Laura Corrales / Mbed 2 deprecated Tarea6_Teclado

This program makes a PID control and the values por control action are entered by matrix keypad 4x4 interface.

Dependencies:   FPointer TextLCD keypad mbed

main.cpp@0:54e8dab91b77, 2013-12-15 (annotated)

Committer:
lcorralesc1
Date:
Sun Dec 15 15:40:22 2013 +0000
Revision:
0:54e8dab91b77
This program makes a PID control and the values por control action are entered by matrix keypad 4x4  interface.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
lcorralesc1 0:54e8dab91b77 1 //Programa para hacer control PID simple, ingresa parámetros con teclado 4x4. Imprime resultados en LCD 16x2
lcorralesc1 0:54e8dab91b77 2
lcorralesc1 0:54e8dab91b77 3 #include "mbed.h"
lcorralesc1 0:54e8dab91b77 4 #include "TextLCD.h"
lcorralesc1 0:54e8dab91b77 5 #include"keypad.h" //Librería del teclado 4x4
lcorralesc1 0:54e8dab91b77 6 #include"FPointer.h" //Librería complementaria para libreria keypad
lcorralesc1 0:54e8dab91b77 7
lcorralesc1 0:54e8dab91b77 8 TextLCD lcd(PTB10, PTB11, PTE2, PTE3, PTE4, PTE5); // rs, e, d4-d7
lcorralesc1 0:54e8dab91b77 9 Keypad keypad(PTA2,PTD4,PTD3,PTD7,PTA13,PTD5,PTD0,PTD2); //Entradas del teclado
lcorralesc1 0:54e8dab91b77 10
lcorralesc1 0:54e8dab91b77 11 AnalogIn Vin(PTB0); //Voltaje de alimentación
lcorralesc1 0:54e8dab91b77 12 AnalogOut Vout(PTE30); //Marcar la salida analógica
lcorralesc1 0:54e8dab91b77 13
lcorralesc1 0:54e8dab91b77 14 //ASIGNACION DE VARIABLES
lcorralesc1 0:54e8dab91b77 15 Timer t;
lcorralesc1 0:54e8dab91b77 16 int cero;
lcorralesc1 0:54e8dab91b77 17 int flag;
lcorralesc1 0:54e8dab91b77 18 int q;
lcorralesc1 0:54e8dab91b77 19 int k;
lcorralesc1 0:54e8dab91b77 20 int C1=0x0E; //configurar el lcd para mostrar el guin bajo
lcorralesc1 0:54e8dab91b77 21 int C2=0x0C; //configurar el lcd para QUITAR el guion bajo
lcorralesc1 0:54e8dab91b77 22 float sp=0; //set point
lcorralesc1 0:54e8dab91b77 23 float kp=0; //ganancia proporcional
lcorralesc1 0:54e8dab91b77 24 float ki=0; //ganancia integral
lcorralesc1 0:54e8dab91b77 25 float kd=0; //ganancia derivativa
lcorralesc1 0:54e8dab91b77 26 int ind=0; //vector de caracteres.
lcorralesc1 0:54e8dab91b77 27 float err, med, yr, ap, ai, ad, err_v, cycle; //Variable de control PID
lcorralesc1 0:54e8dab91b77 28 float pid;
lcorralesc1 0:54e8dab91b77 29
lcorralesc1 0:54e8dab91b77 30 //MATRIZ DEL TECLADO
lcorralesc1 0:54e8dab91b77 31 float Keytable[] = {1,2,3,11,
lcorralesc1 0:54e8dab91b77 32 4,5,6,12,
lcorralesc1 0:54e8dab91b77 33 7,8,9,13,
lcorralesc1 0:54e8dab91b77 34 0,0,0,0};
lcorralesc1 0:54e8dab91b77 35
lcorralesc1 0:54e8dab91b77 36 //Se crea una función que incremente los valores
lcorralesc1 0:54e8dab91b77 37 void increment(int j){
lcorralesc1 0:54e8dab91b77 38 if(j==0){
lcorralesc1 0:54e8dab91b77 39 if (q!=1 && sp<10){
lcorralesc1 0:54e8dab91b77 40 sp=ind;
lcorralesc1 0:54e8dab91b77 41 q=1;
lcorralesc1 0:54e8dab91b77 42 }
lcorralesc1 0:54e8dab91b77 43 else{
lcorralesc1 0:54e8dab91b77 44 sp=10*sp+ind;
lcorralesc1 0:54e8dab91b77 45 }
lcorralesc1 0:54e8dab91b77 46 if(sp>999)sp=999;
lcorralesc1 0:54e8dab91b77 47 lcd.locate(3,0); lcd.printf(" ");
lcorralesc1 0:54e8dab91b77 48 lcd.locate(3,0); lcd.printf("%.0f",sp);
lcorralesc1 0:54e8dab91b77 49
lcorralesc1 0:54e8dab91b77 50 }
lcorralesc1 0:54e8dab91b77 51 else if(j==1){
lcorralesc1 0:54e8dab91b77 52 if (q!=1 && kp<10){
lcorralesc1 0:54e8dab91b77 53 kp=ind;
lcorralesc1 0:54e8dab91b77 54 q=1;
lcorralesc1 0:54e8dab91b77 55 }
lcorralesc1 0:54e8dab91b77 56 else{
lcorralesc1 0:54e8dab91b77 57 kp=10*kp+ind;
lcorralesc1 0:54e8dab91b77 58 }
lcorralesc1 0:54e8dab91b77 59 if(kp>999)kp=999;
lcorralesc1 0:54e8dab91b77 60 lcd.locate(11,0); lcd.printf(" ");
lcorralesc1 0:54e8dab91b77 61 lcd.locate(11,0); lcd.printf("%.0f",kp);
lcorralesc1 0:54e8dab91b77 62 }
lcorralesc1 0:54e8dab91b77 63 else if(j==2){
lcorralesc1 0:54e8dab91b77 64 if (q!=1 && ki<10){
lcorralesc1 0:54e8dab91b77 65 ki=ind;
lcorralesc1 0:54e8dab91b77 66 q=1;
lcorralesc1 0:54e8dab91b77 67 }
lcorralesc1 0:54e8dab91b77 68 else{
lcorralesc1 0:54e8dab91b77 69 ki=10*ki+ind;
lcorralesc1 0:54e8dab91b77 70 }
lcorralesc1 0:54e8dab91b77 71 if(ki>999)ki=999;
lcorralesc1 0:54e8dab91b77 72 lcd.locate(3,1); lcd.printf(" ");
lcorralesc1 0:54e8dab91b77 73 lcd.locate(3,1); lcd.printf("%.0f",ki);
lcorralesc1 0:54e8dab91b77 74 }
lcorralesc1 0:54e8dab91b77 75 else{
lcorralesc1 0:54e8dab91b77 76 if (q!=1 && kd<10){
lcorralesc1 0:54e8dab91b77 77 kd=ind;
lcorralesc1 0:54e8dab91b77 78 q=1;
lcorralesc1 0:54e8dab91b77 79 }
lcorralesc1 0:54e8dab91b77 80 else{
lcorralesc1 0:54e8dab91b77 81 kd=10*kd+ind;
lcorralesc1 0:54e8dab91b77 82 }
lcorralesc1 0:54e8dab91b77 83 if(kd>999)kd=999;
lcorralesc1 0:54e8dab91b77 84 lcd.locate(11,1); lcd.printf(" ");
lcorralesc1 0:54e8dab91b77 85 lcd.locate(11,1); lcd.printf("%.0f",kd);
lcorralesc1 0:54e8dab91b77 86 }
lcorralesc1 0:54e8dab91b77 87 ind=0; cero=0;
lcorralesc1 0:54e8dab91b77 88 }
lcorralesc1 0:54e8dab91b77 89
lcorralesc1 0:54e8dab91b77 90 uint32_t cbAfterInput(uint32_t index) {
lcorralesc1 0:54e8dab91b77 91 ind=Keytable[index];
lcorralesc1 0:54e8dab91b77 92 cero=index;
lcorralesc1 0:54e8dab91b77 93 return 0;
lcorralesc1 0:54e8dab91b77 94 }
lcorralesc1 0:54e8dab91b77 95
lcorralesc1 0:54e8dab91b77 96 void def_posicion(int j){
lcorralesc1 0:54e8dab91b77 97 if (j==0){
lcorralesc1 0:54e8dab91b77 98 lcd.locate(3,0); lcd.printf("%.0f",sp);
lcorralesc1 0:54e8dab91b77 99 lcd.locate(3,0);
lcorralesc1 0:54e8dab91b77 100 }
lcorralesc1 0:54e8dab91b77 101 else if(j==1){
lcorralesc1 0:54e8dab91b77 102 lcd.locate(11,0); lcd.printf("%.0f",kp);
lcorralesc1 0:54e8dab91b77 103 lcd.locate(11,0);
lcorralesc1 0:54e8dab91b77 104 }
lcorralesc1 0:54e8dab91b77 105 else if (j==2){
lcorralesc1 0:54e8dab91b77 106 lcd.locate(3,1); lcd.printf("%.0f",ki);
lcorralesc1 0:54e8dab91b77 107 lcd.locate(3,1);
lcorralesc1 0:54e8dab91b77 108 }
lcorralesc1 0:54e8dab91b77 109 else {
lcorralesc1 0:54e8dab91b77 110 lcd.locate(11,1); lcd.printf("%.0f",kd);
lcorralesc1 0:54e8dab91b77 111 lcd.locate(11,1);
lcorralesc1 0:54e8dab91b77 112 }
lcorralesc1 0:54e8dab91b77 113 }
lcorralesc1 0:54e8dab91b77 114
lcorralesc1 0:54e8dab91b77 115 //Dado que hay parámetros que no varía en el display en esta parte del código, se crea una función que los mantenga.
lcorralesc1 0:54e8dab91b77 116 void star_patch1(void){
lcorralesc1 0:54e8dab91b77 117 lcd.cls();
lcorralesc1 0:54e8dab91b77 118 lcd.locate(8,0);
lcorralesc1 0:54e8dab91b77 119 lcd.printf("Kp=%.0f",kp);
lcorralesc1 0:54e8dab91b77 120 lcd.locate(0,1);
lcorralesc1 0:54e8dab91b77 121 lcd.printf("Ki=%.0f",ki);
lcorralesc1 0:54e8dab91b77 122 lcd.locate(8,1);
lcorralesc1 0:54e8dab91b77 123 lcd.printf("Kd=%.0f",kd);
lcorralesc1 0:54e8dab91b77 124 lcd.writeCommand(C1); //cursor se vea y sea intermitente
lcorralesc1 0:54e8dab91b77 125 lcd.locate(0,0);
lcorralesc1 0:54e8dab91b77 126 lcd.printf("Sp=%.0f",sp);
lcorralesc1 0:54e8dab91b77 127 }
lcorralesc1 0:54e8dab91b77 128
lcorralesc1 0:54e8dab91b77 129 void star_patch2(void){ // uso nuevamente función que imprime los caracteres que no van a variar en el display
lcorralesc1 0:54e8dab91b77 130 lcd.writeCommand(C2);
lcorralesc1 0:54e8dab91b77 131 lcd.cls();
lcorralesc1 0:54e8dab91b77 132 lcd.printf("Iniciamos el PID |m|");
lcorralesc1 0:54e8dab91b77 133 wait(2);
lcorralesc1 0:54e8dab91b77 134 lcd.cls();
lcorralesc1 0:54e8dab91b77 135 lcd.printf("Er%=f",err);
lcorralesc1 0:54e8dab91b77 136 lcd.locate(8,0); lcd.printf("Me=%.0f",med);
lcorralesc1 0:54e8dab91b77 137 lcd.locate(0,1); lcd.printf("Sp=%.0f",sp);
lcorralesc1 0:54e8dab91b77 138 lcd.locate(8,1); lcd.printf("Co=%.0f",pid);
lcorralesc1 0:54e8dab91b77 139 wait(3);
lcorralesc1 0:54e8dab91b77 140 }
lcorralesc1 0:54e8dab91b77 141
lcorralesc1 0:54e8dab91b77 142 int main(){
lcorralesc1 0:54e8dab91b77 143 ini:
lcorralesc1 0:54e8dab91b77 144 ind=0;
lcorralesc1 0:54e8dab91b77 145 star_patch1();
lcorralesc1 0:54e8dab91b77 146 keypad.CallAfterInput(&cbAfterInput);
lcorralesc1 0:54e8dab91b77 147 keypad.Start();
lcorralesc1 0:54e8dab91b77 148 ini1:
lcorralesc1 0:54e8dab91b77 149 if(ind==12){
lcorralesc1 0:54e8dab91b77 150 if (k<3) k++;
lcorralesc1 0:54e8dab91b77 151 else k=0;
lcorralesc1 0:54e8dab91b77 152 def_posicion(k);
lcorralesc1 0:54e8dab91b77 153 ind=0;
lcorralesc1 0:54e8dab91b77 154 q=0;
lcorralesc1 0:54e8dab91b77 155 }
lcorralesc1 0:54e8dab91b77 156 if(ind==13){
lcorralesc1 0:54e8dab91b77 157 ind=0;
lcorralesc1 0:54e8dab91b77 158 goto PID;
lcorralesc1 0:54e8dab91b77 159 }
lcorralesc1 0:54e8dab91b77 160 if(ind==11){
lcorralesc1 0:54e8dab91b77 161 if (k==0){
lcorralesc1 0:54e8dab91b77 162 sp=0;
lcorralesc1 0:54e8dab91b77 163 lcd.locate(3,0); lcd.printf(" ");
lcorralesc1 0:54e8dab91b77 164 lcd.locate(3,0); lcd.printf("%.0f",sp);
lcorralesc1 0:54e8dab91b77 165 }
lcorralesc1 0:54e8dab91b77 166 else if(k==1){
lcorralesc1 0:54e8dab91b77 167 kp=0;
lcorralesc1 0:54e8dab91b77 168 lcd.locate(11,0); lcd.printf(" ");
lcorralesc1 0:54e8dab91b77 169 lcd.locate(11,0); lcd.printf("%.0f",kp);
lcorralesc1 0:54e8dab91b77 170 }
lcorralesc1 0:54e8dab91b77 171 else if (k==2){
lcorralesc1 0:54e8dab91b77 172 ki=0;
lcorralesc1 0:54e8dab91b77 173 lcd.locate(3,1); lcd.printf(" ");
lcorralesc1 0:54e8dab91b77 174 lcd.locate(3,1); lcd.printf("%.0f",ki);
lcorralesc1 0:54e8dab91b77 175 }
lcorralesc1 0:54e8dab91b77 176 else {
lcorralesc1 0:54e8dab91b77 177 kd=0;
lcorralesc1 0:54e8dab91b77 178 lcd.locate(11,1); lcd.printf(" ");
lcorralesc1 0:54e8dab91b77 179 lcd.locate(11,1); lcd.printf("%.0f",kd);
lcorralesc1 0:54e8dab91b77 180 }
lcorralesc1 0:54e8dab91b77 181 q=0; ind=0;
lcorralesc1 0:54e8dab91b77 182 }
lcorralesc1 0:54e8dab91b77 183 if (ind!=0 && ind!=12 && ind!=13 && ind!=11 || cero==13 ){
lcorralesc1 0:54e8dab91b77 184 increment(k);
lcorralesc1 0:54e8dab91b77 185 }
lcorralesc1 0:54e8dab91b77 186 goto ini1;
lcorralesc1 0:54e8dab91b77 187
lcorralesc1 0:54e8dab91b77 188 PID:
lcorralesc1 0:54e8dab91b77 189 star_patch2();
lcorralesc1 0:54e8dab91b77 190
lcorralesc1 0:54e8dab91b77 191 while (1){
lcorralesc1 0:54e8dab91b77 192
lcorralesc1 0:54e8dab91b77 193 med=Vin.read()*1000;
lcorralesc1 0:54e8dab91b77 194 err =sp-med;
lcorralesc1 0:54e8dab91b77 195 ap = kp*err;
lcorralesc1 0:54e8dab91b77 196 ai =(ki*0.001*err)+ai; //calculo de la integral del error
lcorralesc1 0:54e8dab91b77 197 // VERIFICAMOS QUE LA ACCION INTEGRAL NO SEA MUY GRANDE!!!
lcorralesc1 0:54e8dab91b77 198 if(ai>0.5){
lcorralesc1 0:54e8dab91b77 199 ai=0.5;
lcorralesc1 0:54e8dab91b77 200 }
lcorralesc1 0:54e8dab91b77 201 ad = kd*(err-err_v); //calculo de la accion derivativa
lcorralesc1 0:54e8dab91b77 202 pid =(ap+ai+ad);
lcorralesc1 0:54e8dab91b77 203
lcorralesc1 0:54e8dab91b77 204 //MOSTRAMOS LAS VARIABLES
lcorralesc1 0:54e8dab91b77 205 if (pid > 999)pid=1000;
lcorralesc1 0:54e8dab91b77 206 if (pid<0)pid=0;
lcorralesc1 0:54e8dab91b77 207
lcorralesc1 0:54e8dab91b77 208
lcorralesc1 0:54e8dab91b77 209 Vout.write(pid/1000);
lcorralesc1 0:54e8dab91b77 210 if(flag==0){
lcorralesc1 0:54e8dab91b77 211 t.start();
lcorralesc1 0:54e8dab91b77 212 flag=1;
lcorralesc1 0:54e8dab91b77 213 }
lcorralesc1 0:54e8dab91b77 214 if (t>0.3){
lcorralesc1 0:54e8dab91b77 215 lcd.locate(3,0);
lcorralesc1 0:54e8dab91b77 216 lcd.printf(" ");
lcorralesc1 0:54e8dab91b77 217 lcd.locate(3,0);
lcorralesc1 0:54e8dab91b77 218 lcd.printf("%.0f",err);
lcorralesc1 0:54e8dab91b77 219 lcd.locate(11,0);
lcorralesc1 0:54e8dab91b77 220 lcd.printf(" ");
lcorralesc1 0:54e8dab91b77 221 lcd.locate(11,0);
lcorralesc1 0:54e8dab91b77 222 lcd.printf("%.0f",med);
lcorralesc1 0:54e8dab91b77 223 lcd.locate(3,1);
lcorralesc1 0:54e8dab91b77 224 lcd.printf(" ");
lcorralesc1 0:54e8dab91b77 225 lcd.locate(3,1);
lcorralesc1 0:54e8dab91b77 226 lcd.printf("%.0f",sp);
lcorralesc1 0:54e8dab91b77 227 lcd.locate(11,1);
lcorralesc1 0:54e8dab91b77 228 lcd.printf(" ");
lcorralesc1 0:54e8dab91b77 229 lcd.locate(11,1);
lcorralesc1 0:54e8dab91b77 230 lcd.printf("%.2f ",pid/1000);
lcorralesc1 0:54e8dab91b77 231 t.reset();
lcorralesc1 0:54e8dab91b77 232 flag=0;
lcorralesc1 0:54e8dab91b77 233 wait(.3);
lcorralesc1 0:54e8dab91b77 234 }
lcorralesc1 0:54e8dab91b77 235
lcorralesc1 0:54e8dab91b77 236 //ACTUALIZACION DE LAS VARIABLES
lcorralesc1 0:54e8dab91b77 237 err_v = err;
lcorralesc1 0:54e8dab91b77 238 if(ind==13)goto ini;
lcorralesc1 0:54e8dab91b77 239 }
lcorralesc1 0:54e8dab91b77 240 }