
}
else if (pos == 2){
uni = 0;
dec = 0;
cen = 0;
kpnum = 0;
lcd.locate(11, 0);
lcd.printf(" ");
lcd.locate(11, 0);
lcd.printf("%d", kpnum);
}
else if(pos == 3){
uni = 0;
dec = 0;
cen = 0;
kinum = 0;
lcd.locate(3, 1);
lcd.printf(" ");
lcd.locate(3, 1);
lcd.printf("%d", kinum);
}
else if(pos == 4){
uni = 0;
dec = 0;
cen = 0;
kdnum = 0;
lcd.locate(11, 1);
lcd.printf(" ");
lcd.locate(11, 1);
lcd.printf("%d", kdnum);
}
}
if (numero == 994376452){ // OK (Cambiar a la siguiente constante).
led3 =!led3;
uni = 0;
dec = 0;
cen = 0;
if(pos == 4){
pos = 1;
lcd.locate(3, 0);
lcd.printf("%d", spnum);
}
else if (pos == 1){
pos++;
lcd.locate(11, 0);
lcd.printf("%d", kpnum);
}
else if(pos == 2){
pos++;
lcd.locate(3, 1);
lcd.printf("%d", kinum);
}
else if(pos == 3){
pos++;
lcd.locate(11, 1);
lcd.printf("%d", kdnum);
}
wait(0.25);
}
if (numero == 1997077252){ // Power (Inicializar el PID).
break; // Sale del bucle si se pisa Power.
}
wait(0.1);
}
//Transición
lcd.writeCommand(C4); // Escribimos un comando segun el manual del modulo LCD para quitar cursor bajo.
lcd.cls(); // Borra la pantalla.
lcd.locate(1, 1);
lcd.printf("DATOS GUARDADOS");
wait(1);
lcd.cls();
lcd.locate(1, 1);
lcd.printf("INICIO DEL PID");
wait(1);
// Se imprimen los parches del control.
lcd.cls();
lcd.printf("Er=%3.0f",err);
lcd.locate(8,0);
lcd.printf("Me=%3.0f",med);
lcd.locate(0,1);
lcd.printf("Sp=%3.0f",spnum);
lcd.locate(8,1);
lcd.printf("Co=%3.0f",pid);
wait(1);
// CICLO PRINCIPAL CONTROLADOR PID.
lop1:
med = y.read()*999;
err = (spnum-med); // Se calcula el error.
ap = kpnum*err*0.01f; // Se calcula la acción proporcinal.
ai =(kinum*err*0.01f)+ai; // Cálculo de la integral del error.
ad = kdnum*(err-err_v)*0.01f; // Cálculo de la acción derivativa.
pid = (ap+ai+ad); // Se actualiza el valor del la acción de control.
// Se verifica que pid sea positivo.
if(pid<=0){
pid=0;
}
// Se verifica que pid sea menor o igual la valor máximo.
if (pid > 999){
pid=999;
}
// Se muestran las variables en la LCD.
lcd.locate(3,0);
lcd.printf(" ");
lcd.locate(3,0);
lcd.printf("%3.0f",err);
lcd.locate(11,0);
lcd.printf(" ");
lcd.locate(11,0);
lcd.printf("%3.0f",med);
lcd.locate(3,1);
lcd.printf(" ");
lcd.locate(3,1);
lcd.printf("%d",spnum);
lcd.locate(11,1);
lcd.printf(" ");
lcd.locate(11,1);
lcd.printf("%3.0f",pid);
// Normalización de la salida.
// Se actualizan las variables.
err_v = err;
o = pid/999;
u.write(o); // Se envía el valor de pid al puerto analogico de salida (D/A).
// Se repite el ciclo.
wait_ms(300);
goto lop1;
}