Juan Gonzalo Gutieerez / Mbed 2 deprecated enco

tarea encoder , configuracion pid con el encoder

Dependencies:   Debounced QEI TextLCD mbed

Fork of Tarea4_Encoder by Jesse Beltran

main.cpp@1:edbfc09232ed, 2014-05-13 (annotated)

Committer:
juanco
Date:
Tue May 13 16:47:50 2014 +0000
Revision:
1:edbfc09232ed
Parent:
0:cdf4bcffb35a 
manejo del encoder  de nuevo utilizando la pantalla lcd.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Jesse 0:cdf4bcffb35a 1
Jesse 0:cdf4bcffb35a 2 #include "mbed.h"
Jesse 0:cdf4bcffb35a 3 #include "DebouncedIn.h"
Jesse 0:cdf4bcffb35a 4 #include "TextLCD.h"
Jesse 0:cdf4bcffb35a 5 #include "QEI.h"
juanco 1:edbfc09232ed 6
juanco 1:edbfc09232ed 7
Jesse 0:cdf4bcffb35a 8 QEI wheel (PTA16, PTA17, NC, 48);
Jesse 0:cdf4bcffb35a 9 TextLCD lcd(PTB10, PTB11, PTE2, PTE3, PTE4, PTE5); // rs, e, d4-d7
juanco 1:edbfc09232ed 10
juanco 1:edbfc09232ed 11
Jesse 0:cdf4bcffb35a 12 DebouncedIn Enco(PTC5);
Jesse 0:cdf4bcffb35a 13 DebouncedIn button1(PTC10);
Jesse 0:cdf4bcffb35a 14 DebouncedIn button2(PTC6);
Jesse 0:cdf4bcffb35a 15 DebouncedIn button3(PTC11);
Jesse 0:cdf4bcffb35a 16 PwmOut Pwm(PTA5);
juanco 1:edbfc09232ed 17
Jesse 0:cdf4bcffb35a 18
Jesse 0:cdf4bcffb35a 19 float pp=0.001;
Jesse 0:cdf4bcffb35a 20 float Dd=0.1;
Jesse 0:cdf4bcffb35a 21 int SP1=0,Sp=0,Kp1=0,Kp=0,Ki=0,Ki1=0,Kd=0,Kd1=0,v,m;
Jesse 0:cdf4bcffb35a 22 int C1=0x0E; // solo muestra el curzor
Jesse 0:cdf4bcffb35a 23 int i; // indice de la variable
juanco 1:edbfc09232ed 24
Jesse 0:cdf4bcffb35a 25 int PWMmodule(float pp,float Dd)
Jesse 0:cdf4bcffb35a 26 {
Jesse 0:cdf4bcffb35a 27 Pwm.period(pp);
Jesse 0:cdf4bcffb35a 28 Pwm.write(Dd);
Jesse 0:cdf4bcffb35a 29 wait(0.2);
Jesse 0:cdf4bcffb35a 30 Pwm.write(0);
Jesse 0:cdf4bcffb35a 31 return 0;
Jesse 0:cdf4bcffb35a 32 }
juanco 1:edbfc09232ed 33
Jesse 0:cdf4bcffb35a 34 int main()
juanco 1:edbfc09232ed 35
Jesse 0:cdf4bcffb35a 36 {
Jesse 0:cdf4bcffb35a 37 lcd.writeCommand(0x0E);
Jesse 0:cdf4bcffb35a 38 lcd.printf("Sp=0 Kp=0");
Jesse 0:cdf4bcffb35a 39 lcd.locate(0,1);
Jesse 0:cdf4bcffb35a 40 lcd.printf("Ki=0 Kd=0");
Jesse 0:cdf4bcffb35a 41 lcd.locate(2,0);
Jesse 0:cdf4bcffb35a 42 lcd.printf("=");
juanco 1:edbfc09232ed 43
Jesse 0:cdf4bcffb35a 44 while(1)
Jesse 0:cdf4bcffb35a 45 {
Jesse 0:cdf4bcffb35a 46 m=wheel.getPulses();
Jesse 0:cdf4bcffb35a 47
Jesse 0:cdf4bcffb35a 48 if(m!=v) {
Jesse 0:cdf4bcffb35a 49
Jesse 0:cdf4bcffb35a 50 switch(i) {
Jesse 0:cdf4bcffb35a 51
Jesse 0:cdf4bcffb35a 52 case 0:
Jesse 0:cdf4bcffb35a 53 Kd1=Kd;
Jesse 0:cdf4bcffb35a 54
Jesse 0:cdf4bcffb35a 55 lcd.locate(2,0);
Jesse 0:cdf4bcffb35a 56 lcd.printf("= ");
Jesse 0:cdf4bcffb35a 57 lcd.locate(3,0);
Jesse 0:cdf4bcffb35a 58 lcd.printf("%d",Sp);
juanco 1:edbfc09232ed 59 Sp=m;
Jesse 0:cdf4bcffb35a 60 Sp=SP1+m;
Jesse 0:cdf4bcffb35a 61 if(Sp<0)
Jesse 0:cdf4bcffb35a 62 {
Jesse 0:cdf4bcffb35a 63 Sp=0;
Jesse 0:cdf4bcffb35a 64 wheel.reset();
Jesse 0:cdf4bcffb35a 65 m=0;
Jesse 0:cdf4bcffb35a 66 }
Jesse 0:cdf4bcffb35a 67 break;
Jesse 0:cdf4bcffb35a 68 case 1:
Jesse 0:cdf4bcffb35a 69 SP1=Sp;
Jesse 0:cdf4bcffb35a 70 lcd.locate(10,0);
Jesse 0:cdf4bcffb35a 71 lcd.printf("= ");
Jesse 0:cdf4bcffb35a 72 lcd.locate(11,0);
Jesse 0:cdf4bcffb35a 73 lcd.printf("%d",Kp);
juanco 1:edbfc09232ed 74 Kp=m;
Jesse 0:cdf4bcffb35a 75 Kp=Kp1+m;
Jesse 0:cdf4bcffb35a 76 if(Kp<0)
Jesse 0:cdf4bcffb35a 77 {
Jesse 0:cdf4bcffb35a 78 Kp=0;
Jesse 0:cdf4bcffb35a 79 wheel.reset();
Jesse 0:cdf4bcffb35a 80 m=0;
Jesse 0:cdf4bcffb35a 81 }
Jesse 0:cdf4bcffb35a 82 break;
Jesse 0:cdf4bcffb35a 83 case 2:
Jesse 0:cdf4bcffb35a 84 Kp1=Kp;
Jesse 0:cdf4bcffb35a 85 lcd.locate(2,1);
Jesse 0:cdf4bcffb35a 86 lcd.printf("= ");
Jesse 0:cdf4bcffb35a 87 lcd.locate(3,1);
Jesse 0:cdf4bcffb35a 88 lcd.printf("%d",Ki);
juanco 1:edbfc09232ed 89 Ki=m;
Jesse 0:cdf4bcffb35a 90 Ki=Ki1+m;
Jesse 0:cdf4bcffb35a 91 if(Ki<0)
Jesse 0:cdf4bcffb35a 92 {
Jesse 0:cdf4bcffb35a 93 Ki=0;
Jesse 0:cdf4bcffb35a 94 wheel.reset();
Jesse 0:cdf4bcffb35a 95 m=0;
Jesse 0:cdf4bcffb35a 96 }
Jesse 0:cdf4bcffb35a 97
Jesse 0:cdf4bcffb35a 98 break;
Jesse 0:cdf4bcffb35a 99 case 3:
Jesse 0:cdf4bcffb35a 100 Ki1=Ki;
Jesse 0:cdf4bcffb35a 101 lcd.locate(10,1);
Jesse 0:cdf4bcffb35a 102 lcd.printf("= ");
Jesse 0:cdf4bcffb35a 103 lcd.locate(11,1);
Jesse 0:cdf4bcffb35a 104 lcd.printf("%d",Kd);
Jesse 0:cdf4bcffb35a 105 Kd=Kd1+m;
Jesse 0:cdf4bcffb35a 106 if(Kd<0)
Jesse 0:cdf4bcffb35a 107 {
Jesse 0:cdf4bcffb35a 108 Kd=0;
Jesse 0:cdf4bcffb35a 109 wheel.reset();
Jesse 0:cdf4bcffb35a 110 m=0;
Jesse 0:cdf4bcffb35a 111 }
Jesse 0:cdf4bcffb35a 112
Jesse 0:cdf4bcffb35a 113 break;
Jesse 0:cdf4bcffb35a 114 }
Jesse 0:cdf4bcffb35a 115 v=m;
Jesse 0:cdf4bcffb35a 116 }
Jesse 0:cdf4bcffb35a 117
Jesse 0:cdf4bcffb35a 118
Jesse 0:cdf4bcffb35a 119 if(button3.falling() || Enco.falling())
Jesse 0:cdf4bcffb35a 120 {
Jesse 0:cdf4bcffb35a 121 PWMmodule(pp,Dd);
Jesse 0:cdf4bcffb35a 122 wait(0.2);
Jesse 0:cdf4bcffb35a 123 wheel.reset();
Jesse 0:cdf4bcffb35a 124 i++;
Jesse 0:cdf4bcffb35a 125 if(i>3)
Jesse 0:cdf4bcffb35a 126 {
Jesse 0:cdf4bcffb35a 127 i=0;
Jesse 0:cdf4bcffb35a 128 }
Jesse 0:cdf4bcffb35a 129 switch (i)
Jesse 0:cdf4bcffb35a 130 {
Jesse 0:cdf4bcffb35a 131 case 0:
Jesse 0:cdf4bcffb35a 132 lcd.locate(2,0);
Jesse 0:cdf4bcffb35a 133 lcd.printf("=");
Jesse 0:cdf4bcffb35a 134 break;
Jesse 0:cdf4bcffb35a 135 case 1:
Jesse 0:cdf4bcffb35a 136 lcd.locate(10,0);
Jesse 0:cdf4bcffb35a 137 lcd.printf("=");
Jesse 0:cdf4bcffb35a 138 break;
Jesse 0:cdf4bcffb35a 139 case 2:
Jesse 0:cdf4bcffb35a 140 lcd.locate(2,1);
Jesse 0:cdf4bcffb35a 141 lcd.printf("=");
Jesse 0:cdf4bcffb35a 142 break;
Jesse 0:cdf4bcffb35a 143 case 3:
Jesse 0:cdf4bcffb35a 144 lcd.locate(10,1);
Jesse 0:cdf4bcffb35a 145 lcd.printf("=");
Jesse 0:cdf4bcffb35a 146 break;
Jesse 0:cdf4bcffb35a 147
Jesse 0:cdf4bcffb35a 148
Jesse 0:cdf4bcffb35a 149 }
Jesse 0:cdf4bcffb35a 150 }
Jesse 0:cdf4bcffb35a 151 /*if(button3.falling())
Jesse 0:cdf4bcffb35a 152 {
Jesse 0:cdf4bcffb35a 153 PWMmodule(pp,Dd);
Jesse 0:cdf4bcffb35a 154 } */
Jesse 0:cdf4bcffb35a 155 }
juanco 1:edbfc09232ed 156 }