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tarea encoder , configuracion pid con el encoder
Dependencies: Debounced QEI TextLCD mbed
Fork of Tarea4_Encoder by
main.cpp
- Committer:
- Jesse
- Date:
- 2014-04-03
- Revision:
- 0:cdf4bcffb35a
- Child:
- 1:edbfc09232ed
File content as of revision 0:cdf4bcffb35a:
//Jesse Mauricio Beltran //Michelle Maceas Henao #include "mbed.h" #include "DebouncedIn.h" #include "TextLCD.h" #include "QEI.h" QEI wheel (PTA16, PTA17, NC, 48); TextLCD lcd(PTB10, PTB11, PTE2, PTE3, PTE4, PTE5); // rs, e, d4-d7 DebouncedIn Enco(PTC5); DebouncedIn button1(PTC10); DebouncedIn button2(PTC6); DebouncedIn button3(PTC11); PwmOut Pwm(PTA5); float pp=0.001; float Dd=0.1; int SP1=0,Sp=0,Kp1=0,Kp=0,Ki=0,Ki1=0,Kd=0,Kd1=0,v,m; int C1=0x0E; // solo muestra el curzor int i; // indice de la variable int PWMmodule(float pp,float Dd) { Pwm.period(pp); Pwm.write(Dd); wait(0.2); Pwm.write(0); return 0; } int main() { lcd.writeCommand(0x0E); lcd.printf("Sp=0 Kp=0"); lcd.locate(0,1); lcd.printf("Ki=0 Kd=0"); lcd.locate(2,0); lcd.printf("="); while(1) { m=wheel.getPulses(); if(m!=v) { switch(i) { case 0: Kd1=Kd; lcd.locate(2,0); lcd.printf("= "); lcd.locate(3,0); lcd.printf("%d",Sp); //Sp=m; Sp=SP1+m; if(Sp<0) { Sp=0; wheel.reset(); m=0; } break; case 1: SP1=Sp; lcd.locate(10,0); lcd.printf("= "); lcd.locate(11,0); lcd.printf("%d",Kp); //Kp=m; Kp=Kp1+m; if(Kp<0) { Kp=0; wheel.reset(); m=0; } break; case 2: Kp1=Kp; lcd.locate(2,1); lcd.printf("= "); lcd.locate(3,1); lcd.printf("%d",Ki); //Ki=m; Ki=Ki1+m; if(Ki<0) { Ki=0; wheel.reset(); m=0; } break; case 3: Ki1=Ki; lcd.locate(10,1); lcd.printf("= "); lcd.locate(11,1); lcd.printf("%d",Kd); Kd=Kd1+m; if(Kd<0) { Kd=0; wheel.reset(); m=0; } break; } v=m; } if(button3.falling() || Enco.falling()) { PWMmodule(pp,Dd); wait(0.2); wheel.reset(); i++; if(i>3) { i=0; } switch (i) { case 0: lcd.locate(2,0); lcd.printf("="); break; case 1: lcd.locate(10,0); lcd.printf("="); break; case 2: lcd.locate(2,1); lcd.printf("="); break; case 3: lcd.locate(10,1); lcd.printf("="); break; } } /*if(button3.falling()) { PWMmodule(pp,Dd); } */ } }