Se utilizo un encoder para un PID
Dependencies: QEI TextLCD mbed
main.cpp@0:9925883eec45, 2013-11-29 (annotated)
- Committer:
- xccifuentess
- Date:
- Fri Nov 29 16:14:49 2013 +0000
- Revision:
- 0:9925883eec45
Utilizacion del Encoder para un PID
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
xccifuentess | 0:9925883eec45 | 1 | #include "mbed.h" |
xccifuentess | 0:9925883eec45 | 2 | #include "TextLCD.h" |
xccifuentess | 0:9925883eec45 | 3 | #include "QEI.h" |
xccifuentess | 0:9925883eec45 | 4 | |
xccifuentess | 0:9925883eec45 | 5 | |
xccifuentess | 0:9925883eec45 | 6 | TextLCD lcd(PTB10, PTB11, PTE2, PTE3, PTE4, PTE5); // rs, e, d4-d7 |
xccifuentess | 0:9925883eec45 | 7 | QEI leftQei(PTA1, PTA2, NC, 624); |
xccifuentess | 0:9925883eec45 | 8 | |
xccifuentess | 0:9925883eec45 | 9 | AnalogIn Vin(PTC2); |
xccifuentess | 0:9925883eec45 | 10 | |
xccifuentess | 0:9925883eec45 | 11 | AnalogIn y(PTB0); //entrada análogica de la planta RC |
xccifuentess | 0:9925883eec45 | 12 | AnalogOut u(PTE30); |
xccifuentess | 0:9925883eec45 | 13 | |
xccifuentess | 0:9925883eec45 | 14 | DigitalOut l1(LED1); |
xccifuentess | 0:9925883eec45 | 15 | DigitalOut l2(LED2); |
xccifuentess | 0:9925883eec45 | 16 | DigitalOut l3(LED3); |
xccifuentess | 0:9925883eec45 | 17 | DigitalIn b3(PTD4); |
xccifuentess | 0:9925883eec45 | 18 | DigitalIn b4(PTC17); |
xccifuentess | 0:9925883eec45 | 19 | |
xccifuentess | 0:9925883eec45 | 20 | int spnum=0,kpnum=0,kinum=0,kdnum=0,k=1; |
xccifuentess | 0:9925883eec45 | 21 | int bandera; |
xccifuentess | 0:9925883eec45 | 22 | Timer t; |
xccifuentess | 0:9925883eec45 | 23 | float tiempo; |
xccifuentess | 0:9925883eec45 | 24 | |
xccifuentess | 0:9925883eec45 | 25 | //codigos movimiento del curzor |
xccifuentess | 0:9925883eec45 | 26 | |
xccifuentess | 0:9925883eec45 | 27 | //int C1=0x0E; // solo muestra el curzor |
xccifuentess | 0:9925883eec45 | 28 | int C2=0x18; // desplaza izquierda |
xccifuentess | 0:9925883eec45 | 29 | int C3=0x1A; // desplaza derecha |
xccifuentess | 0:9925883eec45 | 30 | int C4=0x0C; // quito cursor bajo |
xccifuentess | 0:9925883eec45 | 31 | |
xccifuentess | 0:9925883eec45 | 32 | int C1=0x0F; |
xccifuentess | 0:9925883eec45 | 33 | int err, med, yr, pid, ap, ai, ad, err_v, cycle,i; |
xccifuentess | 0:9925883eec45 | 34 | float pidn; |
xccifuentess | 0:9925883eec45 | 35 | int pos=1; |
xccifuentess | 0:9925883eec45 | 36 | //int spnum=500, kinum=2, kpnum=1, kdnum=0, pos=1; |
xccifuentess | 0:9925883eec45 | 37 | //int incremento=1,flagt=0; |
xccifuentess | 0:9925883eec45 | 38 | |
xccifuentess | 0:9925883eec45 | 39 | int main() |
xccifuentess | 0:9925883eec45 | 40 | { |
xccifuentess | 0:9925883eec45 | 41 | lcd.cls(); // Borrar Pantalla |
xccifuentess | 0:9925883eec45 | 42 | lcd.writeCommand(C1);//escribimos un comando segun el manual del modulo LCD |
xccifuentess | 0:9925883eec45 | 43 | //A continuación localizamos en el LCD los nombres de las variables del PID. |
xccifuentess | 0:9925883eec45 | 44 | lcd.locate(8,0); |
xccifuentess | 0:9925883eec45 | 45 | lcd.printf("Kp=%d",kpnum); |
xccifuentess | 0:9925883eec45 | 46 | lcd.locate(0,1); |
xccifuentess | 0:9925883eec45 | 47 | lcd.printf("Ki=%d",kinum); |
xccifuentess | 0:9925883eec45 | 48 | lcd.locate(8,1); |
xccifuentess | 0:9925883eec45 | 49 | lcd.printf("Kd=%d",kdnum); |
xccifuentess | 0:9925883eec45 | 50 | lcd.locate(0,0); |
xccifuentess | 0:9925883eec45 | 51 | lcd.printf("Sp=%d",spnum); |
xccifuentess | 0:9925883eec45 | 52 | |
xccifuentess | 0:9925883eec45 | 53 | while(1) |
xccifuentess | 0:9925883eec45 | 54 | { |
xccifuentess | 0:9925883eec45 | 55 | while(k==1) // k será la variable que nos localice en que posición del LCD nos encontramos. |
xccifuentess | 0:9925883eec45 | 56 | { |
xccifuentess | 0:9925883eec45 | 57 | spnum=leftQei.getPulses(); // Comando que permite aumentar o disminuir el valor de "SP" por medio del encoder. |
xccifuentess | 0:9925883eec45 | 58 | if (spnum>=0 & spnum<=999) //acotamos los valores de "SP" entre 0 y 999. |
xccifuentess | 0:9925883eec45 | 59 | { |
xccifuentess | 0:9925883eec45 | 60 | lcd.locate(3,0); |
xccifuentess | 0:9925883eec45 | 61 | lcd.printf(" "); |
xccifuentess | 0:9925883eec45 | 62 | lcd.locate(3,0); |
xccifuentess | 0:9925883eec45 | 63 | lcd.printf("%i",spnum); //imprime un número para "SP" |
xccifuentess | 0:9925883eec45 | 64 | wait(0.2); |
xccifuentess | 0:9925883eec45 | 65 | } |
xccifuentess | 0:9925883eec45 | 66 | if (!b3) //Al oprimir el pulsador del encoder, permita el cambio de posición desde "SP" a "KP" |
xccifuentess | 0:9925883eec45 | 67 | { |
xccifuentess | 0:9925883eec45 | 68 | k+=1; |
xccifuentess | 0:9925883eec45 | 69 | wait(0.25); |
xccifuentess | 0:9925883eec45 | 70 | lcd.locate(11,0); |
xccifuentess | 0:9925883eec45 | 71 | lcd.printf("%d",kpnum); |
xccifuentess | 0:9925883eec45 | 72 | } |
xccifuentess | 0:9925883eec45 | 73 | |
xccifuentess | 0:9925883eec45 | 74 | } |
xccifuentess | 0:9925883eec45 | 75 | |
xccifuentess | 0:9925883eec45 | 76 | while(k==2) // nos encontramos en la posición 2 (KP). |
xccifuentess | 0:9925883eec45 | 77 | { |
xccifuentess | 0:9925883eec45 | 78 | wait(0.2); |
xccifuentess | 0:9925883eec45 | 79 | kpnum=leftQei.getPulses()-spnum; |
xccifuentess | 0:9925883eec45 | 80 | if (kpnum>=0 & kpnum<=999) |
xccifuentess | 0:9925883eec45 | 81 | { |
xccifuentess | 0:9925883eec45 | 82 | lcd.locate(11,0); |
xccifuentess | 0:9925883eec45 | 83 | lcd.printf(" "); |
xccifuentess | 0:9925883eec45 | 84 | lcd.locate(11,0); |
xccifuentess | 0:9925883eec45 | 85 | lcd.printf("%i",kpnum); |
xccifuentess | 0:9925883eec45 | 86 | wait(0.2); |
xccifuentess | 0:9925883eec45 | 87 | } |
xccifuentess | 0:9925883eec45 | 88 | |
xccifuentess | 0:9925883eec45 | 89 | if (!b3) |
xccifuentess | 0:9925883eec45 | 90 | { |
xccifuentess | 0:9925883eec45 | 91 | kpnum=leftQei.getPulses(); |
xccifuentess | 0:9925883eec45 | 92 | k+=1; |
xccifuentess | 0:9925883eec45 | 93 | wait(0.25); |
xccifuentess | 0:9925883eec45 | 94 | lcd.locate(3,1); |
xccifuentess | 0:9925883eec45 | 95 | lcd.printf("%d",kinum); |
xccifuentess | 0:9925883eec45 | 96 | } |
xccifuentess | 0:9925883eec45 | 97 | } |
xccifuentess | 0:9925883eec45 | 98 | |
xccifuentess | 0:9925883eec45 | 99 | while(k==3) // nos encontramos en la posición 3 (KI). |
xccifuentess | 0:9925883eec45 | 100 | { |
xccifuentess | 0:9925883eec45 | 101 | wait(0.2); |
xccifuentess | 0:9925883eec45 | 102 | kinum=leftQei.getPulses()-kpnum; |
xccifuentess | 0:9925883eec45 | 103 | if (kinum>=0 & kinum<=999) |
xccifuentess | 0:9925883eec45 | 104 | { |
xccifuentess | 0:9925883eec45 | 105 | lcd.locate(3,1); |
xccifuentess | 0:9925883eec45 | 106 | lcd.printf(" "); |
xccifuentess | 0:9925883eec45 | 107 | lcd.locate(3,1); |
xccifuentess | 0:9925883eec45 | 108 | lcd.printf("%i",kinum); |
xccifuentess | 0:9925883eec45 | 109 | wait(0.2); |
xccifuentess | 0:9925883eec45 | 110 | } |
xccifuentess | 0:9925883eec45 | 111 | if (!b3) |
xccifuentess | 0:9925883eec45 | 112 | { |
xccifuentess | 0:9925883eec45 | 113 | kinum=leftQei.getPulses(); |
xccifuentess | 0:9925883eec45 | 114 | k+=1; |
xccifuentess | 0:9925883eec45 | 115 | wait(0.25); |
xccifuentess | 0:9925883eec45 | 116 | lcd.locate(11,1); |
xccifuentess | 0:9925883eec45 | 117 | lcd.printf("%d",kdnum); |
xccifuentess | 0:9925883eec45 | 118 | } |
xccifuentess | 0:9925883eec45 | 119 | } |
xccifuentess | 0:9925883eec45 | 120 | |
xccifuentess | 0:9925883eec45 | 121 | while(k==4)// nos encontramos en la posición 4 (KD). |
xccifuentess | 0:9925883eec45 | 122 | { |
xccifuentess | 0:9925883eec45 | 123 | kdnum=leftQei.getPulses()-kinum; |
xccifuentess | 0:9925883eec45 | 124 | if (kdnum>=0 & kdnum<=999) |
xccifuentess | 0:9925883eec45 | 125 | { |
xccifuentess | 0:9925883eec45 | 126 | lcd.locate(11,1); |
xccifuentess | 0:9925883eec45 | 127 | lcd.printf(" "); |
xccifuentess | 0:9925883eec45 | 128 | lcd.locate(11,1); |
xccifuentess | 0:9925883eec45 | 129 | lcd.printf("%i",kdnum); |
xccifuentess | 0:9925883eec45 | 130 | wait(0.2); |
xccifuentess | 0:9925883eec45 | 131 | } |
xccifuentess | 0:9925883eec45 | 132 | if (!b3) |
xccifuentess | 0:9925883eec45 | 133 | { |
xccifuentess | 0:9925883eec45 | 134 | k=1; |
xccifuentess | 0:9925883eec45 | 135 | wait(0.25); |
xccifuentess | 0:9925883eec45 | 136 | lcd.locate(3,0); |
xccifuentess | 0:9925883eec45 | 137 | lcd.printf("%d",spnum); |
xccifuentess | 0:9925883eec45 | 138 | } |
xccifuentess | 0:9925883eec45 | 139 | |
xccifuentess | 0:9925883eec45 | 140 | } |
xccifuentess | 0:9925883eec45 | 141 | |
xccifuentess | 0:9925883eec45 | 142 | |
xccifuentess | 0:9925883eec45 | 143 | if (b4) |
xccifuentess | 0:9925883eec45 | 144 | { |
xccifuentess | 0:9925883eec45 | 145 | break; //sale del bucle si pisan suiche4 |
xccifuentess | 0:9925883eec45 | 146 | } |
xccifuentess | 0:9925883eec45 | 147 | continue; |
xccifuentess | 0:9925883eec45 | 148 | } |
xccifuentess | 0:9925883eec45 | 149 | |
xccifuentess | 0:9925883eec45 | 150 | |
xccifuentess | 0:9925883eec45 | 151 | //Transicion |
xccifuentess | 0:9925883eec45 | 152 | |
xccifuentess | 0:9925883eec45 | 153 | lcd.writeCommand(C4);//escribimos un comando segun el manual del modulo LCD para quitar cursor bajo |
xccifuentess | 0:9925883eec45 | 154 | lcd.cls(); //borra la pantalla |
xccifuentess | 0:9925883eec45 | 155 | lcd.printf("GUARDADOS!"); |
xccifuentess | 0:9925883eec45 | 156 | wait(1); |
xccifuentess | 0:9925883eec45 | 157 | lcd.cls(); |
xccifuentess | 0:9925883eec45 | 158 | lcd.printf(" INICIA EL PID"); |
xccifuentess | 0:9925883eec45 | 159 | wait(1); |
xccifuentess | 0:9925883eec45 | 160 | // se imprimen los parches del control ***************************************** |
xccifuentess | 0:9925883eec45 | 161 | lcd.cls(); |
xccifuentess | 0:9925883eec45 | 162 | lcd.printf("Er=%d",err); |
xccifuentess | 0:9925883eec45 | 163 | lcd.locate(8,0); |
xccifuentess | 0:9925883eec45 | 164 | lcd.printf("Me=%d",med); |
xccifuentess | 0:9925883eec45 | 165 | lcd.locate(0,1); |
xccifuentess | 0:9925883eec45 | 166 | lcd.printf("Sp=%d",spnum); |
xccifuentess | 0:9925883eec45 | 167 | lcd.locate(8,1); |
xccifuentess | 0:9925883eec45 | 168 | lcd.printf("Co=%d",pid); |
xccifuentess | 0:9925883eec45 | 169 | wait(2); |
xccifuentess | 0:9925883eec45 | 170 | |
xccifuentess | 0:9925883eec45 | 171 | // CICLO PRINCIPAL CONTROLADOR PID |
xccifuentess | 0:9925883eec45 | 172 | bandera=0; |
xccifuentess | 0:9925883eec45 | 173 | while(1) |
xccifuentess | 0:9925883eec45 | 174 | { |
xccifuentess | 0:9925883eec45 | 175 | med=999*y.read(); //leer puerto analogo y asignar a med |
xccifuentess | 0:9925883eec45 | 176 | err = (spnum-med); //se calcula el error |
xccifuentess | 0:9925883eec45 | 177 | |
xccifuentess | 0:9925883eec45 | 178 | ap = kpnum*err; //se calcula la accion proporcinal |
xccifuentess | 0:9925883eec45 | 179 | |
xccifuentess | 0:9925883eec45 | 180 | // se verifica que la accion integral no sea muy grande |
xccifuentess | 0:9925883eec45 | 181 | if(ai<100) |
xccifuentess | 0:9925883eec45 | 182 | { |
xccifuentess | 0:9925883eec45 | 183 | ai =(kinum*err)+ai; //calculo de la integral del error |
xccifuentess | 0:9925883eec45 | 184 | } |
xccifuentess | 0:9925883eec45 | 185 | |
xccifuentess | 0:9925883eec45 | 186 | ad = kdnum*(err-err_v); //calculo de la accion derivativa |
xccifuentess | 0:9925883eec45 | 187 | |
xccifuentess | 0:9925883eec45 | 188 | pid = (ap+ai+ad); |
xccifuentess | 0:9925883eec45 | 189 | |
xccifuentess | 0:9925883eec45 | 190 | // se verifica que pid sea positivo ************************************** |
xccifuentess | 0:9925883eec45 | 191 | if(pid<=0) |
xccifuentess | 0:9925883eec45 | 192 | { |
xccifuentess | 0:9925883eec45 | 193 | pid=0; |
xccifuentess | 0:9925883eec45 | 194 | } |
xccifuentess | 0:9925883eec45 | 195 | |
xccifuentess | 0:9925883eec45 | 196 | // se verifica que pid sea menor o igual la valor maximo ***************** |
xccifuentess | 0:9925883eec45 | 197 | if (pid > 999) |
xccifuentess | 0:9925883eec45 | 198 | { |
xccifuentess | 0:9925883eec45 | 199 | pid=999; |
xccifuentess | 0:9925883eec45 | 200 | } |
xccifuentess | 0:9925883eec45 | 201 | |
xccifuentess | 0:9925883eec45 | 202 | // se actualizan las variables ******************************************* |
xccifuentess | 0:9925883eec45 | 203 | err_v = err; |
xccifuentess | 0:9925883eec45 | 204 | |
xccifuentess | 0:9925883eec45 | 205 | //se muestran las variables****************************************** |
xccifuentess | 0:9925883eec45 | 206 | if(bandera==0) |
xccifuentess | 0:9925883eec45 | 207 | { |
xccifuentess | 0:9925883eec45 | 208 | t.start(); |
xccifuentess | 0:9925883eec45 | 209 | bandera=1; |
xccifuentess | 0:9925883eec45 | 210 | } |
xccifuentess | 0:9925883eec45 | 211 | if(t>=0.3) |
xccifuentess | 0:9925883eec45 | 212 | { |
xccifuentess | 0:9925883eec45 | 213 | lcd.locate(3,0);lcd.printf(" "); |
xccifuentess | 0:9925883eec45 | 214 | lcd.locate(3,0);lcd.printf("%d",err); |
xccifuentess | 0:9925883eec45 | 215 | lcd.locate(11,0);lcd.printf(" "); |
xccifuentess | 0:9925883eec45 | 216 | lcd.locate(11,0);lcd.printf("%d",med); |
xccifuentess | 0:9925883eec45 | 217 | lcd.locate(3,1);lcd.printf(" "); |
xccifuentess | 0:9925883eec45 | 218 | lcd.locate(3,1);lcd.printf("%d",spnum); |
xccifuentess | 0:9925883eec45 | 219 | lcd.locate(11,1);lcd.printf(" "); |
xccifuentess | 0:9925883eec45 | 220 | lcd.locate(11,1);lcd.printf("%d",pid); |
xccifuentess | 0:9925883eec45 | 221 | bandera=0; |
xccifuentess | 0:9925883eec45 | 222 | t.reset(); |
xccifuentess | 0:9925883eec45 | 223 | } |
xccifuentess | 0:9925883eec45 | 224 | |
xccifuentess | 0:9925883eec45 | 225 | //Normalizacion de la salida |
xccifuentess | 0:9925883eec45 | 226 | pidn=pid/999; |
xccifuentess | 0:9925883eec45 | 227 | // se envia el valor pid a puerto analogico de salida (D/A) ************** |
xccifuentess | 0:9925883eec45 | 228 | u.write(pidn); |
xccifuentess | 0:9925883eec45 | 229 | // se repite el ciclo |
xccifuentess | 0:9925883eec45 | 230 | wait(0.005); |
xccifuentess | 0:9925883eec45 | 231 | } |
xccifuentess | 0:9925883eec45 | 232 | |
xccifuentess | 0:9925883eec45 | 233 | } |