Sergio Londono
PID con teclado matricial 4x4
Dependencies: FPointer TextLCD-modificada keypad mbed
Revision 0:4d8420272696, committed 2013-11-29
- Comitter:
- salondonog
- Date:
- Fri Nov 29 17:46:57 2013 +0000
- Commit message:
- PID con teclado matricial 4x4;
Changed in this revision
diff -r 000000000000 -r 4d8420272696 FPointer.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/FPointer.lib Fri Nov 29 17:46:57 2013 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/AjK/code/FPointer/#56e309e76c19
diff -r 000000000000 -r 4d8420272696 TextLCD.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/TextLCD.lib Fri Nov 29 17:46:57 2013 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/salondonog/code/TextLCD-modificada/#74616aa6c0c7
diff -r 000000000000 -r 4d8420272696 keypad.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/keypad.lib Fri Nov 29 17:46:57 2013 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/yoonghm/code/keypad/#e48ba5b4c497
diff -r 000000000000 -r 4d8420272696 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Fri Nov 29 17:46:57 2013 +0000
@@ -0,0 +1,223 @@
+#include "mbed.h"
+#include "TextLCD.h"
+#include"keypad.h"
+#include"FPointer.h"
+
+TextLCD lcd(PTB10, PTB11, PTE2, PTE3, PTE4, PTE5); //configura los puestos PTE0,PTE1,PTE2,PTE3,PTE4,PTE5, donde se conectara el LCD 16x2
+Keypad keypad(PTA2,PTD4,PTD3,PTD7,PTA13,PTD5,PTD0,PTD2);
+AnalogIn Vin(PTB0);
+AnalogOut Vout(PTE30);
+Timer t;
+int cero;
+int flag;
+int q;
+int k;
+int C1=0x0E; //configurar el lcd para mostrar el guin bajo
+int C2=0x0C; //configurar el lcd para no mostrar el guion bajo
+float s=0; //set point
+float p=0; //ganancia proporcional
+float i=0; //ganancia integral
+float d=0; //ganancia derivativa
+int ind=0; //vector de caracteres.
+float err, med, yr, ap, ai, ad, err_v, cycle;
+float pid;
+float Keytable[] = {1,2,3,11,
+ 4,5,6,12,
+ 7,8, 9,13,
+ 0,0,0,0};
+
+void incremento(int h){ //Funcion que incremente los valores
+if(h==0){
+ if (q!=1 && s<10){
+ s=ind;
+ q=1;
+ }
+ else{
+ s=10*s+ind;
+ }
+ if(s>999)s=999;
+ lcd.locate(3,0); lcd.printf(" ");
+ lcd.locate(3,0); lcd.printf("%.0f",s);
+
+ }
+else if(h==1){
+ if (q!=1 && p<10){
+ p=ind;
+ q=1;
+ }
+ else{
+ p=10*p+ind;
+ }
+ if(p>999)p=999;
+ lcd.locate(11,0); lcd.printf(" ");
+ lcd.locate(11,0); lcd.printf("%.0f",p);
+ }
+else if(h==2){
+ if (q!=1 && i<10){
+ i=ind;
+ q=1;
+ }
+ else{
+ i=10*i+ind;
+ }
+ if(i>999)i=999;
+ lcd.locate(3,1); lcd.printf(" ");
+ lcd.locate(3,1); lcd.printf("%.0f",i);
+ }
+else{
+ if (q!=1 && d<10){
+ d=ind;
+ q=1;
+ }
+ else{
+ d=10*d+ind;
+ }
+ if(d>999)d=999;
+ lcd.locate(11,1); lcd.printf(" ");
+ lcd.locate(11,1); lcd.printf("%.0f",d);
+ }
+ ind=0; cero=0;
+}
+
+uint32_t cbAfterInput(uint32_t index) {
+ ind=Keytable[index];
+ cero=index;
+ return 0;
+}
+
+void def_posicion(int h){
+ if (h==0){
+ lcd.locate(3,0); lcd.printf("%.0f",s);
+ lcd.locate(3,0);
+ }
+ else if(h==1){
+ lcd.locate(11,0); lcd.printf("%.0f",p);
+ lcd.locate(11,0);
+ }
+ else if (h==2){
+ lcd.locate(3,1); lcd.printf("%.0f",i);
+ lcd.locate(3,1);
+ }
+ else {
+ lcd.locate(11,1); lcd.printf("%.0f",d);
+ lcd.locate(11,1);
+ }
+}
+
+void star_patch1(void){ //funcion que imprime los caracteres que no van a variar en el display
+lcd.cls();
+lcd.locate(8,0);
+lcd.printf("Kp=%.0f",p);
+lcd.locate(0,1);
+lcd.printf("Ki=%.0f",i);
+lcd.locate(8,1);
+lcd.printf("Kd=%.0f",d);
+lcd.writeCommand(C1); //permite que el cursor se vea y sea intermitente
+lcd.locate(0,0);
+lcd.printf("Sp=%.0f",s);
+}
+
+void star_patch2(void){ //funcion que imprime los caracteres que no van a variar en el display
+lcd.writeCommand(C2);
+lcd.cls();
+lcd.printf("***INICIA PID***"); lcd.printf("****************");
+wait(2);
+lcd.cls();
+lcd.printf("Er%=f",err);
+lcd.locate(8,0); lcd.printf("Me=%.0f",med);
+lcd.locate(0,1); lcd.printf("Sp=%.0f",s);
+lcd.locate(8,1); lcd.printf("Co=%.0f",pid);
+wait(3);
+}
+
+int main(){
+star_patch1();
+ keypad.CallAfterInput(&cbAfterInput);
+ keypad.Start();
+ini1:
+ if(ind==12){
+ if (k<3) k++;
+ else k=0;
+ def_posicion(k);
+ ind=0;
+ q=0;
+ }
+ if(ind==13){
+ ind=0;
+ goto PID;
+ }
+ if(ind==11){
+ if (k==0){
+ s=0;
+ lcd.locate(3,0); lcd.printf(" ");
+ lcd.locate(3,0); lcd.printf("%.0f",s);
+ }
+ else if(k==1){
+ p=0;
+ lcd.locate(11,0); lcd.printf(" ");
+ lcd.locate(11,0); lcd.printf("%.0f",p);
+ }
+ else if (k==2){
+ i=0;
+ lcd.locate(3,1); lcd.printf(" ");
+ lcd.locate(3,1); lcd.printf("%.0f",i);
+ }
+ else {
+ d=0;
+ lcd.locate(11,1); lcd.printf(" ");
+ lcd.locate(11,1); lcd.printf("%.0f",d);
+ }
+ q=0; ind=0;
+ }
+ if (ind!=0 && ind!=12 && ind!=13 && ind!=11 || cero==13 ){
+ incremento(k);
+ }
+ goto ini1;
+
+PID:
+ star_patch2();
+
+ while (1){
+
+ med=Vin.read()*1000;
+ err =s-med;
+ ap = p*err;
+ ai =(i*0.001*err)+ai; //calculo de la integral del error
+ // se verifica que la accion integral no sea muy grande
+ ad = d*(err-err_v); //calculo de la accion derivativa
+ pid =(ap+ai+ad);
+ //****se muestran las variables******************************************
+ if (pid > 999)pid=1000;
+ if (pid<0)pid=0;
+
+
+ Vout.write(pid/1000);
+ if(flag==0){
+ t.start();
+ flag=1;
+ }
+ if (t>0.3){
+ lcd.locate(3,0);
+ lcd.printf(" ");
+ lcd.locate(3,0);
+ lcd.printf("%.0f",err);
+ lcd.locate(11,0);
+ lcd.printf(" ");
+ lcd.locate(11,0);
+ lcd.printf("%.0f",med);
+ lcd.locate(3,1);
+ lcd.printf(" ");
+ lcd.locate(3,1);
+ lcd.printf("%.0f",s);
+ lcd.locate(11,1);
+ lcd.printf(" ");
+ lcd.locate(11,1);
+ lcd.printf("%.2f ",pid/1000);
+ t.reset();
+ flag=0;
+ wait(.3);
+ }
+ // se actualizan las variables *******************************************
+ err_v = err;
+ }
+}
\ No newline at end of file
diff -r 000000000000 -r 4d8420272696 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Fri Nov 29 17:46:57 2013 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/a9913a65894f \ No newline at end of file