procesadores FAC
/
pid_teclas
Important changes to repositories hosted on mbed.com
Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.
To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.
It is also possible to export all your personal repositories from the account settings page.
Dependencies: Debounced TextLCD mbed
Fork of
pid_teclas
by 
Gustavo Ramirez
Revision 1:0978505fcc1b, committed 2015-04-10
- Comitter:
- procesadores_FAC
- Date:
- Fri Apr 10 02:26:50 2015 +0000
- Parent:
- 0:9aa80672eb3d
- Commit message:
- pid teclado
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Wed Oct 16 17:10:11 2013 +0000
+++ b/main.cpp Fri Apr 10 02:26:50 2015 +0000
@@ -3,27 +3,36 @@
#include "TextLCD.h"
AnalogIn Vin(PTC2);
+AnalogOut Vout(PTE30);
TextLCD lcd(PTB10, PTB11, PTE2, PTE3, PTE4, PTE5); // rs, e, d4-d7
-DigitalOut led1(LED1);
-DigitalOut led2(LED2);
-DigitalOut led3(LED3);
+
DebouncedIn button1(PTC12);
DebouncedIn button2(PTC13);
DebouncedIn button3(PTC16);
+DebouncedIn button4(PTC17);
int C1=0x0F;
+int C4=0x0C; // quito cursor bajo
int sp=0,kp=0,kd=0,ki=0,p=1;
+int med,err,pid,ap,ai=0,ai1,ad,err_v;
+int i;
+int fe;
+float pidn;
+
+
int main()
{
lcd.cls();
lcd.writeCommand(C1);//escribimos un comando segun el manual del modulo LCD
lcd.locate(8,0);
- lcd.printf("kp=%d", kp);
+ lcd.printf("Fe=%d", fe);
lcd.locate(0,1);
- lcd.printf("Ki=%d", ki);
- lcd.locate(8,1);
- lcd.printf("Kd=%d", kd);
+ lcd.printf("P=%d", kp);
+ lcd.locate(6,1);
+ lcd.printf("I=%d", ki);
+ lcd.locate(11,1);
+ lcd.printf("D=%d", kd);
lcd.locate(0,0);
lcd.printf("Sp=%d", sp);
@@ -31,7 +40,7 @@
{
if (button1.falling())
{
- led1 =!led1;
+
if (p==1)
{
++sp;
@@ -42,32 +51,54 @@
}
else if (p==2)
{
- ++kp;
+ ++i;
+ if (i==1){
+ fe =1;}
+ if (i==2){
+ fe =10;}
+ if (i==3){
+ fe =100;
+ i=0;}
+
lcd.locate(11,0);
lcd.printf(" ");
+ lcd.locate(12,0);
+ lcd.printf(" ");
+ lcd.locate(13,0);
+ lcd.printf(" ");
+
+
lcd.locate(11,0);
- lcd.printf("%d", kp);
+ lcd.printf("%d", fe);
}
else if (p==3)
{
- ++ki;
- lcd.locate(3,1);
+ ++kp;
+ lcd.locate(2,1);
lcd.printf(" ");
- lcd.locate(3,1);
- lcd.printf("%d", ki);
+ lcd.locate(2,1);
+ lcd.printf("%d", kp);
}
else if (p==4)
{
+ ++ki;
+ lcd.locate(8,1);
+ lcd.printf(" ");
+ lcd.locate(8,1);
+ lcd.printf("%d", ki);
+ }
+ else if (p==5)
+ {
++kd;
- lcd.locate(11,1);
+ lcd.locate(13,1);
lcd.printf(" ");
- lcd.locate(11,1);
+ lcd.locate(13,1);
lcd.printf("%d", kd);
}
}
if (button2.falling())
{
- led2 =!led2;
+
if (p==1)
{
if (sp==0) // no mostrar nada
@@ -82,7 +113,8 @@
lcd.printf("%d", sp);
}
}
- if (p==2)
+
+ if (p==3)
{
if (kp==0) // no mostrar nada
{
@@ -90,13 +122,13 @@
else
{
--kp;
- lcd.locate(11,0);
+ lcd.locate(2,1);
lcd.printf(" ");
- lcd.locate(11,0);
+ lcd.locate(2,1);
lcd.printf("%d", kp);
}
}
- if (p==3)
+ if (p==4)
{
if (ki==0) // no mostrar nada
{
@@ -104,13 +136,13 @@
else
{
--ki;
- lcd.locate(3,1);
+ lcd.locate(8,1);
lcd.printf(" ");
- lcd.locate(3,1);
+ lcd.locate(8,1);
lcd.printf("%d", ki);
}
}
- if (p==4)
+ if (p==5)
{
if (kd==0) // no mostrar nada
{
@@ -118,48 +150,132 @@
else
{
--kd;
- lcd.locate(11,1);
+ lcd.locate(13,1);
lcd.printf(" ");
- lcd.locate(11,1);
+ lcd.locate(13,1);
lcd.printf("%d", kd);
}
}
}
- if (button3.falling())
- {
- led3 =!led3;
+
+ if (button3.falling())
+ {
if (p==1)
{
++p;
lcd.locate(11,0);
- lcd.printf("%d", kp);
-
-
+ lcd.printf("%d", fe);
}
else if (p==2)
{
++p;
- lcd.locate(3,1);
- lcd.printf("%d", ki);
- lcd.locate(3,1);
-
+ lcd.locate(2,1);
+ lcd.printf("%d", kp);
+ lcd.locate(2,1);
}
else if (p==3)
{
++p;
- lcd.locate(11,1);
- lcd.printf("%d", kd);
-
-
+ lcd.locate(8,1);
+ lcd.printf("%d", ki);
}
else if (p==4)
{
+ ++p;
+ lcd.locate(13,1);
+ lcd.printf("%d", kd);
+ }
+ else if (p==5)
+ {
p=1;
lcd.locate(3,0);
- lcd.printf("%d", sp);
-
-
+ lcd.printf("%d", sp);
}
+
}
- }
-}
+
+ 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(1);
+ lcd.cls();
+ lcd.printf(" INICIA EL PID");
+ wait(1);
+ // 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("SC=%d",pid);
+ wait(1);
+
+ // CICLO PRINCIPAL CONTROLADOR PID
+ // DEFINIMOS LOS PARAMETROS Kp,Ki y Kd teniendo en cuenta la escala
+
+ kp= kp*fe;
+ ki = ki*fe;
+ kd= kd*fe;
+
+ cicloPID :
+
+ med=10*Vin.read(); //leer puerto analogo y asignar a med
+ 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);
+
+ if (pid < 0){
+ pid=0;
+ }
+ if (pid > 99){
+ pid=100;
+ }
+
+ wait(.5);
+ if(err >= 0){
+ lcd.locate(4,0);
+ lcd.printf(" ");
+ lcd.locate(3,0);
+ lcd.printf("%d",err);
+ }
+ if (err<0){
+ lcd.locate(3,0);
+ lcd.printf("%d",err);
+ }
+ lcd.locate(12,0);
+ lcd.printf(" ");
+ lcd.locate(11,0);
+ lcd.printf("%d",med);
+ lcd.locate(3,1);
+ lcd.printf("%d",sp);
+
+ if(pid < 100){
+ lcd.locate(13,1);
+ lcd.printf(" ");
+ lcd.locate(11,1);
+ lcd.printf("%d",pid);}
+
+ if(pid >= 100){
+ lcd.locate(11,1);
+ lcd.printf("%d",pid);}
+
+ err_v = err;
+ pidn=pid*0.01;//Normalizacion de la salida
+ Vout.write(pidn);//se envia el valor pid a puerto analogico de salida (D/A)
+ wait(0.005);
+ goto cicloPID ;
+
+
+}
\ No newline at end of file