Santiago Gil / Mbed 2 deprecated PID_new_copy

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Dependencies:   DebouncedIn TextLCD mbed

Fork of PID_Encoder by Gustavo Ramirez

Files at this revision

API Documentation at this revision

Revision 1:ffbcc55fa659, committed 2013-11-10

Comitter:
lcorralesc1
Date:
Sun Nov 10 05:50:46 2013 +0000
Parent:
0:8d2bbee60422
Child:
2:fa1d90037a6c
Commit message:
Controlador PID con lectura mediante encoder

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Sat Nov 09 18:09:11 2013 +0000
+++ b/main.cpp	Sun Nov 10 05:50:46 2013 +0000
@@ -195,6 +195,7 @@
                }
                       
            ad = kd*(err-err_v); //calculo de la accion derivativa
+          
            pid = (ap+ai+ad);
            
            // se actualizan las variables *******************************************
@@ -204,6 +205,7 @@
            if(pid<=0){
               pid=0;
                      }
+                     
            // se verifica que pid sea menor o igual la valor maximo *****************
            if (pid > 999){
                pid=999;
@@ -214,22 +216,14 @@
            
            //se muestran las variables******************************************
            
-           wait(0.3);
-           lcd.locate(2,0);
-           lcd.printf("    ");
+           wait(2);
            lcd.locate(2,0);
            lcd.printf("%d",err);
            lcd.locate(10,0);
-           lcd.printf("    ");
-           lcd.locate(10,0);
            lcd.printf("%d",med);
            lcd.locate(2,1);
-           lcd.printf("    ");
-           lcd.locate(2,1);
            lcd.printf("%d",sp);
            lcd.locate(10,1);
-           lcd.printf("    ");
-           lcd.locate(10,1);
            lcd.printf("%d",pid);
            
            
@@ -239,7 +233,5 @@
            u.write(pidn);
            //  se repite el ciclo
            }
-           
-           
-              
+               
         }