Sebastian Zapata
controlador PID con encoder
Dependencies: DebouncedIn QEI TextLCD mbed
Revision 0:43669293f24e, committed 2015-11-13
- Comitter:
- szapataa
- Date:
- Fri Nov 13 14:10:06 2015 +0000
- Commit message:
- PID con encoder
Changed in this revision
diff -r 000000000000 -r 43669293f24e DebouncedIn.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/DebouncedIn.lib Fri Nov 13 14:10:06 2015 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/cmorab/code/DebouncedIn/#dc1131de43e8
diff -r 000000000000 -r 43669293f24e QEI.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/QEI.lib Fri Nov 13 14:10:06 2015 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/aberk/code/QEI/#5c2ad81551aa
diff -r 000000000000 -r 43669293f24e TextLCD.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/TextLCD.lib Fri Nov 13 14:10:06 2015 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/lcorralesc1/code/TextLCD/#0e0132807662
diff -r 000000000000 -r 43669293f24e main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Fri Nov 13 14:10:06 2015 +0000
@@ -0,0 +1,247 @@
+// PID con encoder y boton
+
+#include "mbed.h"
+#include "stdio.h"
+#include "TextLCD.h"
+#include "DebouncedIn.h"
+ #include "QEI.h"
+
+//Declaracion de entradas y salidas
+DebouncedIn Boton1(PTA1); //Boton para confirmar
+DebouncedIn Boton2(PTC9); //Boton para pasar
+
+//Configuracion encoder
+QEI wheel (PTD5, PTD0, NC, 100);
+
+
+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();
+ lcd.locate(0,0);
+ lcd.printf("PID_ENCODER");
+ 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){
+
+ Kp=Kp+wheel.getPulses();
+ wheel.reset();
+
+ if(Kp>=999){
+ Kp=999;
+ }
+ else if (Kp<=0){
+ Kp=0;
+ }
+
+ lcd.locate(0,0);
+ lcd.printf("|Kp=%d ",Kp);
+
+ if(Boton2.falling()){
+ goto set_Ki;
+ }
+
+ if(Boton1.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){
+
+ Ki=Ki+wheel.getPulses();
+ wheel.reset();
+
+ if(Ki>=999){
+ Ki=999;
+ }
+ else if (Ki<=0){
+ Ki=0;
+ }
+
+ lcd.locate(8,0);
+ lcd.printf("|Ki=%d ",Ki);
+
+ if(Boton2.falling()){
+ goto set_Kd;
+ }
+
+ if(Boton1.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){
+
+ Kd=Kd+wheel.getPulses();
+ wheel.reset();
+
+ if(Kd>=999){
+ Kd=999;
+ }
+ else if (Kd<=0){
+ Kd=0;
+ }
+
+ lcd.locate(0,1);
+ lcd.printf("|Kd=%d ",Kd);
+
+ if(Boton2.falling()){
+ goto set_Sp;
+ }
+
+ if(Boton1.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){
+
+ Sp=Sp+wheel.getPulses();
+ wheel.reset();
+
+ if(Sp>=330){
+ Sp=330;
+ }
+ else if (Sp<=0){
+ Sp=0;
+ }
+
+ lcd.locate(8,1);
+ lcd.printf("|Sp=%d ",Sp);
+
+ if(Boton2.falling()){
+ goto set_Kp;
+ }
+
+ if(Boton1.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
diff -r 000000000000 -r 43669293f24e mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Fri Nov 13 14:10:06 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/9296ab0bfc11 \ No newline at end of file