procesadores FAC
/
pid_teclas
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Dependencies: Debounced TextLCD mbed
Fork of
pid_teclas
by 
Gustavo Ramirez
main.cpp
- Committer:
- procesadores_FAC
- Date:
- 2015-04-10
- Revision:
- 1:0978505fcc1b
- Parent:
- 0:9aa80672eb3d
File content as of revision 1:0978505fcc1b:
#include "mbed.h"
#include "DebouncedIn.h"
#include "TextLCD.h"
AnalogIn Vin(PTC2);
AnalogOut Vout(PTE30);
TextLCD lcd(PTB10, PTB11, PTE2, PTE3, PTE4, PTE5); // rs, e, d4-d7
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("Fe=%d", fe);
lcd.locate(0,1);
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);
while(1)
{
if (button1.falling())
{
if (p==1)
{
++sp;
lcd.locate(3,0);
lcd.printf(" ");
lcd.locate(3,0);
lcd.printf("%d", sp);
}
else if (p==2)
{
++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", fe);
}
else if (p==3)
{
++kp;
lcd.locate(2,1);
lcd.printf(" ");
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(13,1);
lcd.printf(" ");
lcd.locate(13,1);
lcd.printf("%d", kd);
}
}
if (button2.falling())
{
if (p==1)
{
if (sp==0) // no mostrar nada
{
}
else
{
--sp;
lcd.locate(3,0);
lcd.printf(" ");
lcd.locate(3,0);
lcd.printf("%d", sp);
}
}
if (p==3)
{
if (kp==0) // no mostrar nada
{
}
else
{
--kp;
lcd.locate(2,1);
lcd.printf(" ");
lcd.locate(2,1);
lcd.printf("%d", kp);
}
}
if (p==4)
{
if (ki==0) // no mostrar nada
{
}
else
{
--ki;
lcd.locate(8,1);
lcd.printf(" ");
lcd.locate(8,1);
lcd.printf("%d", ki);
}
}
if (p==5)
{
if (kd==0) // no mostrar nada
{
}
else
{
--kd;
lcd.locate(13,1);
lcd.printf(" ");
lcd.locate(13,1);
lcd.printf("%d", kd);
}
}
}
if (button3.falling())
{
if (p==1)
{
++p;
lcd.locate(11,0);
lcd.printf("%d", fe);
}
else if (p==2)
{
++p;
lcd.locate(2,1);
lcd.printf("%d", kp);
lcd.locate(2,1);
}
else if (p==3)
{
++p;
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);
}
}
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 ;
}