Mauricio Peña
Cuarta Tarea
Dependencies: Debounced QEI TextLCD11 mbed
Revision 0:fcae7980d3cf, committed 2013-11-10
- Comitter:
- mandres7
- Date:
- Sun Nov 10 21:41:22 2013 +0000
- Commit message:
- Cuarta tarea procesadores
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Debounced.lib Sun Nov 10 21:41:22 2013 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/WarwickRacing/code/Debounced/#8992c13bbb9b
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/QEI.lib Sun Nov 10 21:41:22 2013 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/aberk/code/QEI/#5c2ad81551aa
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/TextLCD.lib Sun Nov 10 21:41:22 2013 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mandres7/code/TextLCD11/#a4a7576c3795
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Sun Nov 10 21:41:22 2013 +0000
@@ -0,0 +1,240 @@
+#include "mbed.h"
+#include "TextLCD.h"
+#include "DebouncedIn.h"
+#include "QEI.h"
+
+TextLCD lcd(PTC10, PTC11, PTC12, PTC13, PTC16, PTC17); // rs, e, d4-d7.. Nota: No se quiere función de lectura, luego ese puerto a tierra.
+//lectura=1, escritura=0
+QEI leftQei(PTD6, PTD7, NC, 624);
+//Encoder Sp, Kp, Ki, Kd
+PwmOut rled(LED_GREEN);
+
+DebouncedIn next(PTE5);
+AnalogIn Ain(PTC2);
+AnalogOut Aout(PTE30);
+
+int C1=0x0F;
+int i,j,k,l;
+float ap,ai,ad;
+
+float p; // set point
+float s=0; // salida planta
+float h=0; // entrada planta
+float m=0; // Error
+float mv=0;
+float g=0;
+float x=0;
+
+int main() {
+
+int c;
+c=0;
+
+lcd.cls();
+lcd.locate(0,0);
+lcd.printf("sp:%d",i);
+lcd.locate(8,0);
+lcd.printf("kp:%d",j);
+lcd.locate(0,1);
+lcd.printf("ki:%d",k);
+lcd.locate(8,1);
+lcd.printf("kd:%d",l);
+
+//SP
+
+while (1){
+
+if (next.falling()){
+ c++;
+ }
+
+ //Salto a SP
+ if (c==0){
+
+ lcd.locate(3,0);
+ lcd.putc(0xFE);
+ lcd.writeCommand(C1);
+ lcd.locate(3,0);
+ lcd.printf("%d",i);
+
+ while(c==0){
+
+ //espacio de trabajo
+
+ i=leftQei.getPulses();
+ //
+
+
+ lcd.locate(3,0);
+ lcd.printf("%i",leftQei.getPulses());
+ wait(0.2);
+
+
+ //fin espacio de trabajo
+
+ if(next.falling()){
+ c++;
+ }
+ }
+ }
+
+
+ //Salto a Kp
+ if (c==1){
+
+ lcd.locate(11,0);
+ lcd.putc(0xFE);
+ lcd.writeCommand(C1);
+ lcd.locate(11,0);
+ lcd.printf("%d",j);
+
+ while(c==1){
+
+ //Work space
+
+ j=leftQei.getPulses();
+
+ //
+
+ lcd.locate(11,0);
+ lcd.printf("%i",leftQei.getPulses());
+ wait(0.2);
+
+ //End work space
+
+ if(next.falling()){
+ c++;
+ }
+ }
+ }
+
+ //Salto a Kp
+ if (c==2){
+
+ lcd.locate(3,1);
+ lcd.putc(0xFE);
+ lcd.writeCommand(C1);
+ lcd.locate(3,1);
+ lcd.printf("%d",k);
+
+ while(c==2){
+
+ //Work space
+
+ k=leftQei.getPulses();
+
+ //
+
+ lcd.locate(3,1);
+ lcd.printf("%i",leftQei.getPulses());
+ wait(0.2);
+
+ //End work space
+
+ if(next.falling()){
+ c++;
+ }
+ }
+ }
+
+ //Salto a Kp
+ if (c==3){
+
+ lcd.locate(11,1);
+ lcd.putc(0xFE);
+ lcd.writeCommand(C1);
+ lcd.locate(11,1);
+ lcd.printf("%d",l);
+
+ while(c==3){
+
+ //Work space
+
+ l=leftQei.getPulses();
+
+ //
+
+ lcd.locate(11,1);
+ lcd.printf("%i",leftQei.getPulses());
+ wait(0.2);
+
+
+ //End work space
+
+ if(next.falling()){
+ c++;
+ }
+ }
+ }
+
+ //
+ if(c==4 || c>4){
+ c=0;
+ }
+
+}
+
+//Borrar
+
+lcd.cls();
+lcd.printf("Er%d",m);
+lcd.locate(8,0);
+lcd.printf("Me%d",s);
+lcd.locate(0,1);
+lcd.printf("Sp%d",i);
+lcd.locate(8,1);
+lcd.printf("Co%d",x);
+wait(5);
+
+//Ahora empieza el PID
+
+p=i/100;
+
+while(1) {
+ wait(0.3);
+
+ if(p<0.999){
+
+ s=Ain;
+ m=(p-s);
+ //n=m*100;
+ ap=j*m;
+ ai=(k*m)+ai;
+
+ if (ai>999){
+ ai=998;
+ }
+
+ ad=l*(m-mv);
+ h=ap+ai+ad;
+ x=h/100;
+ g=(h*3.3/100);
+
+ if (h<0){
+ h=0;
+ }
+
+
+
+ Aout=g;
+ wait(0.22);
+
+
+ lcd.cls();
+ lcd.printf("Er:%.3f",m);
+ lcd.locate(8,0);
+ lcd.printf("Me:%.3f",s);
+ lcd.locate(0,1);
+ lcd.printf("Sp:%.2f",p);
+ lcd.locate(8,1);
+ lcd.printf("Co:%.3f",x);
+ }
+
+
+ mv=m;
+
+ }
+}
+
+
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Sun Nov 10 21:41:22 2013 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/a9913a65894f \ No newline at end of file