Diff: main.cpp

Revision:

0:dff84c672b7e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Dec 04 21:35:20 2013 +0000
@@ -0,0 +1,79 @@
+#include "mbed.h"
+#include "TextLCD.h"
+#include "DebouncedIn.h"
+ 
+Timer timer1;
+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 Arriba(PTE2);
+DebouncedIn Abajo(PTE3);
+DebouncedIn Ganancia(PTE4);
+ 
+float i=0.7; // set point
+float j=0; // salida planta
+float k=0; // entrada planta
+float m=3.4; // ganancia
+float js=0;
+float ji=1; 
+float re=0;
+float jo=0;
+float jd=0;
+float t=0; //tiempo
+ 
+int main() {
+//float Setpoint=0.6;
+    while(1) {
+        
+        if(Arriba.falling()){
+        i+=0.01;
+        }
+        
+        if(Abajo.falling()){
+        i-=0.01;
+        }
+        
+        if(Ganancia.falling()){
+        m+=0.01;
+        }
+                
+        if(i<0.999){
+       
+        j=Ain;
+        k=m*(i-j);
+        Aout=k;
+        wait(0.1);
+        jo=j-jo;
+        lcd.locate(0,0);
+        lcd.printf("y:%.3f jd:%.2f", j, jd);
+        lcd.locate(0,1);
+        lcd.printf("t:%f",t);
+        lcd.locate(10,1);
+        lcd.printf("K:%.2f",m);
+        }
+        
+        if(j>js){
+        js=j;
+        }
+        
+        if(j<ji){
+        ji=j;
+        }
+        //wait(0.2);
+        jo=j;
+        re=js-ji;
+        jd=ji+(re/2);
+        
+        if(abs(jd-j)<=0.001){
+        
+        t=timer1.read();
+        timer1.stop();
+        timer1.reset();
+        timer1.start();
+        
+        } 
+  
+    }
+    
+}     
\ No newline at end of file