Santiago Alvarez / Mbed 2 deprecated Encodertarea

d

Dependencies:   Debounced QEI mbed

main.cpp@0:93983293c81b, 2013-12-03 (annotated)

Committer:
salvarear
Date:
Tue Dec 03 19:58:45 2013 +0000
Revision:
0:93983293c81b
Child:
1:e214227f5d00
d

Who changed what in which revision?

UserRevisionLine numberNew contents of line
salvarear 0:93983293c81b 1 #include "mbed.h"
salvarear 0:93983293c81b 2 #include "DebouncedIn.h"
salvarear 0:93983293c81b 3 #include "TextLCD.h"
salvarear 0:93983293c81b 4 #include "QEI.h"
salvarear 0:93983293c81b 5
salvarear 0:93983293c81b 6 AnalogIn Vin(PTB0); //entrada de la planta
salvarear 0:93983293c81b 7 AnalogOut Vout(PTE30); //salida hacia la planta
salvarear 0:93983293c81b 8
salvarear 0:93983293c81b 9 QEI wheel (PTA16, PTA17, NC, 24); //pines correspondientes al encoder.
salvarear 0:93983293c81b 10 TextLCD lcd(PTB10, PTB11, PTE2, PTE3, PTE4, PTE5); // rs, e, d4-d7
salvarear 0:93983293c81b 11
salvarear 0:93983293c81b 12 DigitalOut led1(LED1);
salvarear 0:93983293c81b 13 DigitalOut led2(LED2);
salvarear 0:93983293c81b 14 DigitalOut led3(LED3);
salvarear 0:93983293c81b 15 DigitalOut led4(LED4);
salvarear 0:93983293c81b 16 DebouncedIn button1(PTC12); // Aumento
salvarear 0:93983293c81b 17 DebouncedIn button2(PTC13); // Disminución
salvarear 0:93983293c81b 18 DebouncedIn button3(PTC16); // Cambio de variable
salvarear 0:93983293c81b 19 DebouncedIn button4(PTC17); // Reset
salvarear 0:93983293c81b 20
salvarear 0:93983293c81b 21 int C1=0x0E; // solo muestra el curzor
salvarear 0:93983293c81b 22 int C2=0x18; // desplaza izquierda
salvarear 0:93983293c81b 23 int C3=0x1A; // desplaza derecha
salvarear 0:93983293c81b 24 int C4=0x0C; // quito cursor bajo
salvarear 0:93983293c81b 25 int i; // indice de la variable
salvarear 0:93983293c81b 26
salvarear 0:93983293c81b 27 int j,kp,ki,kd,sp,cont,medida,cont1,cont2,cont3;
salvarear 0:93983293c81b 28 float pid, err, ap, ai, ad, err_v, spf,kif,kpf,kdf,med;
salvarear 0:93983293c81b 29
salvarear 0:93983293c81b 30
salvarear 0:93983293c81b 31 int main() {
salvarear 0:93983293c81b 32
salvarear 0:93983293c81b 33 lcd.writeCommand(C1);
salvarear 0:93983293c81b 34 lcd.printf("Sp=0 Kp=0");
salvarear 0:93983293c81b 35 lcd.locate(0,1);
salvarear 0:93983293c81b 36 lcd.printf("Ki=0 Kd=0");
salvarear 0:93983293c81b 37 lcd.locate(2,0);
salvarear 0:93983293c81b 38 lcd.printf("=");
salvarear 0:93983293c81b 39
salvarear 0:93983293c81b 40 while(1) {
salvarear 0:93983293c81b 41
salvarear 0:93983293c81b 42 cont1=wheel.getPulses(); //ciclo delpara el encoder
salvarear 0:93983293c81b 43 if(cont1<0){
salvarear 0:93983293c81b 44 wheel.reset();
salvarear 0:93983293c81b 45 cont1=0;
salvarear 0:93983293c81b 46 }
salvarear 0:93983293c81b 47 if(cont1!=cont2) {
salvarear 0:93983293c81b 48
salvarear 0:93983293c81b 49 switch(i) {
salvarear 0:93983293c81b 50
salvarear 0:93983293c81b 51 case 0:
salvarear 0:93983293c81b 52
salvarear 0:93983293c81b 53 lcd.locate(2,0);
salvarear 0:93983293c81b 54 lcd.printf("= ");
salvarear 0:93983293c81b 55 lcd.locate(3,0);
salvarear 0:93983293c81b 56 lcd.printf("%d",cont1);
salvarear 0:93983293c81b 57 sp=cont1;
salvarear 0:93983293c81b 58
salvarear 0:93983293c81b 59 break;
salvarear 0:93983293c81b 60 case 1:
salvarear 0:93983293c81b 61
salvarear 0:93983293c81b 62 lcd.locate(10,0);
salvarear 0:93983293c81b 63 lcd.printf("= ");
salvarear 0:93983293c81b 64 lcd.locate(11,0);
salvarear 0:93983293c81b 65 lcd.printf("%d",med);
salvarear 0:93983293c81b 66 kp=medida;
salvarear 0:93983293c81b 67 break;
salvarear 0:93983293c81b 68 case 2:
salvarear 0:93983293c81b 69 lcd.locate(2,1);
salvarear 0:93983293c81b 70 lcd.printf("= ");
salvarear 0:93983293c81b 71 lcd.locate(3,1);
salvarear 0:93983293c81b 72 lcd.printf("%d",med);
salvarear 0:93983293c81b 73 ki=med;
salvarear 0:93983293c81b 74 break;
salvarear 0:93983293c81b 75 case 3:
salvarear 0:93983293c81b 76 lcd.locate(10,1);
salvarear 0:93983293c81b 77 lcd.printf("= ");
salvarear 0:93983293c81b 78 lcd.locate(11,1);
salvarear 0:93983293c81b 79 lcd.printf("%d",med);
salvarear 0:93983293c81b 80 kd=med;
salvarear 0:93983293c81b 81 break;
salvarear 0:93983293c81b 82 }
salvarear 0:93983293c81b 83 cont2=cont1;
salvarear 0:93983293c81b 84
salvarear 0:93983293c81b 85 }
salvarear 0:93983293c81b 86
salvarear 0:93983293c81b 87
salvarear 0:93983293c81b 88 if(button3.falling()) { //al presionar el encoder
salvarear 0:93983293c81b 89 wheel.reset();
salvarear 0:93983293c81b 90 i++;
salvarear 0:93983293c81b 91 if(i>3) {
salvarear 0:93983293c81b 92 i=0;
salvarear 0:93983293c81b 93 }
salvarear 0:93983293c81b 94 switch (i) {
salvarear 0:93983293c81b 95 case 0:
salvarear 0:93983293c81b 96 lcd.locate(2,0);
salvarear 0:93983293c81b 97 lcd.printf("=");
salvarear 0:93983293c81b 98 break;
salvarear 0:93983293c81b 99 case 1:
salvarear 0:93983293c81b 100 lcd.locate(10,0);
salvarear 0:93983293c81b 101 lcd.printf("=");
salvarear 0:93983293c81b 102 break;
salvarear 0:93983293c81b 103 case 2:
salvarear 0:93983293c81b 104 lcd.locate(2,1);
salvarear 0:93983293c81b 105 lcd.printf("=");
salvarear 0:93983293c81b 106 break;
salvarear 0:93983293c81b 107 case 3:
salvarear 0:93983293c81b 108 lcd.locate(10,1);
salvarear 0:93983293c81b 109 lcd.printf("=");
salvarear 0:93983293c81b 110 break;
salvarear 0:93983293c81b 111 }
salvarear 0:93983293c81b 112 }
salvarear 0:93983293c81b 113
salvarear 0:93983293c81b 114
salvarear 0:93983293c81b 115 if (button4.falling()){
salvarear 0:93983293c81b 116 lcd.locate(0,1);
salvarear 0:93983293c81b 117 lcd.printf("Ha salido del programa ");
salvarear 0:93983293c81b 118 break; //sale del bucle si pisan suiche4
salvarear 0:93983293c81b 119 }
salvarear 0:93983293c81b 120
salvarear 0:93983293c81b 121 }
salvarear 0:93983293c81b 122
salvarear 0:93983293c81b 123 lcd.writeCommand(C4);
salvarear 0:93983293c81b 124 led3=1;
salvarear 0:93983293c81b 125 led3= !led3;
salvarear 0:93983293c81b 126 lcd.cls();
salvarear 0:93983293c81b 127 lcd.printf(" DATOS GUARDADOS!");
salvarear 0:93983293c81b 128 wait(0.8);
salvarear 0:93983293c81b 129 lcd.cls();
salvarear 0:93983293c81b 130 lcd.printf("INICIANDO EL PID");
salvarear 0:93983293c81b 131 wait(0.2);
salvarear 0:93983293c81b 132 lcd.cls();
salvarear 0:93983293c81b 133 lcd.printf("Er%d",err);
salvarear 0:93983293c81b 134 lcd.locate(8,0);
salvarear 0:93983293c81b 135 lcd.printf("Med%d",med);
salvarear 0:93983293c81b 136 lcd.locate(0,1);
salvarear 0:93983293c81b 137 lcd.printf("Sp%d",sp);
salvarear 0:93983293c81b 138 lcd.locate(8,1);
salvarear 0:93983293c81b 139 lcd.printf("pid%d",pid);
salvarear 0:93983293c81b 140 wait(0.5);
salvarear 0:93983293c81b 141
salvarear 0:93983293c81b 142 // CICLO PRINCIPAL CONTROLADOR PID
salvarear 0:93983293c81b 143 while(1) {
salvarear 0:93983293c81b 144 //leer puerto analogo y asignar a med
salvarear 0:93983293c81b 145 med=Vin.read();
salvarear 0:93983293c81b 146 medida=med*100;
salvarear 0:93983293c81b 147 kpf=kp*0.001;
salvarear 0:93983293c81b 148 kif=ki*0.001;
salvarear 0:93983293c81b 149 kdf=kd*0.0001;
salvarear 0:93983293c81b 150 err = (sp-medida);
salvarear 0:93983293c81b 151
salvarear 0:93983293c81b 152 ap = kpf*err;
salvarear 0:93983293c81b 153 ai =(kif*err)+ai; //calculo de la integral del error
salvarear 0:93983293c81b 154 ad = kdf*(err-err_v); //calculo de la accion derivativa
salvarear 0:93983293c81b 155 err_v=err; //guarda el error
salvarear 0:93983293c81b 156 pid = (ap+ai+ad);
salvarear 0:93983293c81b 157
salvarear 0:93983293c81b 158 // se verifica que pid sea menor o igual la valor maximo *****************
salvarear 0:93983293c81b 159 if (pid > 99){
salvarear 0:93983293c81b 160 pid=100;
salvarear 0:93983293c81b 161 }
salvarear 0:93983293c81b 162
salvarear 0:93983293c81b 163 // se verifica que pid sea positivo **************************************
salvarear 0:93983293c81b 164 if (pid <0){
salvarear 0:93983293c81b 165 pid=0;
salvarear 0:93983293c81b 166 }
salvarear 0:93983293c81b 167
salvarear 0:93983293c81b 168 //wait(.5);
salvarear 0:93983293c81b 169
salvarear 0:93983293c81b 170
salvarear 0:93983293c81b 171
salvarear 0:93983293c81b 172 // se verifica que la accion integral no sea muy grande
salvarear 0:93983293c81b 173 if (ai > 999){
salvarear 0:93983293c81b 174 ai=1000;
salvarear 0:93983293c81b 175 }
salvarear 0:93983293c81b 176
salvarear 0:93983293c81b 177
salvarear 0:93983293c81b 178 Vout=pid;
salvarear 0:93983293c81b 179
salvarear 0:93983293c81b 180
salvarear 0:93983293c81b 181 lcd.locate(2,0);
salvarear 0:93983293c81b 182 lcd.printf(" ");
salvarear 0:93983293c81b 183 lcd.locate(0,0);
salvarear 0:93983293c81b 184 lcd.printf("Er%2.2f",err);
salvarear 0:93983293c81b 185 lcd.locate(10,0);
salvarear 0:93983293c81b 186 lcd.printf(" ");
salvarear 0:93983293c81b 187 lcd.locate(8,0);
salvarear 0:93983293c81b 188 lcd.printf("Me%d",medida);
salvarear 0:93983293c81b 189 lcd.locate(2,1);
salvarear 0:93983293c81b 190 lcd.printf(" ");
salvarear 0:93983293c81b 191 lcd.locate(0,1);
salvarear 0:93983293c81b 192 lcd.printf("Sp%d",sp);
salvarear 0:93983293c81b 193 lcd.locate(10,1);
salvarear 0:93983293c81b 194 lcd.printf(" ");
salvarear 0:93983293c81b 195 lcd.locate(8,1);
salvarear 0:93983293c81b 196 lcd.printf("Pid%4.2f",pid);
salvarear 0:93983293c81b 197 cont=0;
salvarear 0:93983293c81b 198 }
salvarear 0:93983293c81b 199 }
salvarear 0:93983293c81b 200
salvarear 0:93983293c81b 201
salvarear 0:93983293c81b 202