Walter Giraldo / Mbed 2 deprecated pid_teclas_sonidos_gregorioywalter

PID en pantalla LCD con botones incremental, decremental y cambiador de variable (Sp, Kp, Ki, Kd) que tambien suenan con diferente frecuencia cuando se pulsan.

Dependencies:   Debounced TextLCD mbed

Fork of pid_teclas by Gustavo Ramirez

main.cpp@1:69f927a70859, 2014-04-02 (annotated)

Committer:
walterg
Date:
Wed Apr 02 17:37:10 2014 +0000
Revision:
1:69f927a70859
Parent:
0:9aa80672eb3d 
This program use three buttons to increment, decrement and change of variable on a LCD, wich is the visual interface of a PID controller that show Sp, Kp, Ki, Kd. Aditionally, each button send a different PWM signal to make sound a little speaker.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
lcorralesc1 0:9aa80672eb3d 1 #include "mbed.h"
lcorralesc1 0:9aa80672eb3d 2 #include "DebouncedIn.h"
lcorralesc1 0:9aa80672eb3d 3 #include "TextLCD.h"
lcorralesc1 0:9aa80672eb3d 4
walterg 1:69f927a70859 5 float Tdo=1/2093.005;
walterg 1:69f927a70859 6 float Pdo=Tdo/2;
walterg 1:69f927a70859 7 float Tre=1/2637.02;
walterg 1:69f927a70859 8 float Pre=Tre/2;
walterg 1:69f927a70859 9 float Tmi=1/3135.963;
walterg 1:69f927a70859 10 float Pmi=Tmi/2;
walterg 1:69f927a70859 11
walterg 1:69f927a70859 12
lcorralesc1 0:9aa80672eb3d 13 TextLCD lcd(PTB10, PTB11, PTE2, PTE3, PTE4, PTE5); // rs, e, d4-d7
walterg 1:69f927a70859 14
lcorralesc1 0:9aa80672eb3d 15 DigitalOut led1(LED1);
lcorralesc1 0:9aa80672eb3d 16 DigitalOut led2(LED2);
lcorralesc1 0:9aa80672eb3d 17 DigitalOut led3(LED3);
lcorralesc1 0:9aa80672eb3d 18 DebouncedIn button1(PTC12);
lcorralesc1 0:9aa80672eb3d 19 DebouncedIn button2(PTC13);
lcorralesc1 0:9aa80672eb3d 20 DebouncedIn button3(PTC16);
lcorralesc1 0:9aa80672eb3d 21
walterg 1:69f927a70859 22 //DigitalOut Vparlante(PTC5);
walterg 1:69f927a70859 23 PwmOut pw(PTA12);
walterg 1:69f927a70859 24
lcorralesc1 0:9aa80672eb3d 25 int C1=0x0F;
lcorralesc1 0:9aa80672eb3d 26 int sp=0,kp=0,kd=0,ki=0,p=1;
lcorralesc1 0:9aa80672eb3d 27 int main()
lcorralesc1 0:9aa80672eb3d 28 {
lcorralesc1 0:9aa80672eb3d 29 lcd.cls();
lcorralesc1 0:9aa80672eb3d 30 lcd.writeCommand(C1);//escribimos un comando segun el manual del modulo LCD
lcorralesc1 0:9aa80672eb3d 31 lcd.locate(8,0);
lcorralesc1 0:9aa80672eb3d 32 lcd.printf("kp=%d", kp);
lcorralesc1 0:9aa80672eb3d 33 lcd.locate(0,1);
lcorralesc1 0:9aa80672eb3d 34 lcd.printf("Ki=%d", ki);
lcorralesc1 0:9aa80672eb3d 35 lcd.locate(8,1);
lcorralesc1 0:9aa80672eb3d 36 lcd.printf("Kd=%d", kd);
lcorralesc1 0:9aa80672eb3d 37 lcd.locate(0,0);
lcorralesc1 0:9aa80672eb3d 38 lcd.printf("Sp=%d", sp);
walterg 1:69f927a70859 39
walterg 1:69f927a70859 40
lcorralesc1 0:9aa80672eb3d 41 while(1)
lcorralesc1 0:9aa80672eb3d 42 {
lcorralesc1 0:9aa80672eb3d 43 if (button1.falling())
lcorralesc1 0:9aa80672eb3d 44 {
walterg 1:69f927a70859 45 pw.period(Tdo);
walterg 1:69f927a70859 46 pw.pulsewidth(Pdo);
walterg 1:69f927a70859 47 wait(0.1);
walterg 1:69f927a70859 48 pw=0;
walterg 1:69f927a70859 49
lcorralesc1 0:9aa80672eb3d 50 led1 =!led1;
lcorralesc1 0:9aa80672eb3d 51 if (p==1)
lcorralesc1 0:9aa80672eb3d 52 {
lcorralesc1 0:9aa80672eb3d 53 ++sp;
lcorralesc1 0:9aa80672eb3d 54 lcd.locate(3,0);
lcorralesc1 0:9aa80672eb3d 55 lcd.printf(" ");
lcorralesc1 0:9aa80672eb3d 56 lcd.locate(3,0);
lcorralesc1 0:9aa80672eb3d 57 lcd.printf("%d", sp);
lcorralesc1 0:9aa80672eb3d 58 }
lcorralesc1 0:9aa80672eb3d 59 else if (p==2)
lcorralesc1 0:9aa80672eb3d 60 {
lcorralesc1 0:9aa80672eb3d 61 ++kp;
lcorralesc1 0:9aa80672eb3d 62 lcd.locate(11,0);
lcorralesc1 0:9aa80672eb3d 63 lcd.printf(" ");
lcorralesc1 0:9aa80672eb3d 64 lcd.locate(11,0);
lcorralesc1 0:9aa80672eb3d 65 lcd.printf("%d", kp);
lcorralesc1 0:9aa80672eb3d 66 }
lcorralesc1 0:9aa80672eb3d 67 else if (p==3)
lcorralesc1 0:9aa80672eb3d 68 {
lcorralesc1 0:9aa80672eb3d 69 ++ki;
lcorralesc1 0:9aa80672eb3d 70 lcd.locate(3,1);
lcorralesc1 0:9aa80672eb3d 71 lcd.printf(" ");
lcorralesc1 0:9aa80672eb3d 72 lcd.locate(3,1);
lcorralesc1 0:9aa80672eb3d 73 lcd.printf("%d", ki);
lcorralesc1 0:9aa80672eb3d 74 }
lcorralesc1 0:9aa80672eb3d 75 else if (p==4)
lcorralesc1 0:9aa80672eb3d 76 {
lcorralesc1 0:9aa80672eb3d 77 ++kd;
lcorralesc1 0:9aa80672eb3d 78 lcd.locate(11,1);
lcorralesc1 0:9aa80672eb3d 79 lcd.printf(" ");
lcorralesc1 0:9aa80672eb3d 80 lcd.locate(11,1);
lcorralesc1 0:9aa80672eb3d 81 lcd.printf("%d", kd);
lcorralesc1 0:9aa80672eb3d 82 }
lcorralesc1 0:9aa80672eb3d 83 }
lcorralesc1 0:9aa80672eb3d 84 if (button2.falling())
lcorralesc1 0:9aa80672eb3d 85 {
walterg 1:69f927a70859 86 pw.period(Tre);
walterg 1:69f927a70859 87 pw.pulsewidth(Pre);
walterg 1:69f927a70859 88 wait(0.1);
walterg 1:69f927a70859 89 pw=0;
walterg 1:69f927a70859 90
lcorralesc1 0:9aa80672eb3d 91 led2 =!led2;
lcorralesc1 0:9aa80672eb3d 92 if (p==1)
lcorralesc1 0:9aa80672eb3d 93 {
lcorralesc1 0:9aa80672eb3d 94 if (sp==0) // no mostrar nada
lcorralesc1 0:9aa80672eb3d 95 {
lcorralesc1 0:9aa80672eb3d 96 }
lcorralesc1 0:9aa80672eb3d 97 else
lcorralesc1 0:9aa80672eb3d 98 {
lcorralesc1 0:9aa80672eb3d 99 --sp;
lcorralesc1 0:9aa80672eb3d 100 lcd.locate(3,0);
lcorralesc1 0:9aa80672eb3d 101 lcd.printf(" ");
lcorralesc1 0:9aa80672eb3d 102 lcd.locate(3,0);
lcorralesc1 0:9aa80672eb3d 103 lcd.printf("%d", sp);
lcorralesc1 0:9aa80672eb3d 104 }
lcorralesc1 0:9aa80672eb3d 105 }
lcorralesc1 0:9aa80672eb3d 106 if (p==2)
lcorralesc1 0:9aa80672eb3d 107 {
lcorralesc1 0:9aa80672eb3d 108 if (kp==0) // no mostrar nada
lcorralesc1 0:9aa80672eb3d 109 {
lcorralesc1 0:9aa80672eb3d 110 }
lcorralesc1 0:9aa80672eb3d 111 else
lcorralesc1 0:9aa80672eb3d 112 {
lcorralesc1 0:9aa80672eb3d 113 --kp;
lcorralesc1 0:9aa80672eb3d 114 lcd.locate(11,0);
lcorralesc1 0:9aa80672eb3d 115 lcd.printf(" ");
lcorralesc1 0:9aa80672eb3d 116 lcd.locate(11,0);
lcorralesc1 0:9aa80672eb3d 117 lcd.printf("%d", kp);
lcorralesc1 0:9aa80672eb3d 118 }
lcorralesc1 0:9aa80672eb3d 119 }
lcorralesc1 0:9aa80672eb3d 120 if (p==3)
lcorralesc1 0:9aa80672eb3d 121 {
lcorralesc1 0:9aa80672eb3d 122 if (ki==0) // no mostrar nada
lcorralesc1 0:9aa80672eb3d 123 {
lcorralesc1 0:9aa80672eb3d 124 }
lcorralesc1 0:9aa80672eb3d 125 else
lcorralesc1 0:9aa80672eb3d 126 {
lcorralesc1 0:9aa80672eb3d 127 --ki;
lcorralesc1 0:9aa80672eb3d 128 lcd.locate(3,1);
lcorralesc1 0:9aa80672eb3d 129 lcd.printf(" ");
lcorralesc1 0:9aa80672eb3d 130 lcd.locate(3,1);
lcorralesc1 0:9aa80672eb3d 131 lcd.printf("%d", ki);
lcorralesc1 0:9aa80672eb3d 132 }
lcorralesc1 0:9aa80672eb3d 133 }
lcorralesc1 0:9aa80672eb3d 134 if (p==4)
lcorralesc1 0:9aa80672eb3d 135 {
lcorralesc1 0:9aa80672eb3d 136 if (kd==0) // no mostrar nada
lcorralesc1 0:9aa80672eb3d 137 {
lcorralesc1 0:9aa80672eb3d 138 }
lcorralesc1 0:9aa80672eb3d 139 else
lcorralesc1 0:9aa80672eb3d 140 {
lcorralesc1 0:9aa80672eb3d 141 --kd;
lcorralesc1 0:9aa80672eb3d 142 lcd.locate(11,1);
lcorralesc1 0:9aa80672eb3d 143 lcd.printf(" ");
lcorralesc1 0:9aa80672eb3d 144 lcd.locate(11,1);
lcorralesc1 0:9aa80672eb3d 145 lcd.printf("%d", kd);
lcorralesc1 0:9aa80672eb3d 146 }
lcorralesc1 0:9aa80672eb3d 147 }
lcorralesc1 0:9aa80672eb3d 148 }
lcorralesc1 0:9aa80672eb3d 149 if (button3.falling())
lcorralesc1 0:9aa80672eb3d 150 {
walterg 1:69f927a70859 151
walterg 1:69f927a70859 152 pw.period(Tmi);
walterg 1:69f927a70859 153 pw.pulsewidth(Pmi);
walterg 1:69f927a70859 154 wait(0.1);
walterg 1:69f927a70859 155 pw=0;
walterg 1:69f927a70859 156
lcorralesc1 0:9aa80672eb3d 157 led3 =!led3;
lcorralesc1 0:9aa80672eb3d 158 if (p==1)
lcorralesc1 0:9aa80672eb3d 159 {
lcorralesc1 0:9aa80672eb3d 160 ++p;
lcorralesc1 0:9aa80672eb3d 161 lcd.locate(11,0);
lcorralesc1 0:9aa80672eb3d 162 lcd.printf("%d", kp);
lcorralesc1 0:9aa80672eb3d 163
lcorralesc1 0:9aa80672eb3d 164
lcorralesc1 0:9aa80672eb3d 165 }
lcorralesc1 0:9aa80672eb3d 166 else if (p==2)
lcorralesc1 0:9aa80672eb3d 167 {
lcorralesc1 0:9aa80672eb3d 168 ++p;
lcorralesc1 0:9aa80672eb3d 169 lcd.locate(3,1);
lcorralesc1 0:9aa80672eb3d 170 lcd.printf("%d", ki);
lcorralesc1 0:9aa80672eb3d 171 lcd.locate(3,1);
lcorralesc1 0:9aa80672eb3d 172
lcorralesc1 0:9aa80672eb3d 173 }
lcorralesc1 0:9aa80672eb3d 174 else if (p==3)
lcorralesc1 0:9aa80672eb3d 175 {
lcorralesc1 0:9aa80672eb3d 176 ++p;
lcorralesc1 0:9aa80672eb3d 177 lcd.locate(11,1);
lcorralesc1 0:9aa80672eb3d 178 lcd.printf("%d", kd);
lcorralesc1 0:9aa80672eb3d 179
lcorralesc1 0:9aa80672eb3d 180
lcorralesc1 0:9aa80672eb3d 181 }
lcorralesc1 0:9aa80672eb3d 182 else if (p==4)
lcorralesc1 0:9aa80672eb3d 183 {
lcorralesc1 0:9aa80672eb3d 184 p=1;
lcorralesc1 0:9aa80672eb3d 185 lcd.locate(3,0);
lcorralesc1 0:9aa80672eb3d 186 lcd.printf("%d", sp);
lcorralesc1 0:9aa80672eb3d 187
lcorralesc1 0:9aa80672eb3d 188
lcorralesc1 0:9aa80672eb3d 189 }
lcorralesc1 0:9aa80672eb3d 190 }
lcorralesc1 0:9aa80672eb3d 191 }
walterg 1:69f927a70859 192 }