Diff: main.cpp

Revision:

0:41a3a16a7de0

diff -r 000000000000 -r 41a3a16a7de0 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Apr 09 15:32:24 2014 +0000
@@ -0,0 +1,153 @@
+#include "mbed.h"
+#include "DebouncedIn.h"
+#include "TextLCD.h"
+#include "QEI.h"
+
+
+QEI wheel (PTA16, PTA17, NC, 48);
+TextLCD lcd(PTB10, PTB11, PTE2, PTE3, PTE4, PTE5); // rs, e, d4-d7
+
+
+DebouncedIn Encoder_bu(PTC5);
+DebouncedIn button1(PTC10);
+DebouncedIn button2(PTC6);
+DebouncedIn button3(PTC11);
+PwmOut Pwm(PTA5);
+
+ 
+float pp=0.001;
+float Dd=0.1;
+int SP1=0,Sp=0,Kp1=0,Kp=0,Ki=0,Ki1=0,Kd=0,Kd1=0,v,m;
+int C1=0x0E;
+int r; // indice de la variable
+
+int PWMmodule(float pp,float Dd)
+{
+        Pwm.period(pp);
+        Pwm.write(Dd);
+        wait(0.2);
+        Pwm.write(0); 
+        return 0;
+} 
+
+int main() 
+
+{
+    lcd.writeCommand(0x0E);
+    lcd.printf("Sp=0    Kp=0");
+    lcd.locate(0,1);
+    lcd.printf("Ki=0    Kd=0");
+    lcd.locate(2,0);
+    lcd.printf("=");
+
+    while(1) 
+    {  
+     m=wheel.getPulses();
+     
+            if(m!=v) {  
+                                                
+            switch(r) {
+            
+                case 0:
+                    Kd1=Kd;
+                    
+                    lcd.locate(2,0);
+                    lcd.printf("=     ");
+                    lcd.locate(3,0);
+                    lcd.printf("%d",Sp);
+                    
+                    Sp=SP1+m;  
+                    if(Sp<0)
+                    {
+                        Sp=0; 
+                        wheel.reset();  
+                        m=0; 
+                    }                
+                    break;
+                case 1:
+                    SP1=Sp;
+                    lcd.locate(10,0);
+                    lcd.printf("=     ");
+                    lcd.locate(11,0);
+                    lcd.printf("%d",Kp);
+                    
+                    Kp=Kp1+m;  
+                    if(Kp<0)
+                    {
+                        Kp=0; 
+                        wheel.reset();  
+                        m=0; 
+                    }  
+                    break;
+                case 2:
+                    Kp1=Kp;
+                    lcd.locate(2,1);
+                    lcd.printf("=     ");
+                    lcd.locate(3,1);
+                    lcd.printf("%d",Ki);
+                    
+                    Ki=Ki1+m;  
+                    if(Ki<0)
+                    {
+                        Ki=0; 
+                        wheel.reset();  
+                        m=0; 
+                    } 
+                    
+                    break;
+                case 3:
+                    Ki1=Ki;
+                    lcd.locate(10,1);
+                    lcd.printf("=     ");
+                    lcd.locate(11,1);
+                    lcd.printf("%d",Kd);
+                    Kd=Kd1+m;
+                    if(Kd<0)
+                    {
+                        Kd=0; 
+                        wheel.reset();  
+                        m=0; 
+                    } 
+                    
+                    break;
+            }
+            v=m;
+        }
+                  
+        
+        if(button3.falling() || Encoder_bu.falling()) 
+        {
+            PWMmodule(pp,Dd);
+            wait(0.2);
+            wheel.reset();
+            r++;
+            if(r>3) 
+            {
+                r=0;
+            }
+            switch (r) 
+            {
+                case 0:
+                    lcd.locate(2,0);
+                    lcd.printf("=");
+                    break;
+                case 1:
+                    lcd.locate(10,0);
+                    lcd.printf("=");
+                    break;
+                case 2:
+                    lcd.locate(2,1);
+                    lcd.printf("=");
+                    break;
+                case 3:
+                    lcd.locate(10,1);
+                    lcd.printf("=");
+                    break;
+                    
+                    
+            }
+        } 
+        {        
+        } 
+    }
+}
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