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
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