Santiago Alvarez
d
Dependencies: Debounced TextLCD mbed
Revision 0:1fe45e27a3c7, committed 2013-12-12
- Comitter:
- salvarear
- Date:
- Thu Dec 12 20:41:26 2013 +0000
- Commit message:
- d
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Debounced.lib Thu Dec 12 20:41:26 2013 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/WarwickRacing/code/Debounced/#8992c13bbb9b
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/TextLCD.lib Thu Dec 12 20:41:26 2013 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/simon/code/TextLCD/#44f34c09bd37
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Dec 12 20:41:26 2013 +0000
@@ -0,0 +1,175 @@
+#include "mbed.h"
+#include "DebouncedIn.h"
+#include "TextLCD.h"
+AnalogIn Vin(PTC2);
+TextLCD lcd(PTB10, PTB11, PTE2, PTE3, PTE4, PTE5); // rs, e, d4-d7 //documentacion de las librerias y disposicion de pines
+
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+DebouncedIn b1(PTC12); //boton incrementa.
+DebouncedIn b2(PTC13); //boton decrementa.
+DebouncedIn b3(PTB8); //boton cambio menu.
+DebouncedIn b4(PTB9); //boton reset.
+
+
+int C1=0x0E; // solo muestra el cursor
+int C2=0x18; // desplaza el cursor a la izquierda
+int C3=0x1A; // desplaza el cursor derecha
+int C4=0x0C; // quita el cursor bajo
+int a;
+int b;
+int kp, ki, kd, sp, err, med, pid, ap, ai, ad, err_v; //revisar antes de la primera tarear(PID)
+
+int main() {
+ lcd.cls();
+ lcd.printf("Sp%d",sp); //ubicacion de las variables en la pantalla
+ lcd.locate(8,0);
+ lcd.printf("Kp%d",kp);
+ lcd.locate(0,1);
+ lcd.printf("Ki%d",ki);
+ lcd.locate(8,1);
+ lcd.printf("Kd%d",kd);
+ lcd.writeCommand(C1);
+ lcd.locate(0,0);
+ lcd.printf("Sp%d",sp);
+
+ while(1) { //inicio cliclos del pid
+ if (b1.falling()) { // incrementa
+ led1 =!led1;
+ ++a;
+ lcd.locate(6,0);
+ lcd.printf("%d", a);
+ }
+ if (b2.falling()) { //decrementa
+ led2 =!led2;
+ --a;
+ lcd.locate(6,0);
+ lcd.printf("%d", a);
+ }
+ if (b3.falling()) {
+ //botones
+ if (b==0){
+ lcd.locate(2,0);
+ lcd.printf("%d",sp);
+ if (b1.falling()) {
+ ++sp;
+ }
+ if (b2.falling()) {
+ --sp;
+ }
+ }
+ if (b==1) {
+ lcd.locate(10,0);
+ lcd.printf("%d",kp);
+ if (b1.falling()){
+ ++kp;
+ }
+ if (b2.falling()) {
+ --kp;
+ }
+ }
+ if (b==2) {
+ lcd.locate(2,1);
+ lcd.printf("%d",ki);
+ if (b1.falling()){
+ ++ki;
+ }
+ if (b2.falling()){
+ --ki;
+ }
+ }
+ if (b==3) {
+ lcd.locate(10,1);
+ lcd.printf("%d",kd);
+ if (b1.falling()){
+ ++kd;
+ }
+ if (b2.falling()){
+ --kd
+ else(b==4) {
+ b=0;
+ }
+ }
+ if (b4.falling()){
+ break;
+ } }
+ }
+
+
+ lcd.writeCommand(C4);
+ lcd.cls();
+ lcd.printf(" Guardando Datos!");
+ wait(2);
+ lcd.printf(" Espere....");
+ wait(2);
+ lcd.cls();
+ lcd.printf("Iniciando PID");
+ wait(2);
+
+ 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("Co%d",pid);
+ wait(5);
+
+ void star_patch(void){ //funcion que imprime los caracteres que no van a variar en el display
+ lcd.printf("SP=");
+ lcd.locate(7,0);
+ lcd.printf("Kp=");
+ lcd.locate(0,1);
+ lcd.printf("Ki=");
+ lcd.locate(7,1);
+ lcd.printf("Kd=");
+ lcd.locate(3,0);
+ }
+
+ int main(){
+ star_patch();
+ while(1){
+ if(k==3)k=0;
+ if(salto.read()==0){
+ def_posicion(k);
+ k++;
+ }
+ else if(mas.read()==0){
+ incremento(k);
+ }
+ else if(menos.read()==0){
+ decremento(k);
+ }
+ }
+ }
+
+ //calculo del pid
+
+ while(1) {
+
+ err = (sp-med);
+ ap = kp*err;
+ ai =(ki*err)+ai;
+
+ ad = kd*(err-err_v);
+ pid = (ap+ai+ad);
+
+ if (pid > 999){
+ pid=1000;
+ }
+
+ wait(.5);
+ lcd.locate(2,0);
+ lcd.printf("%d",err);
+ lcd.locate(10,0);
+ lcd.printf("%d",med);
+ lcd.locate(2,1);
+ lcd.printf("%d",sp);
+ lcd.locate(10,1);
+ lcd.printf("%d",pid);
+ err_v = err;
+
+ }
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Thu Dec 12 20:41:26 2013 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/a9913a65894f \ No newline at end of file