Sebastian Zapata / Mbed 2 deprecated Tarea3_PID_Botnes

Controlador PID_Botones

Dependencies:   DebouncedIn TextLCD mbed

Files at this revision

API Documentation at this revision

Revision 0:ca187d501f37, committed 2015-11-13

Comitter:
szapataa
Date:
Fri Nov 13 14:07:19 2015 +0000
Commit message:
Controlador PID con botones

Changed in this revision

DebouncedIn.lib Show annotated file Show diff for this revision Revisions of this file
TextLCD.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file
mbed.bld Show annotated file Show diff for this revision Revisions of this file 
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/DebouncedIn.lib	Fri Nov 13 14:07:19 2015 +0000
@@ -0,0 +1,1 @@
+http://developer.mbed.org/users/cmorab/code/DebouncedIn/#dc1131de43e8

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/TextLCD.lib	Fri Nov 13 14:07:19 2015 +0000
@@ -0,0 +1,1 @@
+http://developer.mbed.org/users/lcorralesc1/code/TextLCD/#0e0132807662

--- /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);
+    }
+}
+ 
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Fri Nov 13 14:07:19 2015 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/9296ab0bfc11
\ No newline at end of file