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tarea encoder , configuracion pid con el encoder
Dependencies: Debounced QEI TextLCD mbed
Fork of Tarea4_Encoder by
Revision 1:edbfc09232ed, committed 2014-05-13
- Comitter:
- juanco
- Date:
- Tue May 13 16:47:50 2014 +0000
- Parent:
- 0:cdf4bcffb35a
- Commit message:
- manejo del encoder de nuevo utilizando la pantalla lcd.
Changed in this revision
main.cpp | Show annotated file Show diff for this revision Revisions of this file |
diff -r cdf4bcffb35a -r edbfc09232ed main.cpp --- a/main.cpp Thu Apr 03 20:19:31 2014 +0000 +++ b/main.cpp Tue May 13 16:47:50 2014 +0000 @@ -1,30 +1,27 @@ -//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); @@ -33,9 +30,9 @@ Pwm.write(0); return 0; } - + int main() - + { lcd.writeCommand(0x0E); lcd.printf("Sp=0 Kp=0"); @@ -43,7 +40,7 @@ lcd.printf("Ki=0 Kd=0"); lcd.locate(2,0); lcd.printf("="); - + while(1) { m=wheel.getPulses(); @@ -59,7 +56,7 @@ lcd.printf("= "); lcd.locate(3,0); lcd.printf("%d",Sp); - //Sp=m; + Sp=m; Sp=SP1+m; if(Sp<0) { @@ -74,7 +71,7 @@ lcd.printf("= "); lcd.locate(11,0); lcd.printf("%d",Kp); - //Kp=m; + Kp=m; Kp=Kp1+m; if(Kp<0) { @@ -89,7 +86,7 @@ lcd.printf("= "); lcd.locate(3,1); lcd.printf("%d",Ki); - //Ki=m; + Ki=m; Ki=Ki1+m; if(Ki<0) { @@ -156,4 +153,4 @@ PWMmodule(pp,Dd); } */ } -} \ No newline at end of file +} \ No newline at end of file