Diff: main.cpp

Revision:

0:6ef000c1b903

Child:

1:80f82aa3d0ec

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sun Nov 10 20:31:02 2013 +0000
@@ -0,0 +1,76 @@
+#include "mbed.h"
+#include "TextLCD.h"
+#include "DebouncedIn.h"
+ 
+
+TextLCD lcd(PTC10, PTC11, PTC12, PTC13, PTC16, PTC17); // rs, e, d4-d7TextLCD lcd(PTC10, PTC11, PTC12, PTC13, PTC16, PTC17); // rs, e, d4-d7
+DigitalOut myled(LED1);
+AnalogOut Aout(PTE30);
+AnalogIn Ain(PTC2);
+DebouncedIn up(PTE3);
+DebouncedIn down(PTE4);
+DebouncedIn Gain(PTE2);
+int ap,n,ai,ad; 
+
+float i=0.7; // set point
+float j=0; // salida planta
+float h=0; // entrada planta
+float m=0; // Error
+float mv=0;
+float g=0;
+float x=0;
+int kp=3;
+int ki=15;
+int kd=1;
+
+
+int main(){ 
+
+//float Setpoint=0.6;
+
+    while(1) {
+
+        wait(0.3);
+              
+        if(i<0.999){
+       
+        j=Ain;
+        m=(i-j);
+        //n=m*100;
+        ap=kp*m;
+        ai=(ki*m)+ai;
+        
+        if (ai>999){
+        ai=998;
+                   }
+        
+        ad=kd*(m-mv);
+        h=ap+ai+ad;
+        x=h/100;
+        g=(h*3.3/100);
+        
+        if (h<0){
+            h=0;
+                }
+                
+
+                        
+        Aout=g;
+        wait(0.22);
+ 
+        
+        lcd.cls();
+        lcd.printf("Er:%.3f",m);
+        lcd.locate(8,0);
+        lcd.printf("Me:%.3f",j);
+        lcd.locate(0,1);
+        lcd.printf("Sp:%.2f",i);
+        lcd.locate(8,1);
+        lcd.printf("Co:%.3f",x);
+        }
+
+
+        mv=m;
+    }
+    
+}
\ No newline at end of file