Teclado para control PID
Dependencies: Debounced FPointer TextLCD11 keypad mbed
main.cpp@2:da30c4b60cf4, 2013-12-04 (annotated)
- Committer:
- mandres7
- Date:
- Wed Dec 04 20:29:58 2013 +0000
- Revision:
- 2:da30c4b60cf4
- Parent:
- 1:f578cd888e48
Teclado para control PID
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
mandres7 | 0:17aecb7bba09 | 1 | #include "mbed.h" |
mandres7 | 0:17aecb7bba09 | 2 | #include "keypad.h" |
mandres7 | 0:17aecb7bba09 | 3 | #include "TextLCD.h" |
mandres7 | 0:17aecb7bba09 | 4 | |
mandres7 | 0:17aecb7bba09 | 5 | |
mandres7 | 0:17aecb7bba09 | 6 | TextLCD lcd(PTC10, PTC11, PTC12, PTC13, PTC16, PTC17); // rs, e, d4-d7 |
mandres7 | 0:17aecb7bba09 | 7 | |
mandres7 | 0:17aecb7bba09 | 8 | AnalogIn Ain(PTC2); |
mandres7 | 0:17aecb7bba09 | 9 | AnalogOut Aout(PTE30); |
mandres7 | 0:17aecb7bba09 | 10 | |
mandres7 | 0:17aecb7bba09 | 11 | int C4=0x0C; |
mandres7 | 0:17aecb7bba09 | 12 | int C1=0x0E; |
mandres7 | 0:17aecb7bba09 | 13 | int p=0; |
mandres7 | 0:17aecb7bba09 | 14 | |
mandres7 | 0:17aecb7bba09 | 15 | int c=0; |
mandres7 | 0:17aecb7bba09 | 16 | int y=0; |
mandres7 | 0:17aecb7bba09 | 17 | float i; // set point |
mandres7 | 0:17aecb7bba09 | 18 | float j=0; // salida planta |
mandres7 | 0:17aecb7bba09 | 19 | float ji=0; //variable proceso interno |
mandres7 | 0:17aecb7bba09 | 20 | float spi=0; //variable proceso interno |
mandres7 | 0:17aecb7bba09 | 21 | float h=0; // entrada planta |
mandres7 | 0:17aecb7bba09 | 22 | float m=0; // Error |
mandres7 | 0:17aecb7bba09 | 23 | float mv=0; |
mandres7 | 0:17aecb7bba09 | 24 | float g=0; |
mandres7 | 0:17aecb7bba09 | 25 | |
mandres7 | 0:17aecb7bba09 | 26 | |
mandres7 | 0:17aecb7bba09 | 27 | float ap,ai,ad; |
mandres7 | 0:17aecb7bba09 | 28 | int sp=0; |
mandres7 | 0:17aecb7bba09 | 29 | int kp=0; |
mandres7 | 0:17aecb7bba09 | 30 | int ki=0; |
mandres7 | 0:17aecb7bba09 | 31 | int kd=0; |
mandres7 | 0:17aecb7bba09 | 32 | |
mandres7 | 0:17aecb7bba09 | 33 | |
mandres7 | 0:17aecb7bba09 | 34 | |
mandres7 | 0:17aecb7bba09 | 35 | |
mandres7 | 0:17aecb7bba09 | 36 | // Define your own keypad values |
mandres7 | 0:17aecb7bba09 | 37 | char Keytable[] = { '1', '2', '3', '*', |
mandres7 | 0:17aecb7bba09 | 38 | '4', '5', '6', '0', |
mandres7 | 0:17aecb7bba09 | 39 | '7', '8', '9', '#', |
mandres7 | 0:17aecb7bba09 | 40 | 'A', 'B', 'C', 'D' |
mandres7 | 0:17aecb7bba09 | 41 | }; |
mandres7 | 0:17aecb7bba09 | 42 | |
mandres7 | 0:17aecb7bba09 | 43 | int Teclado[] = { 1, 4, 7, 13, |
mandres7 | 0:17aecb7bba09 | 44 | 2, 5, 8, 0, |
mandres7 | 0:17aecb7bba09 | 45 | 3, 6, 9, 14, |
mandres7 | 0:17aecb7bba09 | 46 | 10,11,12, 15 |
mandres7 | 0:17aecb7bba09 | 47 | }; |
mandres7 | 0:17aecb7bba09 | 48 | |
mandres7 | 0:17aecb7bba09 | 49 | uint32_t cbAfterInput(uint32_t key) |
mandres7 | 0:17aecb7bba09 | 50 | { |
mandres7 | 0:17aecb7bba09 | 51 | |
mandres7 | 0:17aecb7bba09 | 52 | if (Keytable[key]=='A') { |
mandres7 | 0:17aecb7bba09 | 53 | Teclado[key]=0; |
mandres7 | 0:17aecb7bba09 | 54 | ++c; |
mandres7 | 0:17aecb7bba09 | 55 | } |
mandres7 | 0:17aecb7bba09 | 56 | |
mandres7 | 0:17aecb7bba09 | 57 | if(Keytable[key]=='B') { |
mandres7 | 0:17aecb7bba09 | 58 | Teclado[key]=0; |
mandres7 | 0:17aecb7bba09 | 59 | sp=0; |
mandres7 | 0:17aecb7bba09 | 60 | kp=0; |
mandres7 | 0:17aecb7bba09 | 61 | ki=0; |
mandres7 | 0:17aecb7bba09 | 62 | kd=0; |
mandres7 | 0:17aecb7bba09 | 63 | } |
mandres7 | 0:17aecb7bba09 | 64 | |
mandres7 | 0:17aecb7bba09 | 65 | |
mandres7 | 0:17aecb7bba09 | 66 | if(Keytable[key]=='D'){ |
mandres7 | 0:17aecb7bba09 | 67 | Teclado[key]=0; |
mandres7 | 0:17aecb7bba09 | 68 | p=1; |
mandres7 | 0:17aecb7bba09 | 69 | } |
mandres7 | 0:17aecb7bba09 | 70 | |
mandres7 | 0:17aecb7bba09 | 71 | //////////// |
mandres7 | 0:17aecb7bba09 | 72 | |
mandres7 | 0:17aecb7bba09 | 73 | if (c==0){ |
mandres7 | 0:17aecb7bba09 | 74 | |
mandres7 | 0:17aecb7bba09 | 75 | sp=sp+Teclado[key]; |
mandres7 | 0:17aecb7bba09 | 76 | |
mandres7 | 0:17aecb7bba09 | 77 | } |
mandres7 | 0:17aecb7bba09 | 78 | |
mandres7 | 0:17aecb7bba09 | 79 | if (c==1) { |
mandres7 | 0:17aecb7bba09 | 80 | |
mandres7 | 0:17aecb7bba09 | 81 | kp=kp+Teclado[key]; |
mandres7 | 0:17aecb7bba09 | 82 | |
mandres7 | 0:17aecb7bba09 | 83 | } |
mandres7 | 0:17aecb7bba09 | 84 | if (c==2) { |
mandres7 | 0:17aecb7bba09 | 85 | |
mandres7 | 0:17aecb7bba09 | 86 | ki=ki+Teclado[key]; |
mandres7 | 0:17aecb7bba09 | 87 | |
mandres7 | 0:17aecb7bba09 | 88 | } |
mandres7 | 0:17aecb7bba09 | 89 | if (c==3) { |
mandres7 | 0:17aecb7bba09 | 90 | |
mandres7 | 0:17aecb7bba09 | 91 | kd=kd+Teclado[key]; |
mandres7 | 0:17aecb7bba09 | 92 | |
mandres7 | 0:17aecb7bba09 | 93 | } |
mandres7 | 0:17aecb7bba09 | 94 | |
mandres7 | 0:17aecb7bba09 | 95 | //////////// |
mandres7 | 0:17aecb7bba09 | 96 | |
mandres7 | 0:17aecb7bba09 | 97 | |
mandres7 | 0:17aecb7bba09 | 98 | return 0; |
mandres7 | 0:17aecb7bba09 | 99 | }//fin unit32_t |
mandres7 | 0:17aecb7bba09 | 100 | |
mandres7 | 0:17aecb7bba09 | 101 | |
mandres7 | 0:17aecb7bba09 | 102 | |
mandres7 | 0:17aecb7bba09 | 103 | int main() { |
mandres7 | 0:17aecb7bba09 | 104 | Keypad keypad(PTA2,PTD4,PTD3,PTD1,PTD2,PTD0,PTD5,PTA13); |
mandres7 | 0:17aecb7bba09 | 105 | keypad.CallAfterInput(&cbAfterInput); |
mandres7 | 0:17aecb7bba09 | 106 | keypad.Start(); |
mandres7 | 0:17aecb7bba09 | 107 | |
mandres7 | 0:17aecb7bba09 | 108 | lcd.cls(); |
mandres7 | 0:17aecb7bba09 | 109 | lcd.printf("Sp: %d",sp); |
mandres7 | 0:17aecb7bba09 | 110 | lcd.locate(8,0); |
mandres7 | 0:17aecb7bba09 | 111 | lcd.printf("Kp: %d",kp); |
mandres7 | 0:17aecb7bba09 | 112 | lcd.locate(0,1); |
mandres7 | 0:17aecb7bba09 | 113 | lcd.printf("Ki: %d",ki); |
mandres7 | 0:17aecb7bba09 | 114 | lcd.locate(8,1); |
mandres7 | 0:17aecb7bba09 | 115 | lcd.printf("Kd: %d",kd); |
mandres7 | 0:17aecb7bba09 | 116 | lcd.writeCommand(C1);//escribimos un comando segun el manual del modulo LCD |
mandres7 | 0:17aecb7bba09 | 117 | lcd.locate(0,0); |
mandres7 | 0:17aecb7bba09 | 118 | lcd.printf("Sp: %d",sp); |
mandres7 | 0:17aecb7bba09 | 119 | |
mandres7 | 0:17aecb7bba09 | 120 | while (1) { |
mandres7 | 0:17aecb7bba09 | 121 | |
mandres7 | 0:17aecb7bba09 | 122 | |
mandres7 | 0:17aecb7bba09 | 123 | if (c==0){ |
mandres7 | 0:17aecb7bba09 | 124 | lcd.locate(3,0); |
mandres7 | 0:17aecb7bba09 | 125 | lcd.putc(0xFE); |
mandres7 | 0:17aecb7bba09 | 126 | lcd.locate(4,0); |
mandres7 | 1:f578cd888e48 | 127 | lcd.printf("%d",sp); |
mandres7 | 1:f578cd888e48 | 128 | |
mandres7 | 1:f578cd888e48 | 129 | //NEW !! (not zeros in -- process) |
mandres7 | 1:f578cd888e48 | 130 | if(sp<10){ |
mandres7 | 1:f578cd888e48 | 131 | lcd.locate(5,0); |
mandres7 | 1:f578cd888e48 | 132 | lcd.putc(0xFE); |
mandres7 | 1:f578cd888e48 | 133 | } |
mandres7 | 1:f578cd888e48 | 134 | |
mandres7 | 1:f578cd888e48 | 135 | if(sp<100){ |
mandres7 | 1:f578cd888e48 | 136 | lcd.locate(6,0); |
mandres7 | 1:f578cd888e48 | 137 | lcd.putc(0xFE); |
mandres7 | 1:f578cd888e48 | 138 | } |
mandres7 | 1:f578cd888e48 | 139 | |
mandres7 | 1:f578cd888e48 | 140 | lcd.locate(4,0); |
mandres7 | 1:f578cd888e48 | 141 | lcd.printf("%d", sp); |
mandres7 | 1:f578cd888e48 | 142 | //wait(0.1); |
mandres7 | 0:17aecb7bba09 | 143 | |
mandres7 | 1:f578cd888e48 | 144 | // |
mandres7 | 1:f578cd888e48 | 145 | |
mandres7 | 0:17aecb7bba09 | 146 | } |
mandres7 | 0:17aecb7bba09 | 147 | |
mandres7 | 0:17aecb7bba09 | 148 | if (c==1){ |
mandres7 | 0:17aecb7bba09 | 149 | lcd.locate(11,0); |
mandres7 | 0:17aecb7bba09 | 150 | lcd.putc(0xFE); |
mandres7 | 0:17aecb7bba09 | 151 | lcd.locate(12,0); |
mandres7 | 0:17aecb7bba09 | 152 | lcd.printf("%d",kp); |
mandres7 | 0:17aecb7bba09 | 153 | |
mandres7 | 1:f578cd888e48 | 154 | //NEW !! (not zeros in -- process) |
mandres7 | 1:f578cd888e48 | 155 | if(kp<10){ |
mandres7 | 1:f578cd888e48 | 156 | lcd.locate(13,0); |
mandres7 | 1:f578cd888e48 | 157 | lcd.putc(0xFE); |
mandres7 | 1:f578cd888e48 | 158 | } |
mandres7 | 1:f578cd888e48 | 159 | |
mandres7 | 2:da30c4b60cf4 | 160 | if(kp<100){ |
mandres7 | 1:f578cd888e48 | 161 | lcd.locate(14,0); |
mandres7 | 1:f578cd888e48 | 162 | lcd.putc(0xFE); |
mandres7 | 1:f578cd888e48 | 163 | } |
mandres7 | 1:f578cd888e48 | 164 | |
mandres7 | 1:f578cd888e48 | 165 | lcd.locate(12,0); |
mandres7 | 1:f578cd888e48 | 166 | lcd.printf("%d", kp); |
mandres7 | 1:f578cd888e48 | 167 | //wait(0.1); |
mandres7 | 1:f578cd888e48 | 168 | |
mandres7 | 1:f578cd888e48 | 169 | // |
mandres7 | 1:f578cd888e48 | 170 | |
mandres7 | 0:17aecb7bba09 | 171 | } |
mandres7 | 0:17aecb7bba09 | 172 | |
mandres7 | 1:f578cd888e48 | 173 | if (c==2) { |
mandres7 | 0:17aecb7bba09 | 174 | lcd.locate(3,1); |
mandres7 | 0:17aecb7bba09 | 175 | lcd.putc(0xFE); |
mandres7 | 0:17aecb7bba09 | 176 | lcd.locate(4,1); |
mandres7 | 1:f578cd888e48 | 177 | lcd.printf("%d",ki); |
mandres7 | 1:f578cd888e48 | 178 | |
mandres7 | 1:f578cd888e48 | 179 | //NEW !! (not zeros in -- process) |
mandres7 | 1:f578cd888e48 | 180 | if(ki<10){ |
mandres7 | 1:f578cd888e48 | 181 | lcd.locate(5,1); |
mandres7 | 1:f578cd888e48 | 182 | lcd.putc(0xFE); |
mandres7 | 1:f578cd888e48 | 183 | } |
mandres7 | 1:f578cd888e48 | 184 | |
mandres7 | 1:f578cd888e48 | 185 | if(ki<100){ |
mandres7 | 1:f578cd888e48 | 186 | lcd.locate(6,1); |
mandres7 | 1:f578cd888e48 | 187 | lcd.putc(0xFE); |
mandres7 | 1:f578cd888e48 | 188 | } |
mandres7 | 1:f578cd888e48 | 189 | |
mandres7 | 1:f578cd888e48 | 190 | lcd.locate(4,1); |
mandres7 | 1:f578cd888e48 | 191 | lcd.printf("%d", ki); |
mandres7 | 1:f578cd888e48 | 192 | //wait(0.2); |
mandres7 | 1:f578cd888e48 | 193 | |
mandres7 | 1:f578cd888e48 | 194 | // |
mandres7 | 1:f578cd888e48 | 195 | |
mandres7 | 0:17aecb7bba09 | 196 | } |
mandres7 | 1:f578cd888e48 | 197 | if (c==3) { |
mandres7 | 0:17aecb7bba09 | 198 | lcd.locate(11,1); |
mandres7 | 0:17aecb7bba09 | 199 | lcd.putc(0xFE); |
mandres7 | 0:17aecb7bba09 | 200 | lcd.locate(12,1); |
mandres7 | 0:17aecb7bba09 | 201 | lcd.printf("%d",kd); |
mandres7 | 0:17aecb7bba09 | 202 | |
mandres7 | 1:f578cd888e48 | 203 | //NEW !! (not zeros in -- process) |
mandres7 | 1:f578cd888e48 | 204 | if(kd<10){ |
mandres7 | 1:f578cd888e48 | 205 | lcd.locate(13,1); |
mandres7 | 1:f578cd888e48 | 206 | lcd.putc(0xFE); |
mandres7 | 1:f578cd888e48 | 207 | } |
mandres7 | 1:f578cd888e48 | 208 | |
mandres7 | 1:f578cd888e48 | 209 | if(kd<100){ |
mandres7 | 1:f578cd888e48 | 210 | lcd.locate(14,1); |
mandres7 | 1:f578cd888e48 | 211 | lcd.putc(0xFE); |
mandres7 | 1:f578cd888e48 | 212 | } |
mandres7 | 1:f578cd888e48 | 213 | |
mandres7 | 1:f578cd888e48 | 214 | lcd.locate(12,1); |
mandres7 | 1:f578cd888e48 | 215 | lcd.printf("%d", kd); |
mandres7 | 1:f578cd888e48 | 216 | //wait(0.2); |
mandres7 | 1:f578cd888e48 | 217 | } |
mandres7 | 0:17aecb7bba09 | 218 | |
mandres7 | 0:17aecb7bba09 | 219 | if(c==4 || c>4){ |
mandres7 | 0:17aecb7bba09 | 220 | c=0; |
mandres7 | 0:17aecb7bba09 | 221 | } |
mandres7 | 0:17aecb7bba09 | 222 | |
mandres7 | 0:17aecb7bba09 | 223 | if(p==1){ |
mandres7 | 0:17aecb7bba09 | 224 | c=0; |
mandres7 | 0:17aecb7bba09 | 225 | break; |
mandres7 | 0:17aecb7bba09 | 226 | } |
mandres7 | 0:17aecb7bba09 | 227 | |
mandres7 | 0:17aecb7bba09 | 228 | } |
mandres7 | 0:17aecb7bba09 | 229 | |
mandres7 | 0:17aecb7bba09 | 230 | |
mandres7 | 0:17aecb7bba09 | 231 | lcd.writeCommand(C4);//escribimos un comando segun el manual del modulo LCD para quitar cursor bajo |
mandres7 | 0:17aecb7bba09 | 232 | lcd.cls(); //borra la pantalla |
mandres7 | 0:17aecb7bba09 | 233 | lcd.printf(" GUARDADOS!"); |
mandres7 | 0:17aecb7bba09 | 234 | wait(2); |
mandres7 | 0:17aecb7bba09 | 235 | lcd.cls(); |
mandres7 | 0:17aecb7bba09 | 236 | lcd.printf(" INICIA EL PID"); |
mandres7 | 0:17aecb7bba09 | 237 | wait(2); |
mandres7 | 0:17aecb7bba09 | 238 | // se imprimen los parches del control ***************************************** |
mandres7 | 0:17aecb7bba09 | 239 | |
mandres7 | 0:17aecb7bba09 | 240 | i=sp/999; |
mandres7 | 0:17aecb7bba09 | 241 | lcd.cls(); |
mandres7 | 0:17aecb7bba09 | 242 | lcd.printf("Er:%.2f",m); |
mandres7 | 0:17aecb7bba09 | 243 | lcd.locate(8,0); |
mandres7 | 0:17aecb7bba09 | 244 | lcd.printf("Me:%.2f",j); |
mandres7 | 0:17aecb7bba09 | 245 | lcd.locate(0,1); |
mandres7 | 0:17aecb7bba09 | 246 | lcd.printf("Sp:%d",sp); |
mandres7 | 0:17aecb7bba09 | 247 | lcd.locate(8,1); |
mandres7 | 0:17aecb7bba09 | 248 | lcd.printf("Co:%.1f",h); |
mandres7 | 0:17aecb7bba09 | 249 | wait(2); |
mandres7 | 0:17aecb7bba09 | 250 | |
mandres7 | 0:17aecb7bba09 | 251 | // |
mandres7 | 0:17aecb7bba09 | 252 | while(1) { |
mandres7 | 0:17aecb7bba09 | 253 | |
mandres7 | 0:17aecb7bba09 | 254 | spi=sp*(3.3/999); |
mandres7 | 0:17aecb7bba09 | 255 | |
mandres7 | 0:17aecb7bba09 | 256 | //wait(0.3); |
mandres7 | 0:17aecb7bba09 | 257 | i=sp/999; |
mandres7 | 0:17aecb7bba09 | 258 | if(i<=1){ |
mandres7 | 0:17aecb7bba09 | 259 | |
mandres7 | 0:17aecb7bba09 | 260 | j=Ain; |
mandres7 | 0:17aecb7bba09 | 261 | ji=j*3.3; |
mandres7 | 0:17aecb7bba09 | 262 | m=(spi-ji); |
mandres7 | 0:17aecb7bba09 | 263 | //n=m*100; |
mandres7 | 0:17aecb7bba09 | 264 | ap=kp*m; |
mandres7 | 0:17aecb7bba09 | 265 | ai=(ki*m)+ai; |
mandres7 | 0:17aecb7bba09 | 266 | |
mandres7 | 0:17aecb7bba09 | 267 | ad=kd*(m-mv); |
mandres7 | 0:17aecb7bba09 | 268 | h=ap+ai+ad; |
mandres7 | 0:17aecb7bba09 | 269 | |
mandres7 | 0:17aecb7bba09 | 270 | if (h>999){ |
mandres7 | 0:17aecb7bba09 | 271 | h=999; |
mandres7 | 0:17aecb7bba09 | 272 | } |
mandres7 | 0:17aecb7bba09 | 273 | if (h<0){ |
mandres7 | 0:17aecb7bba09 | 274 | h=0; |
mandres7 | 0:17aecb7bba09 | 275 | } |
mandres7 | 0:17aecb7bba09 | 276 | |
mandres7 | 0:17aecb7bba09 | 277 | g=(h/999); |
mandres7 | 0:17aecb7bba09 | 278 | |
mandres7 | 0:17aecb7bba09 | 279 | Aout=g; |
mandres7 | 0:17aecb7bba09 | 280 | wait(0.22); |
mandres7 | 0:17aecb7bba09 | 281 | |
mandres7 | 0:17aecb7bba09 | 282 | |
mandres7 | 0:17aecb7bba09 | 283 | lcd.cls(); |
mandres7 | 0:17aecb7bba09 | 284 | lcd.printf("Er:%.2f",m); |
mandres7 | 0:17aecb7bba09 | 285 | lcd.locate(8,0); |
mandres7 | 0:17aecb7bba09 | 286 | lcd.printf("Me:%.2f",j); |
mandres7 | 0:17aecb7bba09 | 287 | lcd.locate(0,1); |
mandres7 | 0:17aecb7bba09 | 288 | lcd.printf("Sp:%d",sp); |
mandres7 | 0:17aecb7bba09 | 289 | lcd.locate(8,1); |
mandres7 | 0:17aecb7bba09 | 290 | lcd.printf("Co:%.1f",h); |
mandres7 | 0:17aecb7bba09 | 291 | } |
mandres7 | 0:17aecb7bba09 | 292 | |
mandres7 | 0:17aecb7bba09 | 293 | |
mandres7 | 0:17aecb7bba09 | 294 | mv=m; |
mandres7 | 0:17aecb7bba09 | 295 | } //While |
mandres7 | 0:17aecb7bba09 | 296 | // |
mandres7 | 0:17aecb7bba09 | 297 | |
mandres7 | 0:17aecb7bba09 | 298 | }//int main |