PID, donde las variaciones de SP, KP, KI y KD se producen por un encoder.
Dependencies: Debounced QEI TextLCD11 mbed
main.cpp@0:b83ad526e653, 2013-11-15 (annotated)
- Committer:
- mandres7
- Date:
- Fri Nov 15 17:00:26 2013 +0000
- Revision:
- 0:b83ad526e653
Tarea4
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
mandres7 | 0:b83ad526e653 | 1 | #include "mbed.h" |
mandres7 | 0:b83ad526e653 | 2 | #include "TextLCD.h" |
mandres7 | 0:b83ad526e653 | 3 | #include "DebouncedIn.h" |
mandres7 | 0:b83ad526e653 | 4 | #include "QEI.h" |
mandres7 | 0:b83ad526e653 | 5 | |
mandres7 | 0:b83ad526e653 | 6 | TextLCD lcd(PTC10, PTC11, PTC12, PTC13, PTC16, PTC17); |
mandres7 | 0:b83ad526e653 | 7 | DebouncedIn next(PTE5); |
mandres7 | 0:b83ad526e653 | 8 | DebouncedIn menu(PTE4); |
mandres7 | 0:b83ad526e653 | 9 | int C1=0x0E; |
mandres7 | 0:b83ad526e653 | 10 | int C4=0x0C; |
mandres7 | 0:b83ad526e653 | 11 | AnalogOut Aout(PTE30); |
mandres7 | 0:b83ad526e653 | 12 | AnalogIn Ain(PTC2); |
mandres7 | 0:b83ad526e653 | 13 | QEI leftQei(PTD6, PTD7, NC, 624); |
mandres7 | 0:b83ad526e653 | 14 | |
mandres7 | 0:b83ad526e653 | 15 | int sp=0; |
mandres7 | 0:b83ad526e653 | 16 | int kp=0; |
mandres7 | 0:b83ad526e653 | 17 | int ki=0; |
mandres7 | 0:b83ad526e653 | 18 | int kd=0; |
mandres7 | 0:b83ad526e653 | 19 | |
mandres7 | 0:b83ad526e653 | 20 | int b; |
mandres7 | 0:b83ad526e653 | 21 | |
mandres7 | 0:b83ad526e653 | 22 | int c=0; |
mandres7 | 0:b83ad526e653 | 23 | int y=0; |
mandres7 | 0:b83ad526e653 | 24 | float i; // set point |
mandres7 | 0:b83ad526e653 | 25 | float j=0; // salida planta |
mandres7 | 0:b83ad526e653 | 26 | float ji=0; //variable proceso interno |
mandres7 | 0:b83ad526e653 | 27 | float spi=0; //variable proceso interno |
mandres7 | 0:b83ad526e653 | 28 | float h=0; // entrada planta |
mandres7 | 0:b83ad526e653 | 29 | float m=0; // Error |
mandres7 | 0:b83ad526e653 | 30 | float mv=0; |
mandres7 | 0:b83ad526e653 | 31 | float g=0; |
mandres7 | 0:b83ad526e653 | 32 | float x=0; |
mandres7 | 0:b83ad526e653 | 33 | float ap,ai,ad; |
mandres7 | 0:b83ad526e653 | 34 | |
mandres7 | 0:b83ad526e653 | 35 | //NECESITO COMPARACIÓN Y YA |
mandres7 | 0:b83ad526e653 | 36 | int pulsos (int x){ |
mandres7 | 0:b83ad526e653 | 37 | |
mandres7 | 0:b83ad526e653 | 38 | |
mandres7 | 0:b83ad526e653 | 39 | if (leftQei.getPulses()>b){ |
mandres7 | 0:b83ad526e653 | 40 | x++; |
mandres7 | 0:b83ad526e653 | 41 | b=leftQei.getPulses(); |
mandres7 | 0:b83ad526e653 | 42 | } |
mandres7 | 0:b83ad526e653 | 43 | if (leftQei.getPulses()<b){ |
mandres7 | 0:b83ad526e653 | 44 | x--; |
mandres7 | 0:b83ad526e653 | 45 | b=leftQei.getPulses(); |
mandres7 | 0:b83ad526e653 | 46 | if (x<0){ |
mandres7 | 0:b83ad526e653 | 47 | x=0; |
mandres7 | 0:b83ad526e653 | 48 | } |
mandres7 | 0:b83ad526e653 | 49 | } |
mandres7 | 0:b83ad526e653 | 50 | return x; |
mandres7 | 0:b83ad526e653 | 51 | } // Fin Int main función pulsos |
mandres7 | 0:b83ad526e653 | 52 | |
mandres7 | 0:b83ad526e653 | 53 | int main() { |
mandres7 | 0:b83ad526e653 | 54 | lcd.cls(); |
mandres7 | 0:b83ad526e653 | 55 | lcd.printf("Sp: %d",sp); |
mandres7 | 0:b83ad526e653 | 56 | lcd.locate(8,0); |
mandres7 | 0:b83ad526e653 | 57 | lcd.printf("Kp: %d",kp); |
mandres7 | 0:b83ad526e653 | 58 | lcd.locate(0,1); |
mandres7 | 0:b83ad526e653 | 59 | lcd.printf("Ki: %d",ki); |
mandres7 | 0:b83ad526e653 | 60 | lcd.locate(8,1); |
mandres7 | 0:b83ad526e653 | 61 | lcd.printf("Kd: %d",kd); |
mandres7 | 0:b83ad526e653 | 62 | lcd.writeCommand(C1);//escribimos un comando segun el manual del modulo LCD |
mandres7 | 0:b83ad526e653 | 63 | lcd.locate(0,0); |
mandres7 | 0:b83ad526e653 | 64 | lcd.printf("Sp: %d",sp); |
mandres7 | 0:b83ad526e653 | 65 | |
mandres7 | 0:b83ad526e653 | 66 | |
mandres7 | 0:b83ad526e653 | 67 | |
mandres7 | 0:b83ad526e653 | 68 | while(1) { |
mandres7 | 0:b83ad526e653 | 69 | if (next.falling()) { |
mandres7 | 0:b83ad526e653 | 70 | ++c; |
mandres7 | 0:b83ad526e653 | 71 | } //CAMBIO DE POSICIÓN ENCODER |
mandres7 | 0:b83ad526e653 | 72 | if (c==0){ |
mandres7 | 0:b83ad526e653 | 73 | lcd.locate(3,0); |
mandres7 | 0:b83ad526e653 | 74 | lcd.putc(0xFE); |
mandres7 | 0:b83ad526e653 | 75 | lcd.locate(4,0); |
mandres7 | 0:b83ad526e653 | 76 | lcd.printf("%d",sp); |
mandres7 | 0:b83ad526e653 | 77 | |
mandres7 | 0:b83ad526e653 | 78 | sp=pulsos(sp);//revisar si puedo dejar sp |
mandres7 | 0:b83ad526e653 | 79 | |
mandres7 | 0:b83ad526e653 | 80 | // |
mandres7 | 0:b83ad526e653 | 81 | |
mandres7 | 0:b83ad526e653 | 82 | if(sp>999){ |
mandres7 | 0:b83ad526e653 | 83 | sp=999; |
mandres7 | 0:b83ad526e653 | 84 | } |
mandres7 | 0:b83ad526e653 | 85 | |
mandres7 | 0:b83ad526e653 | 86 | //NEW !! (not zeros in -- process) |
mandres7 | 0:b83ad526e653 | 87 | if(sp<10){ |
mandres7 | 0:b83ad526e653 | 88 | lcd.locate(5,0); |
mandres7 | 0:b83ad526e653 | 89 | lcd.putc(0xFE); |
mandres7 | 0:b83ad526e653 | 90 | } |
mandres7 | 0:b83ad526e653 | 91 | |
mandres7 | 0:b83ad526e653 | 92 | if(sp<100){ |
mandres7 | 0:b83ad526e653 | 93 | lcd.locate(6,0); |
mandres7 | 0:b83ad526e653 | 94 | lcd.putc(0xFE); |
mandres7 | 0:b83ad526e653 | 95 | } |
mandres7 | 0:b83ad526e653 | 96 | |
mandres7 | 0:b83ad526e653 | 97 | lcd.locate(4,0); |
mandres7 | 0:b83ad526e653 | 98 | lcd.printf("%d", sp); |
mandres7 | 0:b83ad526e653 | 99 | //wait(0.1); |
mandres7 | 0:b83ad526e653 | 100 | |
mandres7 | 0:b83ad526e653 | 101 | // |
mandres7 | 0:b83ad526e653 | 102 | |
mandres7 | 0:b83ad526e653 | 103 | } |
mandres7 | 0:b83ad526e653 | 104 | if (c==1) { |
mandres7 | 0:b83ad526e653 | 105 | lcd.locate(11,0); |
mandres7 | 0:b83ad526e653 | 106 | lcd.putc(0xFE); |
mandres7 | 0:b83ad526e653 | 107 | lcd.locate(12,0); |
mandres7 | 0:b83ad526e653 | 108 | lcd.printf("%d",kp); |
mandres7 | 0:b83ad526e653 | 109 | kp=pulsos(kp); //revisar si puedo dejar kp |
mandres7 | 0:b83ad526e653 | 110 | |
mandres7 | 0:b83ad526e653 | 111 | // |
mandres7 | 0:b83ad526e653 | 112 | |
mandres7 | 0:b83ad526e653 | 113 | if(kp>999){ |
mandres7 | 0:b83ad526e653 | 114 | kp=999; |
mandres7 | 0:b83ad526e653 | 115 | } |
mandres7 | 0:b83ad526e653 | 116 | |
mandres7 | 0:b83ad526e653 | 117 | //NEW !! (not zeros in -- process) |
mandres7 | 0:b83ad526e653 | 118 | if(kp<10){ |
mandres7 | 0:b83ad526e653 | 119 | lcd.locate(13,0); |
mandres7 | 0:b83ad526e653 | 120 | lcd.putc(0xFE); |
mandres7 | 0:b83ad526e653 | 121 | } |
mandres7 | 0:b83ad526e653 | 122 | |
mandres7 | 0:b83ad526e653 | 123 | if(kp<100){ |
mandres7 | 0:b83ad526e653 | 124 | lcd.locate(14,0); |
mandres7 | 0:b83ad526e653 | 125 | lcd.putc(0xFE); |
mandres7 | 0:b83ad526e653 | 126 | } |
mandres7 | 0:b83ad526e653 | 127 | |
mandres7 | 0:b83ad526e653 | 128 | lcd.locate(12,0); |
mandres7 | 0:b83ad526e653 | 129 | lcd.printf("%d", kp); |
mandres7 | 0:b83ad526e653 | 130 | //wait(0.2); |
mandres7 | 0:b83ad526e653 | 131 | |
mandres7 | 0:b83ad526e653 | 132 | // |
mandres7 | 0:b83ad526e653 | 133 | |
mandres7 | 0:b83ad526e653 | 134 | } |
mandres7 | 0:b83ad526e653 | 135 | if (c==2) { |
mandres7 | 0:b83ad526e653 | 136 | lcd.locate(3,1); |
mandres7 | 0:b83ad526e653 | 137 | lcd.putc(0xFE); |
mandres7 | 0:b83ad526e653 | 138 | lcd.locate(4,1); |
mandres7 | 0:b83ad526e653 | 139 | lcd.printf("%d",ki); |
mandres7 | 0:b83ad526e653 | 140 | ki=pulsos(ki); //revisar si puedo dejar ki |
mandres7 | 0:b83ad526e653 | 141 | |
mandres7 | 0:b83ad526e653 | 142 | // |
mandres7 | 0:b83ad526e653 | 143 | |
mandres7 | 0:b83ad526e653 | 144 | if(ki>999){ |
mandres7 | 0:b83ad526e653 | 145 | ki=999; |
mandres7 | 0:b83ad526e653 | 146 | } |
mandres7 | 0:b83ad526e653 | 147 | |
mandres7 | 0:b83ad526e653 | 148 | //NEW !! (not zeros in -- process) |
mandres7 | 0:b83ad526e653 | 149 | if(ki<10){ |
mandres7 | 0:b83ad526e653 | 150 | lcd.locate(5,1); |
mandres7 | 0:b83ad526e653 | 151 | lcd.putc(0xFE); |
mandres7 | 0:b83ad526e653 | 152 | } |
mandres7 | 0:b83ad526e653 | 153 | |
mandres7 | 0:b83ad526e653 | 154 | if(ki<100){ |
mandres7 | 0:b83ad526e653 | 155 | lcd.locate(6,1); |
mandres7 | 0:b83ad526e653 | 156 | lcd.putc(0xFE); |
mandres7 | 0:b83ad526e653 | 157 | } |
mandres7 | 0:b83ad526e653 | 158 | |
mandres7 | 0:b83ad526e653 | 159 | lcd.locate(4,1); |
mandres7 | 0:b83ad526e653 | 160 | lcd.printf("%d", ki); |
mandres7 | 0:b83ad526e653 | 161 | //wait(0.2); |
mandres7 | 0:b83ad526e653 | 162 | |
mandres7 | 0:b83ad526e653 | 163 | // |
mandres7 | 0:b83ad526e653 | 164 | |
mandres7 | 0:b83ad526e653 | 165 | } |
mandres7 | 0:b83ad526e653 | 166 | if (c==3) { |
mandres7 | 0:b83ad526e653 | 167 | lcd.locate(11,1); |
mandres7 | 0:b83ad526e653 | 168 | lcd.putc(0xFE); |
mandres7 | 0:b83ad526e653 | 169 | lcd.locate(12,1); |
mandres7 | 0:b83ad526e653 | 170 | lcd.printf("%d",kd); |
mandres7 | 0:b83ad526e653 | 171 | kd=pulsos(kd); //revisar si puedo dejar kd |
mandres7 | 0:b83ad526e653 | 172 | |
mandres7 | 0:b83ad526e653 | 173 | // |
mandres7 | 0:b83ad526e653 | 174 | |
mandres7 | 0:b83ad526e653 | 175 | if(kd>999){ |
mandres7 | 0:b83ad526e653 | 176 | kd=999; |
mandres7 | 0:b83ad526e653 | 177 | } |
mandres7 | 0:b83ad526e653 | 178 | |
mandres7 | 0:b83ad526e653 | 179 | //NEW !! (not zeros in -- process) |
mandres7 | 0:b83ad526e653 | 180 | if(kd<10){ |
mandres7 | 0:b83ad526e653 | 181 | lcd.locate(13,1); |
mandres7 | 0:b83ad526e653 | 182 | lcd.putc(0xFE); |
mandres7 | 0:b83ad526e653 | 183 | } |
mandres7 | 0:b83ad526e653 | 184 | |
mandres7 | 0:b83ad526e653 | 185 | if(kd<100){ |
mandres7 | 0:b83ad526e653 | 186 | lcd.locate(14,1); |
mandres7 | 0:b83ad526e653 | 187 | lcd.putc(0xFE); |
mandres7 | 0:b83ad526e653 | 188 | } |
mandres7 | 0:b83ad526e653 | 189 | |
mandres7 | 0:b83ad526e653 | 190 | lcd.locate(12,1); |
mandres7 | 0:b83ad526e653 | 191 | lcd.printf("%d", kd); |
mandres7 | 0:b83ad526e653 | 192 | //wait(0.2); |
mandres7 | 0:b83ad526e653 | 193 | } |
mandres7 | 0:b83ad526e653 | 194 | if (c==4) { |
mandres7 | 0:b83ad526e653 | 195 | c=0; |
mandres7 | 0:b83ad526e653 | 196 | } |
mandres7 | 0:b83ad526e653 | 197 | |
mandres7 | 0:b83ad526e653 | 198 | if (menu.falling()){ |
mandres7 | 0:b83ad526e653 | 199 | break; |
mandres7 | 0:b83ad526e653 | 200 | } |
mandres7 | 0:b83ad526e653 | 201 | } //While |
mandres7 | 0:b83ad526e653 | 202 | |
mandres7 | 0:b83ad526e653 | 203 | lcd.writeCommand(C4);//escribimos un comando segun el manual del modulo LCD para quitar cursor bajo |
mandres7 | 0:b83ad526e653 | 204 | lcd.cls(); //borra la pantalla |
mandres7 | 0:b83ad526e653 | 205 | lcd.printf(" GUARDADOS!"); |
mandres7 | 0:b83ad526e653 | 206 | wait(2); |
mandres7 | 0:b83ad526e653 | 207 | lcd.cls(); |
mandres7 | 0:b83ad526e653 | 208 | lcd.printf(" INICIA EL PID"); |
mandres7 | 0:b83ad526e653 | 209 | wait(2); |
mandres7 | 0:b83ad526e653 | 210 | // se imprimen los parches del control ***************************************** |
mandres7 | 0:b83ad526e653 | 211 | |
mandres7 | 0:b83ad526e653 | 212 | i=sp/999; |
mandres7 | 0:b83ad526e653 | 213 | lcd.cls(); |
mandres7 | 0:b83ad526e653 | 214 | lcd.printf("Er:%.2f",m); |
mandres7 | 0:b83ad526e653 | 215 | lcd.locate(8,0); |
mandres7 | 0:b83ad526e653 | 216 | lcd.printf("Me:%.2f",j); |
mandres7 | 0:b83ad526e653 | 217 | lcd.locate(0,1); |
mandres7 | 0:b83ad526e653 | 218 | lcd.printf("Sp:%d",sp); |
mandres7 | 0:b83ad526e653 | 219 | lcd.locate(8,1); |
mandres7 | 0:b83ad526e653 | 220 | lcd.printf("Co:%.1f",h); |
mandres7 | 0:b83ad526e653 | 221 | wait(2); |
mandres7 | 0:b83ad526e653 | 222 | |
mandres7 | 0:b83ad526e653 | 223 | // |
mandres7 | 0:b83ad526e653 | 224 | while(1) { |
mandres7 | 0:b83ad526e653 | 225 | |
mandres7 | 0:b83ad526e653 | 226 | spi=sp*(3.3/999); |
mandres7 | 0:b83ad526e653 | 227 | |
mandres7 | 0:b83ad526e653 | 228 | //wait(0.3); |
mandres7 | 0:b83ad526e653 | 229 | i=sp/999; |
mandres7 | 0:b83ad526e653 | 230 | if(i<=1){ |
mandres7 | 0:b83ad526e653 | 231 | |
mandres7 | 0:b83ad526e653 | 232 | j=Ain; |
mandres7 | 0:b83ad526e653 | 233 | ji=j*3.3; |
mandres7 | 0:b83ad526e653 | 234 | m=(spi-ji); |
mandres7 | 0:b83ad526e653 | 235 | //n=m*100; |
mandres7 | 0:b83ad526e653 | 236 | ap=kp*m; |
mandres7 | 0:b83ad526e653 | 237 | ai=(ki*m)+ai; |
mandres7 | 0:b83ad526e653 | 238 | |
mandres7 | 0:b83ad526e653 | 239 | ad=kd*(m-mv); |
mandres7 | 0:b83ad526e653 | 240 | h=ap+ai+ad; |
mandres7 | 0:b83ad526e653 | 241 | |
mandres7 | 0:b83ad526e653 | 242 | if (h>999){ |
mandres7 | 0:b83ad526e653 | 243 | h=999; |
mandres7 | 0:b83ad526e653 | 244 | } |
mandres7 | 0:b83ad526e653 | 245 | if (h<0){ |
mandres7 | 0:b83ad526e653 | 246 | h=0; |
mandres7 | 0:b83ad526e653 | 247 | } |
mandres7 | 0:b83ad526e653 | 248 | |
mandres7 | 0:b83ad526e653 | 249 | g=(h/999); |
mandres7 | 0:b83ad526e653 | 250 | |
mandres7 | 0:b83ad526e653 | 251 | Aout=g; |
mandres7 | 0:b83ad526e653 | 252 | wait(0.22); |
mandres7 | 0:b83ad526e653 | 253 | |
mandres7 | 0:b83ad526e653 | 254 | |
mandres7 | 0:b83ad526e653 | 255 | lcd.cls(); |
mandres7 | 0:b83ad526e653 | 256 | lcd.printf("Er:%.2f",m); |
mandres7 | 0:b83ad526e653 | 257 | lcd.locate(8,0); |
mandres7 | 0:b83ad526e653 | 258 | lcd.printf("Me:%.2f",j); |
mandres7 | 0:b83ad526e653 | 259 | lcd.locate(0,1); |
mandres7 | 0:b83ad526e653 | 260 | lcd.printf("Sp:%d",sp); |
mandres7 | 0:b83ad526e653 | 261 | lcd.locate(8,1); |
mandres7 | 0:b83ad526e653 | 262 | lcd.printf("Co:%.1f",h); |
mandres7 | 0:b83ad526e653 | 263 | } |
mandres7 | 0:b83ad526e653 | 264 | |
mandres7 | 0:b83ad526e653 | 265 | |
mandres7 | 0:b83ad526e653 | 266 | mv=m; |
mandres7 | 0:b83ad526e653 | 267 | } //While |
mandres7 | 0:b83ad526e653 | 268 | // |
mandres7 | 0:b83ad526e653 | 269 | |
mandres7 | 0:b83ad526e653 | 270 | }//int main |