Sebastian Zapata
Controlador PID_Botones
Dependencies: DebouncedIn TextLCD mbed
Diff: main.cpp
- Revision:
- 0:ca187d501f37
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Fri Nov 13 14:07:19 2015 +0000
@@ -0,0 +1,376 @@
+// PID con botones
+
+#include "mbed.h"
+#include "stdio.h"
+#include "TextLCD.h"
+#include "DebouncedIn.h"
+
+//Declaracion de entradas y salidas
+DebouncedIn Boton1(PTA1); //Seleccionar
+DebouncedIn Boton2(PTA2); //Aumentar
+DebouncedIn Boton3(PTD4); //Disminuir
+DebouncedIn Boton4(PTA12); //Confirmar e iniciar
+
+PwmOut control(PTE29);
+AnalogIn vsal(PTB0);
+
+TextLCD lcd(PTB8,PTB9,PTB10,PTB11,PTE2,PTE3); // rs, e, d4-d7
+
+//codigos movimiento del cursor LCD
+int C2=0x18; // desplaza izquierda
+int C3=0x1A; // desplaza derecha
+int C4=0x0C; // quito cursor bajo
+int C1=0x0F; // solo muestra el cursor
+
+int Kp=0,Ki=0,Kd=0,Sp=0,p,i;
+float rT,eT,iT,dT,yT,uT,iT0=0,eT0=0,iT_1=0,eT_1=0,spf=0;
+Timer tu;
+Timer td;
+
+int main() {
+ lcd.cls();
+ //PRESENTACIÓN
+ lcd.locate(0,0);
+ lcd.printf("PID_BOTONES");
+ wait(1);
+ lcd.cls();
+ lcd.locate(0,0);
+ lcd.printf("Omar Torres");
+ lcd.locate(0,1);
+ lcd.printf("Sebastian Zapata");
+ wait(2);
+ lcd.cls();
+
+ //comando basado en el manual del LCD
+ lcd.locate(1,0);
+ lcd.printf("Kp=%d",Kp);
+ lcd.locate(9,0);
+ lcd.printf("Ki%d=",Ki);
+ lcd.locate(1,1);
+ lcd.printf("Kd=%d",Kd);
+ lcd.locate(9,1);
+ lcd.printf("Sp=%d",Sp);
+
+ set_Kp:
+ lcd.cls();
+ lcd.locate(0,0);
+ lcd.printf("|Kp= ");
+
+ lcd.locate(9,0);
+ lcd.printf("Ki=%d",Ki);
+ lcd.locate(1,1);
+ lcd.printf("Kd=%d",Kd);
+ lcd.locate(9,1);
+ lcd.printf("Sp=%d",Sp);
+
+ while(1){
+ if(Boton2.falling()){
+ Kp++;
+ tu.start();
+ }
+ //AUMENTO de 10 en 10
+ if(Boton2.rising()){
+ tu.stop();
+ tu.reset();
+ }
+ if(tu.read()>=2.0 && tu.read()<4.0){
+ Kp=Kp+10;
+ wait(0.3);
+ }
+ else if(tu.read()>=4.0){
+ Kp=Kp+100;
+ wait(0.3);
+ }
+ //--
+ if(Boton3.falling()){
+ Kp--;
+ td.start();
+ }
+ //DISMINUYE de 10 en 10
+ if(Boton3.rising()){
+ td.stop();
+ td.reset();
+ }
+ if(td.read()>=2.0 && td.read()<4.0){
+ Kp=Kp-10;
+ wait(0.3);
+ }
+ else if(td.read()>=4.0){
+ Kp=Kp-100;
+ wait(0.3);
+ }
+ //--
+
+ if(Kp>=999){
+ Kp=999;
+ }
+ else if (Kp<=0){
+ Kp=0;
+ }
+
+ lcd.locate(0,0);
+ lcd.printf("|Kp=%d ",Kp);
+
+ if(Boton1.falling()){
+ goto set_Ki;
+ }
+
+ if(Boton4.falling()){
+ goto PID;
+ }
+ }
+
+ set_Ki:
+
+ lcd.cls();
+ lcd.locate(8,0);
+ lcd.printf("|Ki= ");
+
+ lcd.locate(1,0);
+ lcd.printf("Kp=%d",Kp);
+ lcd.locate(1,1);
+ lcd.printf("Kd=%d",Kd);
+ lcd.locate(9,1);
+ lcd.printf("Sp=%d",Sp);
+
+ //Ki=0;
+ while(1){
+ if(Boton2.falling()){
+ Ki++;
+ tu.start();
+ }
+ //AUMENTO de 10 en 10
+ if(Boton2.rising()){
+ tu.stop();
+ tu.reset();
+ }
+ if(tu.read()>=2.0 && tu.read()<4.0){
+ Ki=Ki+10;
+ wait(0.3);
+ }
+ else if(tu.read()>=4.0){
+ Ki=Ki+100;
+ wait(0.3);
+ }
+ //--
+ if(Boton3.falling()){
+ Ki--;
+ td.start();
+ }
+ //DISMINUYE de 10 en 10
+ if(Boton3.rising()){
+ td.stop();
+ td.reset();
+ }
+ if(td.read()>=2.0 && td.read()<4.0){
+ Ki=Ki-10;
+ wait(0.3);
+ }
+ else if(td.read()>=4.0){
+ Ki=Ki-100;
+ wait(0.3);
+ }
+ //--
+ if(Ki>=999){
+ Ki=999;
+ }
+ else if (Ki<=0){
+ Ki=0;
+ }
+
+ lcd.locate(8,0);
+ lcd.printf("|Ki=%d ",Ki);
+
+ if(Boton1.falling()){
+ goto set_Kd;
+ }
+
+ if(Boton4.falling()){
+ goto PID;
+ }
+ }
+
+ set_Kd:
+
+ lcd.cls();
+ lcd.locate(0,1);
+ lcd.printf("|Kd= ");
+
+ lcd.locate(1,0);
+ lcd.printf("Kp=%d",Kp);
+ lcd.locate(9,0);
+ lcd.printf("Ki=%d",Ki);
+ lcd.locate(9,1);
+ lcd.printf("Sp=%d",Sp);
+
+ //Kd=0;
+ while(1){
+
+ if(Boton2.falling()){
+ Kd++;
+ tu.start();
+ }
+ //AUMENTO de 10 en 10
+ if(Boton2.rising()){
+ tu.stop();
+ tu.reset();
+ }
+ if(tu.read()>=2.0 && tu.read()<4.0){
+ Kd=Kd+10;
+ wait(0.3);
+ }
+ else if(tu.read()>=4.0){
+ Kd=Kd+100;
+ wait(0.3);
+ }
+ //--
+ if(Boton3.falling()){
+ Kd--;
+ td.start();
+ }
+ //DISMINUYE de 10 en 10
+ if(Boton3.rising()){
+ td.stop();
+ td.reset();
+ }
+ if(td.read()>=2.0 && td.read()<4.0){
+ Kd=Kd-10;
+ wait(0.3);
+ }
+ else if(td.read()>=4.0){
+ Kd=Kd-100;
+ wait(0.3);
+ }
+ //--
+
+ if(Kd>=999){
+ Kd=999;
+ }
+ else if (Kd<=0){
+ Kd=0;
+ }
+
+ lcd.locate(0,1);
+ lcd.printf("|Kd=%d ",Kd);
+
+ if(Boton1.falling()){
+ goto set_Sp;
+ }
+
+ if(Boton4.falling()){
+ goto PID;
+ }
+ }
+
+ set_Sp:
+
+ lcd.cls();
+ lcd.locate(8,1);
+ lcd.printf("|Sp= ");
+
+ lcd.locate(1,0);
+ lcd.printf("Kp=%d",Kp);
+ lcd.locate(9,0);
+ lcd.printf("Ki=%d",Ki);
+ lcd.locate(1,1);
+ lcd.printf("Kd=%d",Kd);
+
+ //Sp=0;
+ while(1){
+
+ if(Boton2.falling()){
+ Sp++;
+ tu.start();
+ }
+ //AUMENTO de 10 en 10
+ if(Boton2.rising()){
+ tu.stop();
+ tu.reset();
+ }
+ if(tu.read()>=2.0 && tu.read()<4.0){
+ Sp=Sp+10;
+ wait(0.3);
+ }
+ else if(tu.read()>=4.0){
+ Sp=Sp+100;
+ wait(0.3);
+ }
+ //--
+ if(Boton3.falling()){
+ Sp--;
+ td.start();
+ }
+ //DISMINUYE de 10 en 10
+ if(Boton3.rising()){
+ td.stop();
+ td.reset();
+ }
+ if(td.read()>=2.0 && td.read()<4.0){
+ Sp=Sp-10;
+ wait(0.3);
+ }
+ else if(td.read()>=4.0){
+ Sp=Sp-100;
+ wait(0.3);
+ }
+ //--
+ if(Sp>=330){
+ Sp=330;
+ }
+ else if (Sp<=0){
+ Sp=0;
+ }
+
+ lcd.locate(8,1);
+ lcd.printf("|Sp=%d ",Sp);
+
+ if(Boton1.falling()){
+ goto set_Kp;
+ }
+
+ if(Boton4.falling()){
+ goto PID;
+ }
+ }
+
+ PID:
+ lcd.cls();
+
+ lcd.locate(0,0);
+ lcd.printf("Guardando..");
+ wait(0.6);
+ lcd.cls();
+ lcd.locate(0,0);
+ lcd.printf("Guardando....");
+ wait(0.6);
+ lcd.cls();
+ lcd.locate(0,0);
+ lcd.printf("Guardando......");
+ wait(0.6);
+ lcd.cls();
+
+ spf=(float)Sp/100; //convirtiendo de decivoltios a voltios
+ while(1){
+
+ yT=vsal.read()*3.3;
+ eT=spf-yT;
+ iT=Ki*eT+iT0; //Accion Integral
+ dT=Kd*(eT-eT0); //Accion Derivativa
+ uT=iT+Kp*eT+dT;
+ if (uT>3.3) { //Salida PID si es mayor que el MAX
+ uT=3.3;}
+ else if (uT<0){ //Salida PID si es menor que el MIN
+ uT=0;
+ }
+ iT0=iT; //Guarda las variables
+ eT0=eT;
+ control=(float)uT/3.3;
+
+ lcd.locate(0,0);
+ lcd.printf("Err=%.2f ",eT);
+ lcd.locate(0,1);
+ lcd.printf("Sal=%.2f",yT);
+ wait(0.2);
+ }
+}
+
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