PID_TECLAS
Dependencies: DebouncedIn TextLCD mbed
Fork of PID_Encoder by
main.cpp@5:a582c64fce81, 2015-04-10 (annotated)
- Committer:
- sagilar
- Date:
- Fri Apr 10 02:37:11 2015 +0000
- Revision:
- 5:a582c64fce81
- Parent:
- 4:d42fe3777735
PID_TECLAS
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
lcorralesc1 | 0:8d2bbee60422 | 1 | #include "mbed.h" |
lcorralesc1 | 0:8d2bbee60422 | 2 | #include "DebouncedIn.h" |
lcorralesc1 | 0:8d2bbee60422 | 3 | #include "TextLCD.h" |
sagilar | 5:a582c64fce81 | 4 | AnalogIn Vin(PTC2); |
sagilar | 5:a582c64fce81 | 5 | AnalogOut u(PTE30); |
lcorralesc1 | 0:8d2bbee60422 | 6 | TextLCD lcd(PTB10, PTB11, PTE2, PTE3, PTE4, PTE5); // rs, e, d4-d7 |
lcorralesc1 | 0:8d2bbee60422 | 7 | DigitalOut led1(LED1); |
lcorralesc1 | 0:8d2bbee60422 | 8 | DigitalOut led2(LED2); |
lcorralesc1 | 0:8d2bbee60422 | 9 | DebouncedIn button1(PTC12); |
lcorralesc1 | 0:8d2bbee60422 | 10 | DebouncedIn button2(PTC13); |
lcorralesc1 | 0:8d2bbee60422 | 11 | DebouncedIn button3(PTC16); |
lcorralesc1 | 0:8d2bbee60422 | 12 | DebouncedIn button4(PTC17); |
sagilar | 5:a582c64fce81 | 13 | Timer t; //se define la función del timer interno que ofrece la plataforma mbed |
sagilar | 5:a582c64fce81 | 14 | |
sagilar | 5:a582c64fce81 | 15 | /* codigos movimiento del curzor |
sagilar | 5:a582c64fce81 | 16 | 18 para izquierda |
sagilar | 5:a582c64fce81 | 17 | 1A para derecha |
sagilar | 5:a582c64fce81 | 18 | */ |
sagilar | 5:a582c64fce81 | 19 | |
sagilar | 5:a582c64fce81 | 20 | |
sagilar | 5:a582c64fce81 | 21 | int C1=0x0E; // solo muestra el curzor |
lcorralesc1 | 0:8d2bbee60422 | 22 | int C2=0x18; // desplaza izquierda |
lcorralesc1 | 0:8d2bbee60422 | 23 | int C3=0x1A; // desplaza derecha |
lcorralesc1 | 0:8d2bbee60422 | 24 | int C4=0x0C; // quito cursor bajo |
lcorralesc1 | 0:8d2bbee60422 | 25 | int i; // indice de la variable |
sagilar | 5:a582c64fce81 | 26 | int j; |
sagilar | 5:a582c64fce81 | 27 | int kp,ki,kd,sp; |
sagilar | 5:a582c64fce81 | 28 | float med,pid,pidn,ap,ai,ad,err,err_v,err_v2; |
sagilar | 5:a582c64fce81 | 29 | int count; |
sagilar | 5:a582c64fce81 | 30 | int esc=1; |
lcorralesc1 | 0:8d2bbee60422 | 31 | int main() { |
lcorralesc1 | 0:8d2bbee60422 | 32 | lcd.cls(); |
sagilar | 5:a582c64fce81 | 33 | lcd.locate(0,0); |
sagilar | 5:a582c64fce81 | 34 | lcd.printf("Sp=%d",sp); |
sagilar | 5:a582c64fce81 | 35 | lcd.locate(6,0); |
sagilar | 5:a582c64fce81 | 36 | lcd.printf("Kp=%d",kp); |
sagilar | 5:a582c64fce81 | 37 | lcd.locate(0,1); |
sagilar | 5:a582c64fce81 | 38 | lcd.printf("Ki=%d",ki); |
sagilar | 5:a582c64fce81 | 39 | lcd.locate(6,1); |
sagilar | 5:a582c64fce81 | 40 | lcd.printf("Kd=%d",kd); |
sagilar | 5:a582c64fce81 | 41 | lcd.locate(12,1); |
sagilar | 5:a582c64fce81 | 42 | lcd.printf("E%d",esc); |
lcorralesc1 | 0:8d2bbee60422 | 43 | lcd.writeCommand(C1);//escribimos un comando segun el manual del modulo LCD |
lcorralesc1 | 0:8d2bbee60422 | 44 | lcd.locate(0,0); |
sagilar | 5:a582c64fce81 | 45 | lcd.printf("Sp=%d",sp); |
sagilar | 5:a582c64fce81 | 46 | |
lcorralesc1 | 0:8d2bbee60422 | 47 | while(1) { |
sagilar | 5:a582c64fce81 | 48 | if (button3.falling()) { |
lcorralesc1 | 0:8d2bbee60422 | 49 | ++j; |
sagilar | 5:a582c64fce81 | 50 | } //INCREMENTA POSICION DEL MENU CON BOTON 3 |
sagilar | 5:a582c64fce81 | 51 | if (j==0){ |
sagilar | 5:a582c64fce81 | 52 | lcd.locate(3,0); |
sagilar | 5:a582c64fce81 | 53 | lcd.printf("%d",sp); |
sagilar | 5:a582c64fce81 | 54 | |
sagilar | 5:a582c64fce81 | 55 | if (button1.falling()) { |
sagilar | 5:a582c64fce81 | 56 | t.stop(); |
sagilar | 5:a582c64fce81 | 57 | t.reset(); |
sagilar | 5:a582c64fce81 | 58 | t.start(); |
sagilar | 5:a582c64fce81 | 59 | while (button1==0){ |
sagilar | 5:a582c64fce81 | 60 | |
sagilar | 5:a582c64fce81 | 61 | |
sagilar | 5:a582c64fce81 | 62 | if (sp<999){ |
sagilar | 5:a582c64fce81 | 63 | if (t<=2){++sp;} |
sagilar | 5:a582c64fce81 | 64 | wait(0.2); |
sagilar | 5:a582c64fce81 | 65 | if (t>2&&t<=5){sp=sp+5;} |
sagilar | 5:a582c64fce81 | 66 | wait(0.2); |
sagilar | 5:a582c64fce81 | 67 | if (t>5&&t<=10){sp=sp+10;} |
sagilar | 5:a582c64fce81 | 68 | wait(0.2); |
sagilar | 5:a582c64fce81 | 69 | if (t>10){sp=sp+100;} |
sagilar | 5:a582c64fce81 | 70 | wait(0.2); |
sagilar | 5:a582c64fce81 | 71 | if (sp>999){sp=999;} |
sagilar | 5:a582c64fce81 | 72 | lcd.locate(3,0); |
sagilar | 5:a582c64fce81 | 73 | lcd.printf(" "); |
sagilar | 5:a582c64fce81 | 74 | lcd.locate(3,0); |
lcorralesc1 | 0:8d2bbee60422 | 75 | lcd.printf("%d",sp); |
sagilar | 5:a582c64fce81 | 76 | |
sagilar | 5:a582c64fce81 | 77 | } |
sagilar | 5:a582c64fce81 | 78 | } |
sagilar | 5:a582c64fce81 | 79 | } |
sagilar | 5:a582c64fce81 | 80 | if (button2.falling()) { |
sagilar | 5:a582c64fce81 | 81 | t.stop(); |
sagilar | 5:a582c64fce81 | 82 | t.reset(); |
sagilar | 5:a582c64fce81 | 83 | t.start(); |
sagilar | 5:a582c64fce81 | 84 | while (button2==0) |
sagilar | 5:a582c64fce81 | 85 | |
sagilar | 5:a582c64fce81 | 86 | if (sp>0){ |
sagilar | 5:a582c64fce81 | 87 | if (t<=2){--sp;} |
sagilar | 5:a582c64fce81 | 88 | wait(0.2); |
sagilar | 5:a582c64fce81 | 89 | if (t>2&&t<=5){sp=sp-5;} |
sagilar | 5:a582c64fce81 | 90 | wait(0.2); |
sagilar | 5:a582c64fce81 | 91 | if (t>5&&t<=10){sp=sp-10;} |
sagilar | 5:a582c64fce81 | 92 | wait(0.2); |
sagilar | 5:a582c64fce81 | 93 | if (t>10){sp=sp-100;} |
sagilar | 5:a582c64fce81 | 94 | wait(0.2); |
sagilar | 5:a582c64fce81 | 95 | if (sp<0){sp=0;} |
sagilar | 5:a582c64fce81 | 96 | lcd.locate(3,0); |
sagilar | 5:a582c64fce81 | 97 | lcd.printf(" "); |
sagilar | 5:a582c64fce81 | 98 | lcd.locate(3,0); |
sagilar | 5:a582c64fce81 | 99 | lcd.printf("%d",sp); |
sagilar | 5:a582c64fce81 | 100 | } |
sagilar | 5:a582c64fce81 | 101 | } |
sagilar | 5:a582c64fce81 | 102 | } |
sagilar | 5:a582c64fce81 | 103 | if (j==1) { |
lcorralesc1 | 0:8d2bbee60422 | 104 | |
sagilar | 5:a582c64fce81 | 105 | if (button1.falling()) { |
sagilar | 5:a582c64fce81 | 106 | t.stop(); |
sagilar | 5:a582c64fce81 | 107 | t.reset(); |
sagilar | 5:a582c64fce81 | 108 | t.start(); |
sagilar | 5:a582c64fce81 | 109 | while (button1==0){ |
sagilar | 5:a582c64fce81 | 110 | |
sagilar | 5:a582c64fce81 | 111 | if (kp<1000){ |
sagilar | 5:a582c64fce81 | 112 | if (t<=2){++kp;} |
sagilar | 5:a582c64fce81 | 113 | wait(0.2); |
sagilar | 5:a582c64fce81 | 114 | if (t>2&&t<=5){kp=kp+5;} |
sagilar | 5:a582c64fce81 | 115 | wait(0.2); |
sagilar | 5:a582c64fce81 | 116 | if (t>5&&t<=10){kp=kp+10;} |
sagilar | 5:a582c64fce81 | 117 | wait(0.2); |
sagilar | 5:a582c64fce81 | 118 | if (t>10){kp=kp+100;} |
sagilar | 5:a582c64fce81 | 119 | wait(0.2); |
sagilar | 5:a582c64fce81 | 120 | if (kp>999){kp=999;} |
sagilar | 5:a582c64fce81 | 121 | lcd.locate(9,0); |
sagilar | 5:a582c64fce81 | 122 | lcd.printf(" "); |
sagilar | 5:a582c64fce81 | 123 | lcd.locate(9,0); |
lcorralesc1 | 0:8d2bbee60422 | 124 | lcd.printf("%d",kp); |
sagilar | 5:a582c64fce81 | 125 | |
sagilar | 5:a582c64fce81 | 126 | } |
sagilar | 5:a582c64fce81 | 127 | } |
sagilar | 5:a582c64fce81 | 128 | } |
sagilar | 5:a582c64fce81 | 129 | if (button2.falling()) { |
sagilar | 5:a582c64fce81 | 130 | t.stop(); |
sagilar | 5:a582c64fce81 | 131 | t.reset(); |
sagilar | 5:a582c64fce81 | 132 | t.start(); |
sagilar | 5:a582c64fce81 | 133 | while (button2==0){ |
sagilar | 5:a582c64fce81 | 134 | if (kp>=0){ |
sagilar | 5:a582c64fce81 | 135 | if (t<=2){--kp;} |
sagilar | 5:a582c64fce81 | 136 | wait(0.2); |
sagilar | 5:a582c64fce81 | 137 | if (t>2&&t<=5){kp=kp-5;} |
sagilar | 5:a582c64fce81 | 138 | wait(0.2); |
sagilar | 5:a582c64fce81 | 139 | if (t>5&&t<=10){kp=kp-10;} |
sagilar | 5:a582c64fce81 | 140 | wait(0.2); |
sagilar | 5:a582c64fce81 | 141 | if (t>10){kp=kp-100;} |
sagilar | 5:a582c64fce81 | 142 | wait(0.2); |
sagilar | 5:a582c64fce81 | 143 | if(kp<0){kp=0;} |
sagilar | 5:a582c64fce81 | 144 | lcd.locate(9,0); |
sagilar | 5:a582c64fce81 | 145 | lcd.printf(" "); |
sagilar | 5:a582c64fce81 | 146 | lcd.locate(9,0); |
sagilar | 5:a582c64fce81 | 147 | lcd.printf("%d",kp); |
sagilar | 5:a582c64fce81 | 148 | } |
sagilar | 5:a582c64fce81 | 149 | } |
sagilar | 5:a582c64fce81 | 150 | } |
sagilar | 5:a582c64fce81 | 151 | } |
lcorralesc1 | 0:8d2bbee60422 | 152 | if (j==2) { |
sagilar | 5:a582c64fce81 | 153 | if (button1.falling()) { |
sagilar | 5:a582c64fce81 | 154 | t.stop(); |
sagilar | 5:a582c64fce81 | 155 | t.reset(); |
sagilar | 5:a582c64fce81 | 156 | t.start(); |
sagilar | 5:a582c64fce81 | 157 | while (button1==0){ |
sagilar | 5:a582c64fce81 | 158 | |
sagilar | 5:a582c64fce81 | 159 | |
sagilar | 5:a582c64fce81 | 160 | if (ki<1000){ |
sagilar | 5:a582c64fce81 | 161 | if (t<=2){++ki;} |
sagilar | 5:a582c64fce81 | 162 | wait(0.2); |
sagilar | 5:a582c64fce81 | 163 | if (t>2&&t<=5){ki=ki+5;} |
sagilar | 5:a582c64fce81 | 164 | wait(0.2); |
sagilar | 5:a582c64fce81 | 165 | if (t>5&&t<=10){ki=ki+10;} |
sagilar | 5:a582c64fce81 | 166 | wait(0.2); |
sagilar | 5:a582c64fce81 | 167 | if (t>10){ki=ki+100;} |
sagilar | 5:a582c64fce81 | 168 | wait(0.2); |
sagilar | 5:a582c64fce81 | 169 | if (ki>999){ki=999;} |
sagilar | 5:a582c64fce81 | 170 | lcd.locate(3,1); |
sagilar | 5:a582c64fce81 | 171 | lcd.printf(" "); |
sagilar | 5:a582c64fce81 | 172 | lcd.locate(3,1); |
lcorralesc1 | 0:8d2bbee60422 | 173 | lcd.printf("%d",ki); |
sagilar | 5:a582c64fce81 | 174 | |
sagilar | 5:a582c64fce81 | 175 | } |
sagilar | 5:a582c64fce81 | 176 | } |
sagilar | 5:a582c64fce81 | 177 | } |
sagilar | 5:a582c64fce81 | 178 | if (button2.falling()) { |
sagilar | 5:a582c64fce81 | 179 | t.stop(); |
sagilar | 5:a582c64fce81 | 180 | t.reset(); |
sagilar | 5:a582c64fce81 | 181 | t.start(); |
sagilar | 5:a582c64fce81 | 182 | while (button2==0){ |
sagilar | 5:a582c64fce81 | 183 | |
sagilar | 5:a582c64fce81 | 184 | if (ki>=0){ |
sagilar | 5:a582c64fce81 | 185 | if (t<=2){--ki;} |
sagilar | 5:a582c64fce81 | 186 | wait(0.2); |
sagilar | 5:a582c64fce81 | 187 | if (t>2&&t<=5){ki=ki-5;} |
sagilar | 5:a582c64fce81 | 188 | wait(0.2); |
sagilar | 5:a582c64fce81 | 189 | if (t>5&&t<=10){ki=ki-10;} |
sagilar | 5:a582c64fce81 | 190 | wait(0.2); |
sagilar | 5:a582c64fce81 | 191 | if (t>10){ki=ki-100;} |
sagilar | 5:a582c64fce81 | 192 | wait(0.2); |
sagilar | 5:a582c64fce81 | 193 | if (ki<0){ki=0;} |
sagilar | 5:a582c64fce81 | 194 | lcd.locate(3,1); |
sagilar | 5:a582c64fce81 | 195 | lcd.printf(" "); |
sagilar | 5:a582c64fce81 | 196 | lcd.locate(3,1); |
sagilar | 5:a582c64fce81 | 197 | lcd.printf("%d",ki); |
sagilar | 5:a582c64fce81 | 198 | |
sagilar | 5:a582c64fce81 | 199 | } |
sagilar | 5:a582c64fce81 | 200 | } |
sagilar | 5:a582c64fce81 | 201 | } |
sagilar | 5:a582c64fce81 | 202 | } |
sagilar | 5:a582c64fce81 | 203 | |
lcorralesc1 | 0:8d2bbee60422 | 204 | if (j==3) { |
sagilar | 5:a582c64fce81 | 205 | if (button1.falling()) { |
sagilar | 5:a582c64fce81 | 206 | t.stop(); |
sagilar | 5:a582c64fce81 | 207 | t.reset(); |
sagilar | 5:a582c64fce81 | 208 | t.start(); |
sagilar | 5:a582c64fce81 | 209 | while (button1==0){ |
sagilar | 5:a582c64fce81 | 210 | |
sagilar | 5:a582c64fce81 | 211 | |
sagilar | 5:a582c64fce81 | 212 | if (kd<1000){ |
sagilar | 5:a582c64fce81 | 213 | if (t<=2){++kd;} |
sagilar | 5:a582c64fce81 | 214 | wait(0.2); |
sagilar | 5:a582c64fce81 | 215 | if (t>2&&t<=5){kd=kd+5;} |
sagilar | 5:a582c64fce81 | 216 | wait(0.2); |
sagilar | 5:a582c64fce81 | 217 | if (t>5&&t<=10){kd=kd+10;} |
sagilar | 5:a582c64fce81 | 218 | wait(0.2); |
sagilar | 5:a582c64fce81 | 219 | if (t>10){kd=kd+100;} |
sagilar | 5:a582c64fce81 | 220 | wait(0.2); |
sagilar | 5:a582c64fce81 | 221 | if (kd>999){kd=999;} |
sagilar | 5:a582c64fce81 | 222 | lcd.locate(9,1); |
sagilar | 5:a582c64fce81 | 223 | lcd.printf(" "); |
sagilar | 5:a582c64fce81 | 224 | lcd.locate(9,1); |
lcorralesc1 | 0:8d2bbee60422 | 225 | lcd.printf("%d",kd); |
sagilar | 5:a582c64fce81 | 226 | |
sagilar | 5:a582c64fce81 | 227 | } |
sagilar | 5:a582c64fce81 | 228 | } |
sagilar | 5:a582c64fce81 | 229 | } |
sagilar | 5:a582c64fce81 | 230 | if (button2.falling()) { |
sagilar | 5:a582c64fce81 | 231 | |
sagilar | 5:a582c64fce81 | 232 | t.stop(); |
sagilar | 5:a582c64fce81 | 233 | t.reset(); |
sagilar | 5:a582c64fce81 | 234 | t.start(); |
sagilar | 5:a582c64fce81 | 235 | while (button2==0){ |
sagilar | 5:a582c64fce81 | 236 | if (kd>=0){ |
sagilar | 5:a582c64fce81 | 237 | if (t<=2){--kd;} |
sagilar | 5:a582c64fce81 | 238 | wait(0.2); |
sagilar | 5:a582c64fce81 | 239 | |
sagilar | 5:a582c64fce81 | 240 | if (t>2&&t<=5){kd=kd-5;} |
sagilar | 5:a582c64fce81 | 241 | |
sagilar | 5:a582c64fce81 | 242 | wait(0.2); |
sagilar | 5:a582c64fce81 | 243 | if (t>5&&t<=10){kd=kd-10;} |
sagilar | 5:a582c64fce81 | 244 | wait(0.2); |
sagilar | 5:a582c64fce81 | 245 | if (t>10){kd=kd-100;} |
sagilar | 5:a582c64fce81 | 246 | wait(0.2); |
sagilar | 5:a582c64fce81 | 247 | if (kd<0){kd=0;} |
sagilar | 5:a582c64fce81 | 248 | lcd.locate(9,1); |
sagilar | 5:a582c64fce81 | 249 | lcd.printf(" "); |
sagilar | 5:a582c64fce81 | 250 | lcd.locate(9,1); |
sagilar | 5:a582c64fce81 | 251 | lcd.printf("%d",kd); |
sagilar | 5:a582c64fce81 | 252 | } |
sagilar | 5:a582c64fce81 | 253 | } |
sagilar | 5:a582c64fce81 | 254 | } |
sagilar | 5:a582c64fce81 | 255 | } |
sagilar | 5:a582c64fce81 | 256 | if (j==4) { |
lcorralesc1 | 0:8d2bbee60422 | 257 | |
sagilar | 5:a582c64fce81 | 258 | if (button1.falling()){ |
sagilar | 5:a582c64fce81 | 259 | if (esc<1000){ |
sagilar | 5:a582c64fce81 | 260 | esc=esc*10; |
sagilar | 5:a582c64fce81 | 261 | lcd.locate(13,1); |
sagilar | 5:a582c64fce81 | 262 | lcd.printf(" "); |
sagilar | 5:a582c64fce81 | 263 | lcd.locate(13,1); |
sagilar | 5:a582c64fce81 | 264 | lcd.printf("%d",esc); |
sagilar | 5:a582c64fce81 | 265 | } |
sagilar | 5:a582c64fce81 | 266 | } |
sagilar | 5:a582c64fce81 | 267 | if (button2.falling()){ |
sagilar | 5:a582c64fce81 | 268 | if (esc>1){ |
sagilar | 5:a582c64fce81 | 269 | esc=esc/10; |
sagilar | 5:a582c64fce81 | 270 | lcd.locate(13,1); |
sagilar | 5:a582c64fce81 | 271 | lcd.printf(" "); |
sagilar | 5:a582c64fce81 | 272 | lcd.locate(13,1); |
sagilar | 5:a582c64fce81 | 273 | lcd.printf("%d",esc); |
sagilar | 5:a582c64fce81 | 274 | } |
sagilar | 5:a582c64fce81 | 275 | } |
sagilar | 5:a582c64fce81 | 276 | } |
sagilar | 5:a582c64fce81 | 277 | if (j==5) { |
lcorralesc1 | 0:8d2bbee60422 | 278 | j=0; |
sagilar | 5:a582c64fce81 | 279 | } |
sagilar | 5:a582c64fce81 | 280 | if (button4.falling()){ |
sagilar | 5:a582c64fce81 | 281 | break; //sale del bucle si pisan suiche4 |
sagilar | 5:a582c64fce81 | 282 | } |
sagilar | 5:a582c64fce81 | 283 | |
sagilar | 5:a582c64fce81 | 284 | } |
sagilar | 5:a582c64fce81 | 285 | |
sagilar | 5:a582c64fce81 | 286 | lcd.writeCommand(C4);//escribimos un comando segun el manual del modulo LCD para quitar cursor bajo |
lcorralesc1 | 0:8d2bbee60422 | 287 | lcd.cls(); //borra la pantalla |
sagilar | 5:a582c64fce81 | 288 | lcd.printf(" GUARDADOS!"); |
lcorralesc1 | 0:8d2bbee60422 | 289 | wait(2); |
sagilar | 5:a582c64fce81 | 290 | lcd.cls(); |
sagilar | 5:a582c64fce81 | 291 | lcd.printf(" INICIA EL PID"); |
sagilar | 5:a582c64fce81 | 292 | wait(2); |
lcorralesc1 | 0:8d2bbee60422 | 293 | // se imprimen los parches del control ***************************************** |
sagilar | 5:a582c64fce81 | 294 | lcd.cls(); |
sagilar | 5:a582c64fce81 | 295 | lcd.printf("Er%01.3f",err); |
lcorralesc1 | 0:8d2bbee60422 | 296 | lcd.locate(8,0); |
sagilar | 5:a582c64fce81 | 297 | lcd.printf("Me%01.3f",med); |
lcorralesc1 | 0:8d2bbee60422 | 298 | lcd.locate(0,1); |
lcorralesc1 | 0:8d2bbee60422 | 299 | lcd.printf("Sp%d",sp); |
lcorralesc1 | 0:8d2bbee60422 | 300 | lcd.locate(8,1); |
sagilar | 5:a582c64fce81 | 301 | lcd.printf("Co%01.3f",pid); |
sagilar | 5:a582c64fce81 | 302 | wait(5); |
lcorralesc1 | 0:8d2bbee60422 | 303 | |
lcorralesc1 | 0:8d2bbee60422 | 304 | // CICLO PRINCIPAL CONTROLADOR PID |
sagilar | 5:a582c64fce81 | 305 | |
lcorralesc1 | 0:8d2bbee60422 | 306 | while(1) { |
sagilar | 5:a582c64fce81 | 307 | med=Vin.read()/esc; //leer puerto analogo y asignar a med |
lcorralesc1 | 0:8d2bbee60422 | 308 | err = (sp-med); |
sagilar | 5:a582c64fce81 | 309 | ap = kp*(err-err_v2); |
lcorralesc1 | 3:9347b362d33c | 310 | if(ai<100) |
lcorralesc1 | 3:9347b362d33c | 311 | { |
sagilar | 5:a582c64fce81 | 312 | ai =(ki*(err-err_v))+ai; //calculo de la integral del error |
lcorralesc1 | 3:9347b362d33c | 313 | } |
sagilar | 5:a582c64fce81 | 314 | // se verifica que la accion integral no sea muy grande |
sagilar | 5:a582c64fce81 | 315 | ad = kd*(err-(2*err_v)+err_v2); //calculo de la accion derivativa |
lcorralesc1 | 0:8d2bbee60422 | 316 | pid = (ap+ai+ad); |
sagilar | 5:a582c64fce81 | 317 | //****se muestran las variables****************************************** |
sagilar | 5:a582c64fce81 | 318 | if (pid > 999){ |
sagilar | 5:a582c64fce81 | 319 | pid=1000; |
sagilar | 5:a582c64fce81 | 320 | } |
sagilar | 5:a582c64fce81 | 321 | if (pid < 0){ |
sagilar | 5:a582c64fce81 | 322 | pid=0; |
sagilar | 5:a582c64fce81 | 323 | } |
sagilar | 5:a582c64fce81 | 324 | wait(.5); |
lcorralesc1 | 2:fa1d90037a6c | 325 | lcd.locate(2,0); |
sagilar | 5:a582c64fce81 | 326 | lcd.printf("%01.3f",err); |
lcorralesc1 | 2:fa1d90037a6c | 327 | lcd.locate(10,0); |
sagilar | 5:a582c64fce81 | 328 | lcd.printf("%01.3f",med); |
lcorralesc1 | 2:fa1d90037a6c | 329 | lcd.locate(2,1); |
sagilar | 5:a582c64fce81 | 330 | lcd.printf("%01.3f",sp); |
lcorralesc1 | 2:fa1d90037a6c | 331 | lcd.locate(10,1); |
sagilar | 5:a582c64fce81 | 332 | lcd.printf("%01.3f",pid); |
sagilar | 5:a582c64fce81 | 333 | |
lcorralesc1 | 0:8d2bbee60422 | 334 | |
sagilar | 5:a582c64fce81 | 335 | // se actualizan las variables ******************************************* |
sagilar | 5:a582c64fce81 | 336 | err_v2=err_v; |
sagilar | 5:a582c64fce81 | 337 | err_v = err; |
sagilar | 5:a582c64fce81 | 338 | pidn=pid/esc; |
sagilar | 5:a582c64fce81 | 339 | // se verifica que pid sea positivo ************************************** |
lcorralesc1 | 0:8d2bbee60422 | 340 | u.write(pidn); |
sagilar | 5:a582c64fce81 | 341 | // se verifica que pid sea menor o igual la valor maximo ***************** |
sagilar | 5:a582c64fce81 | 342 | |
sagilar | 5:a582c64fce81 | 343 | |
sagilar | 5:a582c64fce81 | 344 | // se envia el valor pid a puerto analogico de salida (D/A) ************** |
lcorralesc1 | 0:8d2bbee60422 | 345 | // se repite el ciclo |
lcorralesc1 | 0:8d2bbee60422 | 346 | } |
sagilar | 5:a582c64fce81 | 347 | } |