Revision 0:6a56212dd414, committed 2015-04-08

Comitter:

obifandres

Date:

Wed Apr 08 15:19:22 2015 +0000

Commit message:

Tarea 3 procesadores: PID en FKL26Z con botones de incrementales

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/DebouncedIn.cpp	Wed Apr 08 15:19:22 2015 +0000
@@ -0,0 +1,91 @@
+#include "DebouncedIn.h"
+#include "mbed.h"
+ 
+/*
+ * Constructor
+ */
+DebouncedIn::DebouncedIn(PinName in) 
+    : _in(in) {    
+        
+    // reset all the flags and counters    
+    _samples = 0;
+    _output = 0;
+    _output_last = 0;
+    _rising_flag = 0;
+    _falling_flag = 0;
+    _state_counter = 0;
+    
+    // Attach ticker
+    _ticker.attach(this, &DebouncedIn::_sample, 0.005);     
+}
+  
+void DebouncedIn::_sample() {
+ 
+    // take a sample
+    _samples = _samples >> 1; // shift left
+      
+    if (_in) {
+        _samples |= 0x80;
+    }  
+      
+    // examine the sample window, look for steady state
+    if (_samples == 0x00) {
+        _output = 0;
+    } 
+    else if (_samples == 0xFF) {
+        _output = 1;
+    }
+ 
+ 
+    // Rising edge detection
+    if ((_output == 1) && (_output_last == 0)) {
+        _rising_flag++;
+        _state_counter = 0;
+    }
+ 
+    // Falling edge detection
+    else if ((_output == 0) && (_output_last == 1)) {
+        _falling_flag++;
+        _state_counter = 0;
+    }
+    
+    // steady state
+    else {
+        _state_counter++;
+    }
+    
+   // update the output
+    _output_last = _output;
+    
+}
+ 
+ 
+ 
+// return number of rising edges
+int DebouncedIn::rising(void) {
+    int return_value = _rising_flag; 
+    _rising_flag = 0;
+    return(return_value);
+}
+ 
+// return number of falling edges
+int DebouncedIn::falling(void) {
+    int return_value = _falling_flag; 
+    _falling_flag = 0;
+    return(return_value);
+}
+ 
+// return number of ticsk we've bene steady for
+int DebouncedIn::steady(void) {
+return(_state_counter);
+}
+ 
+// return the debounced status
+int DebouncedIn::read(void) {
+    return(_output);
+}
+ 
+// shorthand for read()
+DebouncedIn::operator int() {
+    return read();
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/DebouncedIn.h	Wed Apr 08 15:19:22 2015 +0000
@@ -0,0 +1,31 @@
+#include "mbed.h"
+ 
+    class DebouncedIn {
+        public:      
+             DebouncedIn(PinName in);
+ 
+             int read (void);
+             operator int();
+              
+             int rising(void);
+             int falling(void);
+             int steady(void);
+              
+        private :    
+               // objects
+               DigitalIn _in;    
+               Ticker _ticker;
+ 
+               // function to take a sample, and update flags
+               void _sample(void);
+ 
+               // counters and flags
+               int _samples;
+               int _output;
+               int _output_last;
+               int _rising_flag;
+               int _falling_flag;
+               int _state_counter;
+ 
+    };
+    
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/TextLCD-modificad.lib	Wed Apr 08 15:19:22 2015 +0000
@@ -0,0 +1,1 @@
+http://developer.mbed.org/users/salondonog/code/TextLCD-modificad/#d5c3eb2b8d0e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Apr 08 15:19:22 2015 +0000
@@ -0,0 +1,488 @@
+#include "mbed.h"
+#include "TextLCD.h"
+#include "DebouncedIn.h"
+ 
+TextLCD lcd(PTB10, PTB11, PTE2, PTE3, PTE4, PTE5);  //configura los puestos PTE0,PTE1,PTE2,PTE3,PTE4,PTE5, donde se conectara el LCD 16x2
+DebouncedIn button1(PTC12);
+DebouncedIn button2(PTC13);
+DebouncedIn button3(PTC16);
+DebouncedIn button4(PTC17);
+AnalogIn Vin(PTB0);
+AnalogOut Vout(PTE30);
+Timer t;
+int j;
+int flag;
+int q;
+int C1=0x0E; // solo muestra el cursor
+/*int C2=0x18; // desplaza izquierda
+int C3=0x1A; // desplaza derecha*/
+int C4=0x0C; // quito cursor bajo
+int sp=0;       //set point
+int kp=0;       //ganancia proporcional
+int ki=0;       //ganancia integral
+int kd=0;       //ganancia derivativa
+int k=0;       //variable de control}
+int err, med, yr, ap, ai, ad, err_v, cycle;
+int pid;
+int bb;
+
+int up(int incremento, int pos){
+if(incremento==999){
+return incremento;
+}
+else if(!button1.read()){
+    for(int t=0;t<10;t++){
+        if(button1.read()){
+        break;
+        }
+        if(incremento>995){
+        incremento=999;
+        if (pos==0){
+            lcd.locate(3,0); 
+            }
+            else if(pos==1){
+            lcd.locate(11,0);   
+            }
+            else if (pos==2){
+            lcd.locate(3,1);
+            }
+            else {
+            lcd.locate(11,1);
+            } 
+        lcd.printf("%d ",incremento);
+        break;
+        }
+    incremento++;
+    if (pos==0){
+            lcd.locate(3,0); 
+            }
+            else if(pos==1){
+            lcd.locate(11,0);   
+            }
+            else if (pos==2){
+            lcd.locate(3,1);
+            }
+            else {
+            lcd.locate(11,1);
+            } 
+    lcd.printf("%d ",incremento);    
+    wait(0.25);   
+    } 
+    
+    for(int t=0;t<10;t++){
+        if(button1.read()){
+        break;
+        }
+        if(incremento>970){
+        incremento=999;
+        if (pos==0){
+            lcd.locate(3,0); 
+            }
+            else if(pos==1){
+            lcd.locate(11,0);   
+            }
+            else if (pos==2){
+            lcd.locate(3,1);
+            }
+            else {
+            lcd.locate(11,1);
+            } 
+        lcd.printf("%d ",incremento);
+        break;
+        }
+    incremento+=10;
+    if (pos==0){
+            lcd.locate(3,0); 
+            }
+            else if(pos==1){
+            lcd.locate(11,0);   
+            }
+            else if (pos==2){
+            lcd.locate(3,1);
+            }
+            else {
+            lcd.locate(11,1);
+            } 
+    lcd.printf("%d ",incremento);    
+    wait(0.25);   
+    }
+    for(int t=0;t<20;t++){
+        if(button1.read()){
+        break;
+        }
+        if(incremento>920){
+        incremento=999;
+        if (pos==0){
+            lcd.locate(3,0); 
+            }
+            else if(pos==1){
+            lcd.locate(11,0);   
+            }
+            else if (pos==2){
+            lcd.locate(3,1);
+            }
+            else {
+            lcd.locate(11,1);
+            } 
+        lcd.printf("%d ",incremento);
+        break;
+        }
+    incremento+=100;
+    if (pos==0){
+            lcd.locate(3,0); 
+            }
+            else if(pos==1){
+            lcd.locate(11,0);   
+            }
+            else if (pos==2){
+            lcd.locate(3,1);
+            }
+            else {
+            lcd.locate(11,1);
+            } 
+    lcd.printf("%d ",incremento);    
+    wait(0.25);   
+    } 
+   } 
+   return incremento;
+   } 
+
+int down(int decremento, int pos){
+if(decremento==0){
+return decremento;
+}
+else if(!button2.read()){
+    for(int t=0;t<10;t++){
+        if(button2.read()){
+        break;
+        }
+        if(decremento<4){
+        decremento=0;
+        if (pos==0){
+            lcd.locate(3,0); 
+            }
+            else if(pos==1){
+            lcd.locate(11,0);   
+            }
+            else if (pos==2){
+            lcd.locate(3,1);
+            }
+            else {
+            lcd.locate(11,1);
+            }
+        lcd.printf("     "); 
+                if (pos==0){
+            lcd.locate(3,0); 
+            }
+            else if(pos==1){
+            lcd.locate(11,0);   
+            }
+            else if (pos==2){
+            lcd.locate(3,1);
+            }
+            else {
+            lcd.locate(11,1);
+            }
+        lcd.printf("%d ",decremento);
+        break;
+        }
+    decremento--;
+    if (pos==0){
+            lcd.locate(3,0); 
+            }
+            else if(pos==1){
+            lcd.locate(11,0);   
+            }
+            else if (pos==2){
+            lcd.locate(3,1);
+            }
+            else {
+            lcd.locate(11,1);
+            } 
+    lcd.printf("     "); 
+    if (pos==0){
+            lcd.locate(3,0); 
+            }
+            else if(pos==1){
+            lcd.locate(11,0);   
+            }
+            else if (pos==2){
+            lcd.locate(3,1);
+            }
+            else {
+            lcd.locate(11,1);
+            } 
+    lcd.printf("%d ",decremento);    
+    wait(0.25);   
+    } 
+    
+    for(int t=0;t<10;t++){
+        if(button2.read()){
+        break;
+        }
+        if(decremento<40){
+        decremento=0;
+        if (pos==0){
+            lcd.locate(3,0); 
+            }
+            else if(pos==1){
+            lcd.locate(11,0);   
+            }
+            else if (pos==2){
+            lcd.locate(3,1);
+            }
+            else {
+            lcd.locate(11,1);
+            } 
+        lcd.printf("     ");
+        if (pos==0){
+            lcd.locate(3,0); 
+            }
+            else if(pos==1){
+            lcd.locate(11,0);   
+            }
+            else if (pos==2){
+            lcd.locate(3,1);
+            }
+            else {
+            lcd.locate(11,1);
+            } 
+        lcd.printf("%d ",decremento);
+        break;
+        }
+    decremento-=10;
+    if (pos==0){
+            lcd.locate(3,0); 
+            }
+            else if(pos==1){
+            lcd.locate(11,0);   
+            }
+            else if (pos==2){
+            lcd.locate(3,1);
+            }
+            else {
+            lcd.locate(11,1);
+            } 
+    lcd.printf("     ");
+    if (pos==0){
+            lcd.locate(3,0); 
+            }
+            else if(pos==1){
+            lcd.locate(11,0);   
+            }
+            else if (pos==2){
+            lcd.locate(3,1);
+            }
+            else {
+            lcd.locate(11,1);
+            } 
+    lcd.printf("%d ",decremento);    
+    wait(0.25);   
+    }
+    for(int t=0;t<20;t++){
+        if(button2.read()){
+        break;
+        }
+        if(decremento<80){
+        decremento=0;
+        if (pos==0){
+            lcd.locate(3,0); 
+            }
+            else if(pos==1){
+            lcd.locate(11,0);   
+            }
+            else if (pos==2){
+            lcd.locate(3,1);
+            }
+            else {
+            lcd.locate(11,1);
+            } 
+        lcd.printf("     ");
+        if (pos==0){
+            lcd.locate(3,0); 
+            }
+            else if(pos==1){
+            lcd.locate(11,0);   
+            }
+            else if (pos==2){
+            lcd.locate(3,1);
+            }
+            else {
+            lcd.locate(11,1);
+            } 
+        lcd.printf("%d ",decremento);
+        break;
+        }
+    decremento-=100;
+    if (pos==0){
+            lcd.locate(3,0); 
+            }
+            else if(pos==1){
+            lcd.locate(11,0);   
+            }
+            else if (pos==2){
+            lcd.locate(3,1);
+            }
+            else {
+            lcd.locate(11,1);
+            } 
+    lcd.printf("     ");
+    if (pos==0){
+            lcd.locate(3,0); 
+            }
+            else if(pos==1){
+            lcd.locate(11,0);   
+            }
+            else if (pos==2){
+            lcd.locate(3,1);
+            }
+            else {
+            lcd.locate(11,1);
+            } 
+    lcd.printf("%d ",decremento);    
+    wait(0.25);   
+    } 
+   } 
+   return decremento;
+   } 
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+int main() {
+lcd.cls();
+lcd.locate(8,0);
+lcd.printf("Kp=%d",kp);
+lcd.locate(0,1);
+lcd.printf("Ki=%d",ki);
+lcd.locate(8,1);
+lcd.printf("Kd=%d",kd);
+lcd.writeCommand(C1);   //permite que el cursor se vea y sea intermitente
+lcd.locate(0,0); 
+lcd.printf("Sp=%d",sp);
+while(1) {
+           if (button3.falling()) {              
+               ++j;
+               }                                     //INCREMENTA POSICION DEL MENU COB BOTON 3
+           if (j==0){
+               lcd.locate(3,0);
+               lcd.printf("%d",sp);
+               if(!button1.read()){
+                    sp=up(sp,j); 
+                }
+                if(!button2.read()){
+                    sp=down(sp,j); 
+                }
+                }
+           if (j==1) {
+               lcd.locate(11,0);
+               lcd.printf("%d",kp);
+                  if(!button1.read()){
+                    kp=up(kp,j); 
+                }
+               if(!button2.read()){
+                    kp=down(kp,j); 
+                }
+              }
+           if (j==2) {
+               lcd.locate(3,1);
+               lcd.printf("%d",ki);
+                if(!button1.read()){
+                    ki=up(ki,j); 
+                }
+                if(!button2.read()){
+                    ki=down(ki,j); 
+                }              
+              }
+           if (j==3) {
+               lcd.locate(11,1);
+               lcd.printf("%d",kd);
+                if(!button1.read()){
+                    kd=up(kd,j); 
+                }
+                if(!button2.read()){
+                    kd=down(kd,j); 
+                }       
+              } 
+           if (j==4) {
+               j=0;
+               }                          
+    
+           if (button4.falling()){
+           break;     //sale del bucle si pisan suiche4
+               }
+               }
+lcd.writeCommand(C4);//escribimos un comando segun el manual del modulo LCD para quitar cursor bajo
+lcd.cls(); //borra la pantalla
+lcd.printf("   GUARDADOS!"); 
+wait(2);
+lcd.cls();
+lcd.printf(" INICIA EL PID");
+wait(2);
+// se imprimen los parches del control  *****************************************
+lcd.cls();
+lcd.printf("Er=%d",err);
+lcd.locate(8,0);
+lcd.printf("Me=%d",med);
+lcd.locate(0,1);
+lcd.printf("Sp=%d",sp);
+lcd.locate(8,1);
+lcd.printf("Co=%d",pid);
+wait(5);         
+ 
+while (1){
+ 
+med=Vin.read()*1000;
+err = (sp-med);
+ap = kp*err;           
+ai =(ki*err)+ai;    //calculo de la integral del error
+ad = kd*(err-err_v); //calculo de la accion derivativa
+pid = (ap+ai+ad);
+//****se muestran las variables******************************************
+if (pid > 999){
+pid=1000;
+} 
+else if (pid<0){
+pid=0;
+}
+err_v = err;
+if(flag==0){
+t.start();
+flag=1;
+}
+if (t>=0.3){
+wait(0.02);
+lcd.locate(3,0);
+lcd.printf("     ");
+lcd.locate(3,0);
+lcd.printf("%d",err);
+lcd.locate(11,0);
+lcd.printf("     ");
+lcd.locate(11,0);
+lcd.printf("%d",med);
+lcd.locate(3,1);
+lcd.printf("     ");
+lcd.locate(3,1);
+lcd.printf("%d",sp);
+lcd.locate(11,1);
+lcd.printf("     ");
+lcd.locate(11,1);
+lcd.printf("%d ",pid);
+t.reset();
+flag=0;
+}
+Vout.write(pid/1000);
+wait(0.01);
+}
+}
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Wed Apr 08 15:19:22 2015 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/487b796308b0
\ No newline at end of file