File content as of revision 1:80f82aa3d0ec:

#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; // set point
float j=0; // salida planta
float ji=0; //variable proceso interno
float spi=0; //variable proceso interno
float h=0; // entrada planta
float m=0; // Error
float mv=0;
float g=0;

int sp=500;
int kp=3;
int ki=15;
int kd=1;


int main(){ 

//float Setpoint=0.6;

           i=sp/999;
           lcd.cls();
           lcd.printf("Er:%.2f",m);
           lcd.locate(8,0);
           lcd.printf("Me:%.2f",j);
           lcd.locate(0,1);
           lcd.printf("Sp:%d",sp);
           lcd.locate(8,1);
           lcd.printf("Co:%.1f",h);
           wait(2);
           
           //
        while(1) {
        
            spi=sp*(3.3/999);
            
        //wait(0.3);
              i=sp/999;
        if(i<=1){
       
        j=Ain;
        ji=j*3.3;
        m=(spi-ji);
        //n=m*100;
        ap=kp*m;
        ai=(ki*m)+ai;
        
        ad=kd*(m-mv);
        h=ap+ai+ad;
   
        if (h>999){
        h=999;
                   }
        if (h<0){
        h=0;
                   }
                              
        g=(h/999);
                                                       
        Aout=g;
        wait(0.22);
 
        
        lcd.cls();
        lcd.printf("Er:%.2f",m);
        lcd.locate(8,0);
        lcd.printf("Me:%.2f",j);
        lcd.locate(0,1);
        lcd.printf("Sp:%d",sp);
        lcd.locate(8,1);
        lcd.printf("Co:%.1f",h);
        }


        mv=m;
    } //While
    
}