
This program makes a PID control and the values por control action are entered by quadrature encoder.
Dependencies: DebouncedIn QEI TextLCD mbed
main.cpp@0:8e9ddfd2cbe2, 2013-12-15 (annotated)
- Committer:
- lcorralesc1
- Date:
- Sun Dec 15 16:18:35 2013 +0000
- Revision:
- 0:8e9ddfd2cbe2
This program makes a PID control and the values por control action are entered by quadrature encoder.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
lcorralesc1 | 0:8e9ddfd2cbe2 | 1 | #include "mbed.h" |
lcorralesc1 | 0:8e9ddfd2cbe2 | 2 | #include "DebouncedIn.h" |
lcorralesc1 | 0:8e9ddfd2cbe2 | 3 | #include "TextLCD.h" |
lcorralesc1 | 0:8e9ddfd2cbe2 | 4 | #include "QEI.h" |
lcorralesc1 | 0:8e9ddfd2cbe2 | 5 | |
lcorralesc1 | 0:8e9ddfd2cbe2 | 6 | |
lcorralesc1 | 0:8e9ddfd2cbe2 | 7 | TextLCD lcd(PTB10, PTB11, PTE2, PTE3, PTE4, PTE5); // rs, e, d4-d7 |
lcorralesc1 | 0:8e9ddfd2cbe2 | 8 | QEI wheel (PTA1, PTA2, NC, 50); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 9 | |
lcorralesc1 | 0:8e9ddfd2cbe2 | 10 | AnalogIn y(PTC2); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 11 | AnalogOut u(PTE30); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 12 | |
lcorralesc1 | 0:8e9ddfd2cbe2 | 13 | DigitalOut led1(LED1); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 14 | DigitalOut led2(LED2); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 15 | DigitalOut led3(LED3); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 16 | DebouncedIn button1(PTC7); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 17 | DebouncedIn button2(PTC13); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 18 | DebouncedIn button3(PTC0); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 19 | DebouncedIn button4(PTC17); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 20 | |
lcorralesc1 | 0:8e9ddfd2cbe2 | 21 | //codigos movimiento del curzor |
lcorralesc1 | 0:8e9ddfd2cbe2 | 22 | //18 para izquierda |
lcorralesc1 | 0:8e9ddfd2cbe2 | 23 | //1A para derecha |
lcorralesc1 | 0:8e9ddfd2cbe2 | 24 | |
lcorralesc1 | 0:8e9ddfd2cbe2 | 25 | //int C1=0x0E; // solo muestra el curzor |
lcorralesc1 | 0:8e9ddfd2cbe2 | 26 | int C2=0x18; // desplaza izquierda |
lcorralesc1 | 0:8e9ddfd2cbe2 | 27 | int C3=0x1A; // desplaza derecha |
lcorralesc1 | 0:8e9ddfd2cbe2 | 28 | int C4=0x0C; // quito cursor bajo |
lcorralesc1 | 0:8e9ddfd2cbe2 | 29 | int C1=0x0F; |
lcorralesc1 | 0:8e9ddfd2cbe2 | 30 | |
lcorralesc1 | 0:8e9ddfd2cbe2 | 31 | int i; // indice de la variable |
lcorralesc1 | 0:8e9ddfd2cbe2 | 32 | int j; //variable controla cambio 4 posiciones |
lcorralesc1 | 0:8e9ddfd2cbe2 | 33 | int kp, ki, kd, sp, med2, yr, cycle, c; |
lcorralesc1 | 0:8e9ddfd2cbe2 | 34 | float pid, med, ap, ai, ad, err, err_v; |
lcorralesc1 | 0:8e9ddfd2cbe2 | 35 | |
lcorralesc1 | 0:8e9ddfd2cbe2 | 36 | int main() { |
lcorralesc1 | 0:8e9ddfd2cbe2 | 37 | lcd.cls(); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 38 | lcd.writeCommand(C1);//escribimos un comando segun el manual del modulo LCD |
lcorralesc1 | 0:8e9ddfd2cbe2 | 39 | lcd.locate(0,0); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 40 | lcd.printf("Sp%d",sp); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 41 | lcd.locate(8,0); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 42 | lcd.printf("Kp%d",kp); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 43 | lcd.locate(0,1); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 44 | lcd.printf("Ki%d",ki); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 45 | lcd.locate(8,1); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 46 | lcd.printf("Kd%d",kd); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 47 | |
lcorralesc1 | 0:8e9ddfd2cbe2 | 48 | |
lcorralesc1 | 0:8e9ddfd2cbe2 | 49 | while(1) { |
lcorralesc1 | 0:8e9ddfd2cbe2 | 50 | |
lcorralesc1 | 0:8e9ddfd2cbe2 | 51 | led3 =1; |
lcorralesc1 | 0:8e9ddfd2cbe2 | 52 | if (button3.falling()) { //INCREMENTA POSICION DEL MENU CON BOTON 3 (Switche encoder) |
lcorralesc1 | 0:8e9ddfd2cbe2 | 53 | led3 =!led3; |
lcorralesc1 | 0:8e9ddfd2cbe2 | 54 | ++j; |
lcorralesc1 | 0:8e9ddfd2cbe2 | 55 | } |
lcorralesc1 | 0:8e9ddfd2cbe2 | 56 | |
lcorralesc1 | 0:8e9ddfd2cbe2 | 57 | if (j==0){ |
lcorralesc1 | 0:8e9ddfd2cbe2 | 58 | sp=sp+wheel.getPulses(); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 59 | wheel.reset(); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 60 | if (sp>999){ |
lcorralesc1 | 0:8e9ddfd2cbe2 | 61 | sp=999; |
lcorralesc1 | 0:8e9ddfd2cbe2 | 62 | } |
lcorralesc1 | 0:8e9ddfd2cbe2 | 63 | if (sp<0){ |
lcorralesc1 | 0:8e9ddfd2cbe2 | 64 | sp=0; |
lcorralesc1 | 0:8e9ddfd2cbe2 | 65 | } |
lcorralesc1 | 0:8e9ddfd2cbe2 | 66 | lcd.locate(2,0); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 67 | lcd.printf(" ",sp); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 68 | lcd.locate(2,0); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 69 | lcd.printf("%d",sp); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 70 | wait(0.2); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 71 | |
lcorralesc1 | 0:8e9ddfd2cbe2 | 72 | if(button3.falling()){ |
lcorralesc1 | 0:8e9ddfd2cbe2 | 73 | j=1; |
lcorralesc1 | 0:8e9ddfd2cbe2 | 74 | led3=0; |
lcorralesc1 | 0:8e9ddfd2cbe2 | 75 | wait(0.3); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 76 | wheel.reset(); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 77 | } |
lcorralesc1 | 0:8e9ddfd2cbe2 | 78 | |
lcorralesc1 | 0:8e9ddfd2cbe2 | 79 | } |
lcorralesc1 | 0:8e9ddfd2cbe2 | 80 | |
lcorralesc1 | 0:8e9ddfd2cbe2 | 81 | if (j==1) { |
lcorralesc1 | 0:8e9ddfd2cbe2 | 82 | kp=kp+wheel.getPulses(); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 83 | wheel.reset(); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 84 | if (kp>999){ |
lcorralesc1 | 0:8e9ddfd2cbe2 | 85 | kp=999; |
lcorralesc1 | 0:8e9ddfd2cbe2 | 86 | } |
lcorralesc1 | 0:8e9ddfd2cbe2 | 87 | if (kp<0){ |
lcorralesc1 | 0:8e9ddfd2cbe2 | 88 | kp=0; |
lcorralesc1 | 0:8e9ddfd2cbe2 | 89 | } |
lcorralesc1 | 0:8e9ddfd2cbe2 | 90 | lcd.locate(10,0); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 91 | lcd.printf(" "); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 92 | lcd.locate(10,0); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 93 | lcd.printf("%d",kp); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 94 | wait(0.2); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 95 | |
lcorralesc1 | 0:8e9ddfd2cbe2 | 96 | if(button3.falling()){ |
lcorralesc1 | 0:8e9ddfd2cbe2 | 97 | j=2; |
lcorralesc1 | 0:8e9ddfd2cbe2 | 98 | led3=0; |
lcorralesc1 | 0:8e9ddfd2cbe2 | 99 | wait(0.3); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 100 | wheel.reset(); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 101 | } |
lcorralesc1 | 0:8e9ddfd2cbe2 | 102 | |
lcorralesc1 | 0:8e9ddfd2cbe2 | 103 | } |
lcorralesc1 | 0:8e9ddfd2cbe2 | 104 | |
lcorralesc1 | 0:8e9ddfd2cbe2 | 105 | if (j==2) { |
lcorralesc1 | 0:8e9ddfd2cbe2 | 106 | ki=ki+wheel.getPulses(); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 107 | wheel.reset(); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 108 | if (ki>999){ |
lcorralesc1 | 0:8e9ddfd2cbe2 | 109 | ki=999; |
lcorralesc1 | 0:8e9ddfd2cbe2 | 110 | } |
lcorralesc1 | 0:8e9ddfd2cbe2 | 111 | if (ki<0){ |
lcorralesc1 | 0:8e9ddfd2cbe2 | 112 | ki=0; |
lcorralesc1 | 0:8e9ddfd2cbe2 | 113 | } |
lcorralesc1 | 0:8e9ddfd2cbe2 | 114 | lcd.locate(2,1); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 115 | lcd.printf(" "); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 116 | lcd.locate(2,1); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 117 | lcd.printf("%d",ki); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 118 | wait(0.2); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 119 | |
lcorralesc1 | 0:8e9ddfd2cbe2 | 120 | if(button3.falling()){ |
lcorralesc1 | 0:8e9ddfd2cbe2 | 121 | j=3; |
lcorralesc1 | 0:8e9ddfd2cbe2 | 122 | led3=0; |
lcorralesc1 | 0:8e9ddfd2cbe2 | 123 | wait(0.3); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 124 | wheel.reset(); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 125 | } |
lcorralesc1 | 0:8e9ddfd2cbe2 | 126 | |
lcorralesc1 | 0:8e9ddfd2cbe2 | 127 | } |
lcorralesc1 | 0:8e9ddfd2cbe2 | 128 | |
lcorralesc1 | 0:8e9ddfd2cbe2 | 129 | if (j==3) { |
lcorralesc1 | 0:8e9ddfd2cbe2 | 130 | kd=kd+wheel.getPulses(); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 131 | wheel.reset(); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 132 | if (kd>999){ |
lcorralesc1 | 0:8e9ddfd2cbe2 | 133 | kd=999; |
lcorralesc1 | 0:8e9ddfd2cbe2 | 134 | } |
lcorralesc1 | 0:8e9ddfd2cbe2 | 135 | if (kd<0){ |
lcorralesc1 | 0:8e9ddfd2cbe2 | 136 | kd=0; |
lcorralesc1 | 0:8e9ddfd2cbe2 | 137 | } |
lcorralesc1 | 0:8e9ddfd2cbe2 | 138 | lcd.locate(10,1); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 139 | lcd.printf(" "); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 140 | lcd.locate(10,1); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 141 | lcd.printf("%d",kd); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 142 | wait(0.2); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 143 | |
lcorralesc1 | 0:8e9ddfd2cbe2 | 144 | if(button3.falling()){ |
lcorralesc1 | 0:8e9ddfd2cbe2 | 145 | j=0; |
lcorralesc1 | 0:8e9ddfd2cbe2 | 146 | led3=0; |
lcorralesc1 | 0:8e9ddfd2cbe2 | 147 | wait(0.3); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 148 | wheel.reset(); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 149 | } |
lcorralesc1 | 0:8e9ddfd2cbe2 | 150 | |
lcorralesc1 | 0:8e9ddfd2cbe2 | 151 | } |
lcorralesc1 | 0:8e9ddfd2cbe2 | 152 | |
lcorralesc1 | 0:8e9ddfd2cbe2 | 153 | if (j==4) { |
lcorralesc1 | 0:8e9ddfd2cbe2 | 154 | j=0; |
lcorralesc1 | 0:8e9ddfd2cbe2 | 155 | } |
lcorralesc1 | 0:8e9ddfd2cbe2 | 156 | |
lcorralesc1 | 0:8e9ddfd2cbe2 | 157 | if (!button4){ |
lcorralesc1 | 0:8e9ddfd2cbe2 | 158 | break; //sale del bucle si pisan suiche4 |
lcorralesc1 | 0:8e9ddfd2cbe2 | 159 | } |
lcorralesc1 | 0:8e9ddfd2cbe2 | 160 | } //cierro while(1) |
lcorralesc1 | 0:8e9ddfd2cbe2 | 161 | //%--------------------------------------------------------------------- |
lcorralesc1 | 0:8e9ddfd2cbe2 | 162 | |
lcorralesc1 | 0:8e9ddfd2cbe2 | 163 | |
lcorralesc1 | 0:8e9ddfd2cbe2 | 164 | lcd.writeCommand(C1);//escribimos un comando segun el manual del modulo LCD para quitar cursor bajo |
lcorralesc1 | 0:8e9ddfd2cbe2 | 165 | lcd.cls(); //borra la pantalla |
lcorralesc1 | 0:8e9ddfd2cbe2 | 166 | lcd.printf("GUARDAMOS \nVALORES |m|"); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 167 | wait(2); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 168 | lcd.cls(); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 169 | lcd.printf(" INICIA EL PID"); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 170 | wait(2); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 171 | lcd.cls(); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 172 | |
lcorralesc1 | 0:8e9ddfd2cbe2 | 173 | // se imprimen los parches del control ***************************************** |
lcorralesc1 | 0:8e9ddfd2cbe2 | 174 | lcd.locate(0,0); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 175 | lcd.printf("Er%d",err); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 176 | lcd.locate(8,0); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 177 | lcd.printf("Me%d",med2); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 178 | lcd.locate(0,1); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 179 | lcd.printf("Sp%d",sp); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 180 | lcd.locate(8,1); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 181 | lcd.printf("Con%d",pid); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 182 | //wait(3); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 183 | |
lcorralesc1 | 0:8e9ddfd2cbe2 | 184 | |
lcorralesc1 | 0:8e9ddfd2cbe2 | 185 | // CICLO PRINCIPAL CONTROLADOR PID |
lcorralesc1 | 0:8e9ddfd2cbe2 | 186 | |
lcorralesc1 | 0:8e9ddfd2cbe2 | 187 | while(1) { |
lcorralesc1 | 0:8e9ddfd2cbe2 | 188 | //leer puerto analogo y asignar a med |
lcorralesc1 | 0:8e9ddfd2cbe2 | 189 | med=y.read(); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 190 | med2=med*100; |
lcorralesc1 | 0:8e9ddfd2cbe2 | 191 | err=(sp-med2); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 192 | |
lcorralesc1 | 0:8e9ddfd2cbe2 | 193 | float kpf; |
lcorralesc1 | 0:8e9ddfd2cbe2 | 194 | kpf=kp*0.001; |
lcorralesc1 | 0:8e9ddfd2cbe2 | 195 | ap = kpf*err; |
lcorralesc1 | 0:8e9ddfd2cbe2 | 196 | float kif; |
lcorralesc1 | 0:8e9ddfd2cbe2 | 197 | kif=ki*0.001; |
lcorralesc1 | 0:8e9ddfd2cbe2 | 198 | ai =(kif*err)+ai; |
lcorralesc1 | 0:8e9ddfd2cbe2 | 199 | float kdf; |
lcorralesc1 | 0:8e9ddfd2cbe2 | 200 | kdf=kd*0.0001; |
lcorralesc1 | 0:8e9ddfd2cbe2 | 201 | ad = kdf*(err-err_v); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 202 | err_v=err; |
lcorralesc1 | 0:8e9ddfd2cbe2 | 203 | pid = (ap+ai+ad); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 204 | |
lcorralesc1 | 0:8e9ddfd2cbe2 | 205 | // se verifica que pid sea menor o igual la valor maximo ***************** |
lcorralesc1 | 0:8e9ddfd2cbe2 | 206 | if (pid > .99999){ |
lcorralesc1 | 0:8e9ddfd2cbe2 | 207 | pid=1; |
lcorralesc1 | 0:8e9ddfd2cbe2 | 208 | } |
lcorralesc1 | 0:8e9ddfd2cbe2 | 209 | // se verifica que pid sea positivo ************************************** |
lcorralesc1 | 0:8e9ddfd2cbe2 | 210 | if (pid <0){ |
lcorralesc1 | 0:8e9ddfd2cbe2 | 211 | pid=0; |
lcorralesc1 | 0:8e9ddfd2cbe2 | 212 | } |
lcorralesc1 | 0:8e9ddfd2cbe2 | 213 | // se verifica que la accion integral no sea muy grande |
lcorralesc1 | 0:8e9ddfd2cbe2 | 214 | if(ai>0.5){ |
lcorralesc1 | 0:8e9ddfd2cbe2 | 215 | ai =0.5; |
lcorralesc1 | 0:8e9ddfd2cbe2 | 216 | } |
lcorralesc1 | 0:8e9ddfd2cbe2 | 217 | |
lcorralesc1 | 0:8e9ddfd2cbe2 | 218 | u=pid; |
lcorralesc1 | 0:8e9ddfd2cbe2 | 219 | |
lcorralesc1 | 0:8e9ddfd2cbe2 | 220 | //****se muestran las variables****************************************** |
lcorralesc1 | 0:8e9ddfd2cbe2 | 221 | if(c>600){ |
lcorralesc1 | 0:8e9ddfd2cbe2 | 222 | lcd.locate(2,0); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 223 | lcd.printf(" "); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 224 | lcd.locate(0,0); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 225 | lcd.printf("Er%2.2f",err); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 226 | lcd.locate(10,0); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 227 | lcd.printf(" "); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 228 | lcd.locate(8,0); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 229 | lcd.printf("Me%d",med2); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 230 | lcd.locate(2,1); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 231 | lcd.printf(" "); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 232 | lcd.locate(0,1); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 233 | lcd.printf("Sp%d",sp); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 234 | lcd.locate(10,1); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 235 | lcd.printf(" "); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 236 | lcd.locate(8,1); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 237 | lcd.printf("Con%4.3f",pid); |
lcorralesc1 | 0:8e9ddfd2cbe2 | 238 | c=0; |
lcorralesc1 | 0:8e9ddfd2cbe2 | 239 | } |
lcorralesc1 | 0:8e9ddfd2cbe2 | 240 | else |
lcorralesc1 | 0:8e9ddfd2cbe2 | 241 | c++; |
lcorralesc1 | 0:8e9ddfd2cbe2 | 242 | |
lcorralesc1 | 0:8e9ddfd2cbe2 | 243 | } |
lcorralesc1 | 0:8e9ddfd2cbe2 | 244 | |
lcorralesc1 | 0:8e9ddfd2cbe2 | 245 | |
lcorralesc1 | 0:8e9ddfd2cbe2 | 246 | |
lcorralesc1 | 0:8e9ddfd2cbe2 | 247 | } |