Revision 0:9a67044d749e, committed 2017-02-25

Comitter:

serbm

Date:

Sat Feb 25 14:21:11 2017 +0000

Commit message:

teclado con lcd

Changed in this revision

diff -r 000000000000 -r 9a67044d749e TextLCD.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/TextLCD.cpp	Sat Feb 25 14:21:11 2017 +0000
@@ -0,0 +1,173 @@
+/* mbed TextLCD Library, for a 4-bit LCD based on HD44780
+ * Copyright (c) 2007-2010, sford, http://mbed.org
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+/*
+ * Comment: Added support for LCD40x2 and LCD8x2
+ * Name:    davervw
+ * Date:    02/26/2011
+ */
+
+#include "TextLCD.h"
+#include "mbed.h"
+
+TextLCD::TextLCD(PinName rs, PinName e, PinName d4, PinName d5,
+                 PinName d6, PinName d7, LCDType type) : _rs(rs),
+        _e(e), _d(d4, d5, d6, d7),
+        _type(type) {
+
+    _e  = 1;
+    _rs = 0;            // command mode
+
+    wait(0.015);        // Wait 15ms to ensure powered up
+
+    // send "Display Settings" 3 times (Only top nibble of 0x30 as we've got 4-bit bus)
+    for (int i=0; i<3; i++) {
+        writeByte(0x3);
+        wait(0.00164);  // this command takes 1.64ms, so wait for it
+    }
+    writeByte(0x2);     // 4-bit mode
+    wait(0.000040f);    // most instructions take 40us
+
+    writeCommand(0x28); // Function set 001 BW N F - -
+    writeCommand(0x0C);
+    writeCommand(0x6);  // Cursor Direction and Display Shift : 0000 01 CD S (CD 0-left, 1-right S(hift) 0-no, 1-yes
+    cls();
+}
+
+void TextLCD::character(int column, int row, int c) {
+    int a = address(column, row);
+    writeCommand(a);
+    writeData(c);
+}
+
+void TextLCD::cls() {
+    writeCommand(0x01); // cls, and set cursor to 0
+    wait(0.00164f);     // This command takes 1.64 ms
+    locate(0, 0);
+}
+
+void TextLCD::locate(int column, int row) {
+    _column = column;
+    _row = row;
+}
+
+int TextLCD::_putc(int value) {
+    if (value == '\n') {
+        _column = 0;
+        _row++;
+        if (_row >= rows()) {
+            _row = 0;
+        }
+    } else {
+        character(_column, _row, value);
+        _column++;
+        if (_column >= columns()) {
+            _column = 0;
+            _row++;
+            if (_row >= rows()) {
+                _row = 0;
+            }
+        }
+    }
+    return value;
+}
+
+int TextLCD::_getc() {
+    return -1;
+}
+
+void TextLCD::writeByte(int value) {
+    _d = value >> 4;
+    wait(0.000040f); // most instructions take 40us
+    _e = 0;
+    wait(0.000040f);
+    _e = 1;
+    _d = value >> 0;
+    wait(0.000040f);
+    _e = 0;
+    wait(0.000040f);  // most instructions take 40us
+    _e = 1;
+}
+
+void TextLCD::writeCommand(int command) {
+    _rs = 0;
+    writeByte(command);
+}
+
+void TextLCD::writeData(int data) {
+    _rs = 1;
+    writeByte(data);
+}
+
+int TextLCD::address(int column, int row) {
+    switch (_type) {
+        case LCD20x4:
+            switch (row) {
+                case 0:
+                    return 0x80 + column;
+                case 1:
+                    return 0xc0 + column;
+                case 2:
+                    return 0x94 + column;
+                case 3:
+                    return 0xd4 + column;
+            }
+        case LCD16x2B:
+            return 0x80 + (row * 40) + column;
+        case LCD16x2:
+        case LCD40x2:
+        case LCD20x2:
+        case LCD8x2:
+        default:
+            return 0x80 + (row * 0x40) + column;
+    }
+}
+
+int TextLCD::columns() {
+    switch (_type) {
+        case LCD20x4:
+        case LCD20x2:
+            return 20;
+        case LCD40x2:
+            return 40;
+        case LCD8x2:
+            return 8;
+        case LCD16x2:
+        case LCD16x2B:
+        default:
+            return 16;
+    }
+}
+
+int TextLCD::rows() {
+    switch (_type) {
+        case LCD20x4:
+            return 4;
+        case LCD8x2:
+        case LCD16x2:
+        case LCD16x2B:
+        case LCD20x2:
+        case LCD40x2:
+        default:
+            return 2;
+    }
+}

diff -r 000000000000 -r 9a67044d749e TextLCD.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/TextLCD.h	Sat Feb 25 14:21:11 2017 +0000
@@ -0,0 +1,119 @@
+/* mbed TextLCD Library, for a 4-bit LCD based on HD44780
+ * Copyright (c) 2007-2010, sford, http://mbed.org
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+/*
+ * Comment: Added support for LCD40x2 and LCD8x2
+ * Name:    davervw
+ * Date:    02/26/2011
+ */
+
+#ifndef MBED_TEXTLCD_H
+#define MBED_TEXTLCD_H
+
+#include "mbed.h"
+
+/** A TextLCD interface for driving 4-bit HD44780-based LCDs
+ *
+ * Currently supports 16x2, 20x2, 20x4, 40x2, and 8x2 panels
+ *
+ * @code
+ * #include "mbed.h"
+ * #include "TextLCD.h"
+ * 
+ * TextLCD lcd(p10, p12, p15, p16, p29, p30); // rs, e, d4-d7
+ * 
+ * int main() {
+ *     lcd.printf("Hello World!\n");
+ * }
+ * @endcode
+ */
+class TextLCD : public Stream {
+public:
+
+    /** LCD panel format */
+    enum LCDType {
+        LCD16x2     /**< 16x2 LCD panel (default) */
+        , LCD16x2B  /**< 16x2 LCD panel alternate addressing */
+        , LCD20x2   /**< 20x2 LCD panel */
+        , LCD20x4   /**< 20x4 LCD panel */
+        , LCD40x2   /**< 40x2 LCD panel */
+        , LCD8x2    /**<  8x2 LCD panel */
+    };
+
+    /** Create a TextLCD interface
+     *
+     * @param rs    Instruction/data control line
+     * @param e     Enable line (clock)
+     * @param d4-d7 Data lines for using as a 4-bit interface
+     * @param type  Sets the panel size/addressing mode (default = LCD16x2)
+     */
+    TextLCD(PinName rs, PinName e, PinName d4, PinName d5, PinName d6, PinName d7, LCDType type = LCD16x2);
+
+#if DOXYGEN_ONLY
+    /** Write a character to the LCD
+     *
+     * @param c The character to write to the display
+     */
+    int putc(int c);
+
+    /** Write a formated string to the LCD
+     *
+     * @param format A printf-style format string, followed by the
+     *               variables to use in formating the string.
+     */
+    int printf(const char* format, ...);
+#endif
+
+    /** Locate to a screen column and row
+     *
+     * @param column  The horizontal position from the left, indexed from 0
+     * @param row     The vertical position from the top, indexed from 0
+     */
+    void locate(int column, int row);
+
+    /** Clear the screen and locate to 0,0 */
+    void cls();
+
+    int rows();
+    int columns();
+
+protected:
+
+    // Stream implementation functions
+    virtual int _putc(int value);
+    virtual int _getc();
+
+    int address(int column, int row);
+    void character(int column, int row, int c);
+    void writeByte(int value);
+    void writeCommand(int command);
+    void writeData(int data);
+
+    DigitalOut _rs, _e;
+    BusOut _d;
+    LCDType _type;
+
+    int _column;
+    int _row;
+};
+
+#endif

diff -r 000000000000 -r 9a67044d749e TextLCD.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/TextLCD.lib	Sat Feb 25 14:21:11 2017 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/davervw/code/TextLCD/#c5318c74f1a9

diff -r 000000000000 -r 9a67044d749e keypad.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/keypad.cpp	Sat Feb 25 14:21:11 2017 +0000
@@ -0,0 +1,115 @@
+#include "keypad.h"
+
+Keypad::Keypad(PinName row3, PinName row2, PinName row1, PinName row0,
+               PinName col3, PinName col2, PinName col1, PinName col0,
+               int debounce_ms):
+    _row0(row0), _row1(row1), _row2(row2), _row3(row3),
+    _cols(col0, col1, col2, col3)
+{
+    _debounce = debounce_ms;
+    _rows[0] = &_row0;
+    _rows[1] = &_row1;
+    _rows[2] = &_row2;
+    _rows[3] = &_row3;
+    for (int r = 0; r < row_count; r++)
+        _rows[r]->mode(PullUp);
+   // _cols.mode(OpenDrain);
+    _cols.output();
+}
+
+void Keypad::_setupFallTrigger(void)
+{
+    for (int r = 0; r < row_count; r++)
+        _rows[r]->fall(this, &Keypad::_callback);
+}
+
+void Keypad::Start(void)
+{
+    /* make the columns zero so they can pull rows down */
+    _cols = 0x00;
+}
+
+void Keypad::Stop(void)
+{
+    /* make the columns one so they cannot pull any rows down anymore */
+    _cols = ~0x00;
+}
+
+void Keypad::CallAfterInput(uint32_t (*fptr)(uint32_t index))
+{
+    _input.attach(fptr);
+    _setupFallTrigger();
+}
+
+int Keypad::DebouncedScan()
+{
+    /* debounce */
+    wait_ms(_debounce);
+
+    return Scan();
+}
+
+int Keypad::Scan()
+{
+    /* lookup row */
+    int r = -1;
+    for (r = 0; r < row_count; r++) {
+        if (*_rows[r] == 0)
+            break;
+    }
+
+    /* if we didn't find a valid row, return */
+    if (!(0 <= r && r < row_count))
+        return -1;
+
+    /* scan columns to find out which one pulls down the row */
+    int c = -1;
+    for (c = 0; c < col_count; c++) {
+        _cols = ~(1 << c);
+        if (*_rows[r] == 0)
+            break;
+    }
+
+    /* re-energize all columns */
+    Start();
+
+    /* if we didn't find a valid column, return */
+    if (!(0 <= c && c < col_count))
+        return -1;
+
+    return r * col_count + c;
+}
+
+int Keypad::DebouncedScanMultiple()
+{
+    /* debounce */
+    wait_ms(_debounce);
+
+    return ScanMultiple();
+}
+
+int Keypad::ScanMultiple()
+{
+    int res = 0;
+    for (int c = 0; c < col_count; c++) {
+        _cols = ~(1 << c);
+        for (int r = 0; r < row_count; r++) {
+            if (*_rows[r] == 0) {
+                res |= 1 << (r * col_count + c);
+            }
+        }
+    }
+
+    return res;
+}
+
+void Keypad::_callback()
+{
+    /* lookup */
+    int position = DebouncedScan();
+
+    /* call back a valid position */
+    if (position >= 0)
+        _input.call(position);
+}
+

diff -r 000000000000 -r 9a67044d749e keypad.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/keypad.h	Sat Feb 25 14:21:11 2017 +0000
@@ -0,0 +1,127 @@
+/* mbed Keypad library, using user-defined interrupt callback
+ * Copyright (c) 2012 Yoong Hor Meng
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE
+ */
+
+#ifndef KEYPAD_H
+#define KEYPAD_H
+
+#include "mbed.h"
+#include "FPointer.h"
+
+/**
+ * An interrupt-based interface to 4x4 keypad.
+ *
+ * On each key pressed on a keypad, the index of the key is passed to a
+ * user-defined function. User is free to define what to be done with the
+ * input.
+ *
+ * This library makes use of
+ * @see http://mbed.org/cookbook/FPointer by Andy Kirkham
+ *
+ * Example:
+ * @code
+ * #include "mbed.h"
+ * #include "keypad.h"
+ *
+ * // Define your own keypad values
+ * char Keytable[] = { '1', '2', '3', 'A',
+ *                     '4', '5', '6', 'B',
+ *                     '7', '8', '9', 'C',
+ *                     '*', '0', '#', 'D'
+ *                   };
+ *
+ * uint32_t cbAfterInput(uint32_t index) {
+ *     printf("Index:%d => Key:%c\n", key, Keytable[index]);
+ *     return 0;
+ * }
+ *
+ * int main() {
+ *     Keypad keypad(p25, p26, p27, p28, p21, p22, p23, p24);
+ *     keypad.CallAfterInput(&cbAfterInput);
+ *     keypad.Start();
+ *
+ *     while (1) {
+ *         wait_ms(100);
+ *     }
+ * }
+ * @endcode
+ */
+class Keypad
+{
+public:
+    /** Create a Keypad interface
+     *
+     *  @param row<3..0>     Row data lines
+     *  @param col<3..0>     Column data lines
+     *  @param debounce_ms   Debounce in ms (Default to 20ms)
+     */
+    Keypad(PinName row3, PinName row2, PinName row1, PinName row0,
+           PinName col3, PinName col2, PinName col1, PinName col0,
+           int debounce_ms = 20);
+
+    /** Start the keypad interrupt routines
+     */
+    void Start(void);
+
+    /** Stop the keypad interrupt routines
+     */
+    void Stop(void);
+
+    /** Scan the keyboard for a debounced pressed key
+     */
+    int DebouncedScan(void);
+
+    /** Scan the keyboard for a pressed key
+     */
+    int Scan(void);
+
+    /** Scan the keyboard for multiple debounced pressed keys
+     */
+    int DebouncedScanMultiple(void);
+
+    /** Scan the keyboard for multiple pressed keys
+     */
+    int ScanMultiple(void);
+
+    /** User-defined function that to be called when a key is pressed
+     *  @param fptr           A function pointer takes a uint32_t and
+     *                        returns uint32_t
+     */
+    void CallAfterInput(uint32_t (*fptr)(uint32_t));
+
+protected:
+    static const int row_count = 4;
+    static const int col_count = 4;
+
+    InterruptIn      _row0;
+    InterruptIn      _row1;
+    InterruptIn      _row2;
+    InterruptIn      _row3;
+    InterruptIn      *_rows[row_count];
+    BusInOut         _cols;  // BusOut doesn't support mode() yet; need open drain to prevent short circuits...
+    int              _debounce;
+    FPointer         _input; // Called after each input
+
+    void _callback();
+    void _setupFallTrigger(void);
+};
+
+#endif // KEYPAD_H

diff -r 000000000000 -r 9a67044d749e keypad.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/keypad.lib	Sat Feb 25 14:21:11 2017 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/jyrodriguezg/code/keypad/#0012aa4908fa

diff -r 000000000000 -r 9a67044d749e main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sat Feb 25 14:21:11 2017 +0000
@@ -0,0 +1,298 @@
+# include  "mbed.h" 
+# include  "keypad.h" 
+# include  "TextLCD.h"
+  
+  
+  TextLCD lcd (D15,D14,D13,D12,D11,D10);  // RS, e, d4-d7
+ 
+  AnalogIn Ain (A0);
+  AnalogOut Aout (A2);
+  
+int  C4 = 0x0C ;
+int  C1 = 0x0E ;
+int  p = 0 ;
+ 
+int  c = 0 ;
+int  y = 0 ;  
+float  i;  // establecer el punto 
+float  j = 0 ;  // salida planta 
+float ji = 0 ;  // variable de Proceso interno 
+float  spi = 0 ;  // variable de Proceso interno 
+float h = 0 ;  // entrada planta 
+float m = 0 ;  // Error 
+float  mv = 0 ;
+float  g = 0 ;
+
+ 
+ float  ap, ai; 
+ int  sp = 0 ;
+ int  kp = 0 ;
+ int  ki = 0 ;
+ int  k = 0 ;
+ 
+ 
+ 
+ 
+  // Definir sus propios valores del teclado 
+char tabla de teclas [] = { '1' ,  '2' ,  '3' ,  '*' ,
+                      '4' ,  '5' ,  '6' ,  '0' ,
+                       '7' ,  ' 8 ' ,  ' 9 ' ,  ' # ' ,
+                       ' A ' ,  ' B ' ,  ' C ' ,  ' D '};
+                    
+ int  Teclado [] = {  1 ,  4 ,  7 ,  13 ,
+                    2 ,  5 ,  8 ,  0 ,
+                    3 ,  6 ,  9 ,  14 ,
+                    10 , 11 , 12 ,  15
+                    };
+ 
+    uint32_t  cbAfterInput ( uint32_t  clave)
+    {
+ 
+        if  (KEYPAD [clave] == 'A' )
+        {
+        Teclado [clave] = 0 ;              
+            C ++;
+                         } 
+        
+        if (KEYPAD [clave] == 'B' ) {
+        Teclado [clave] = 0 ;
+            sp = 0 ;
+            kp = 0 ;
+            ki = 0 ;
+            kd = 0 ;
+                          }
+ 
+                          
+        if (KEYTABLE [clave] == 'D' ) {
+        Teclado [clave] = 0 ;
+           p = 1 ;
+                             }   
+ 
+////////////
+ 
+          if  (c == 0 ) {
+                                         
+               SP = SP + Teclado [clave];
+                  
+              }
+              
+           if  (c == 1 ) {         
+ 
+               kp kp = + Teclado [clave];
+               
+              }
+           if  (c == 2 ) {        
+ 
+               ki ki = + Teclado [clave];
+                  
+              }
+           if  (c == 3 ) {   
+               
+               KD = kd + Teclado [clave];
+                  
+              } 
+ 
+////////////
+       
+        
+        volver  0 ;
+    } // Fin unit32_t
+       
+ 
+ 
+  int  main () {
+      teclado teclado (D9,D8,D7,D6,D5,D4,D3,D2);
+      keypad.CallAfterInput (y cbAfterInput);
+      keypad.Start ();
+      
+    lcd.cls ();
+    lcd. printf ( "SP:% d" , sp);
+    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); // escribimos ONU comando segun el manual del módulo del LCD 
+    lcd.locate ( 0 , 0 );
+    lcd. printf ( "SP:% d" , sp);
+      
+      mientras que  ( 1 ) {                                     
+         
+   
+           if  (c == 0 ) {
+               lcd.locate ( 3 , 0 );
+               . lcd putc ( 0xFE );           
+               lcd.locate ( 4 , 0 );
+               lcd. printf ( "% d" , sp);                                         
+                             
+                // NUEVO !! (no ceros en - proceso) 
+                if (sp < 10 ) {                
+                lcd.locate ( 5 , 0 );
+                . lcd putc ( 0xFE );  
+                        }
+                        
+                if (sp < 100 ) {                
+                lcd.locate ( 6 , 0 );
+                . lcd putc ( 0xFE );  
+                        }                             
+                
+                lcd.locate ( 4 , 0 );
+                lcd. printf ( "% d" , sp);
+                 //wait(0.1);  
+                 
+               //    
+                  
+              }
+              
+           if (c == 1 ) {
+               lcd.locate ( 11 , 0 );
+               . lcd putc ( 0xFE );           
+               lcd.locate ( 12 , 0 );
+               lcd. printf ( "% d" , kp);                                         
+                             
+                // NUEVO !! (no ceros en - proceso) 
+             if (kp < 10 ) {                
+                lcd.locate ( 13 , 0 );
+                . lcd putc ( 0xFE );  
+                        }
+                        
+            if (kp < 100 ) {                
+                lcd.locate ( 14 , 0 );
+                . lcd putc ( 0xFE );  
+                        }                             
+                
+                lcd.locate ( 12 , 0 );
+                lcd. printf ( "% d" , kp);
+                 //wait(0.1);  
+                 
+               //    
+                  
+              }
+              
+           if  (c == 2 ) {        
+               lcd.locate ( 3 , 1 );
+               . lcd putc ( 0xFE );               
+               lcd.locate ( 4 , 1 );
+               lcd. printf ( "% d" , ki);              
+                
+                // NUEVO !! (no ceros en - proceso) 
+                if (Ki < 10 ) {                
+                lcd.locate ( 5 , 1 );
+                . lcd putc ( 0xFE );  
+                        }
+                        
+                if (ki < 100 ) {                
+                lcd.locate ( 6 , 1 );
+                . lcd putc ( 0xFE );  
+                        }                             
+                
+                lcd.locate ( 4 , 1 );
+                lcd. printf ( "% d" , ki);
+                 //wait(0.2);   
+                 
+               //    
+              
+              }
+           if  (c == 3 ) {       
+               lcd.locate ( 11 , 1 );
+               . lcd putc ( 0xFE );           
+               lcd.locate ( 12 , 1 );
+               lcd. printf ( "% d" , kd);
+ 
+                // NUEVO !! (no ceros en - proceso) 
+                if (kd < 10 ) {                
+                lcd.locate ( 13 , 1 );
+                . lcd putc ( 0xFE );  
+                        }
+                        
+                if (kd < 100 ) {                
+                lcd.locate ( 14 , 1 );
+                . lcd putc ( 0xFE );  
+                        }                             
+                
+                lcd.locate ( 12 , 1 );
+                lcd. printf ( "% d" , kd);
+                 //wait(0.2);  
+              }
+                              
+           if (c == 4  || c> 4 ) {
+                c = 0 ;
+                          } 
+                          
+           if (p == 1 ) {
+           c = 0 ;
+            romper ;     
+               }
+                        
+                                        }
+        
+           
+           lcd.writeCommand (C4); // escribimos ONU comando segun el manual del módulo del LCD para quitar el cursor bajo 
+           lcd.cls ();  // Borra la Pantalla 
+           . lcd printf ( "Guardados!" ); 
+           wait ( 2 );
+           lcd.cls ();
+           . lcd printf ( "INICIA EL PID" );
+           wait ( 2 );
+            // se imprimen los reseca del control de ************************************* ****
+           
+           i = sp / 999 ;
+           lcd.cls ();
+           lcd. printf ( "Er:% 2F." , m);
+           lcd.locate ( 8 , 0 );
+           lcd. printf ( "Yo:% 2F." , j);
+           lcd.locate ( 0 , 1 );
+           lcd. printf ( "SP:% d" , sp);
+           lcd.locate ( 8 , 1 );
+           lcd. printf ( "Co: 1f%." , h);
+           wait ( 2 );
+           
+           // 
+        while ( 1 ) {
+        
+            spi = sp * ( 3.3 / 999 );
+            
+        //wait(0.3); 
+              i = sp / 999 ;
+         if (i <= 1 ) {
+       
+        j = Ain;
+        ji = j * 3.3 ;
+        m = (SPI-ji);
+        // N = m * 100;
+        ap = kp * m;
+        ai = (Ki * m) + ai;
+        
+        ad = kd * (m-mv);
+        h = p + ai + ad;
+   
+        si  (h> 999 ) {
+        h = 999 ;
+                   }
+        si  (h < 0 ) {
+        h = 0 ;
+                   }
+                              
+        g = (h / 999 );
+                                                       
+        Aout = g;
+        esperar ( 0,22 );
+ 
+        
+        lcd.cls ();
+        lcd. printf ( "Er:% 2F." , m);
+        lcd.locate ( 8 , 0 );
+        lcd. printf ( "Yo:% 2F." , j);
+        lcd.locate ( 0 , 1 );
+        lcd. printf ( "SP:% d" , sp);
+        lcd.locate ( 8 , 1 );
+        lcd. printf ( "Co: 1f%." , h);
+        }
+ 
+ 
+        MV = m;
+    }  // Si bien            
+           //
+ 
+          } // Int main 
\ No newline at end of file

diff -r 000000000000 -r 9a67044d749e mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Sat Feb 25 14:21:11 2017 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/2e9cc70d1897
\ No newline at end of file