![](/media/cache/profiles/88620f53e8130fe210652d43137a905b.jpg.50x50_q85.jpg)
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
Diff: main.cpp
- Revision:
- 4:3af282af5e21
- Parent:
- 3:82bebaf2a06a
diff -r 82bebaf2a06a -r 3af282af5e21 main.cpp --- a/main.cpp Thu May 08 00:38:39 2014 +0000 +++ b/main.cpp Wed Nov 16 02:26:45 2016 +0000 @@ -1,49 +1,1155 @@ +// 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> -//control remoto videobeam aula -PulseInOut irda(PTD5);// en este puerto se pone el sensor infrarrojo +#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); -DigitalOut led(LED1); +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); -int header =0; //tiempo de cabecera pulso abajo -const int head_H = 9120; //+10% medida con osciloscopio en microsegundos -const int head_L = 8939;//-10% medida con osciloscopio -int i=0; -const int T_alto=1630;//ponga su tiempo de la prueba -const int T_bajo=533;//ponga su tiempo de la prueba -const int num_bits = 64;//ponga su numero de bits -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 +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(){ -while(1){ -ini1: fflush( stdin ); - header=0; - led2=1; - led=1; - header = irda.read_low_us(); //funcion 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 +-20% - else goto ini1; - -seguir: - //leo los datos de la trama y se meten a un arreglo - wait_us(4500);// ES EL TIEMPO DE HEADER QUE NO SE Lee O EL ALTO - led2=0; - 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(300); - } - wait(0.5); //espero un poquito 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); //espero e imprimo en binario - pc.printf("\n\n"); - for(i=0;i<(num_bits-1);++i){ - if(num[i] > ((T_alto+T_bajo)/2)) pc.printf("1"); - else pc.printf("0"); - } - } - } \ No newline at end of file + + 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; +} \ No newline at end of file