Mauricio Peña
Teclado para control PID
Dependencies: Debounced FPointer TextLCD11 keypad mbed
Revision 0:17aecb7bba09, committed 2013-12-04
- Comitter:
- mandres7
- Date:
- Wed Dec 04 19:29:51 2013 +0000
- Child:
- 1:f578cd888e48
- Commit message:
- Tarea Numero 5
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Debounced.lib Wed Dec 04 19:29:51 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/FPointer.lib Wed Dec 04 19:29:51 2013 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/AjK/code/FPointer/#56e309e76c19
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/TextLCD.lib Wed Dec 04 19:29:51 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/keypad.lib Wed Dec 04 19:29:51 2013 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/yoonghm/code/keypad/#e48ba5b4c497
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Dec 04 19:29:51 2013 +0000
@@ -0,0 +1,237 @@
+#include "mbed.h"
+#include "keypad.h"
+#include "TextLCD.h"
+
+
+ TextLCD lcd(PTC10, PTC11, PTC12, PTC13, PTC16, PTC17); // rs, e, d4-d7
+
+ AnalogIn Ain(PTC2);
+ AnalogOut Aout(PTE30);
+
+ int C4=0x0C;
+ int C1=0x0E;
+ int p=0;
+
+int c=0;
+int y=0;
+float i; // set point
+float j=0; // salida planta
+float ji=0; //variable proceso interno
+float spi=0; //variable proceso interno
+float h=0; // entrada planta
+float m=0; // Error
+float mv=0;
+float g=0;
+
+
+float ap,ai,ad;
+int sp=0;
+int kp=0;
+int ki=0;
+int kd=0;
+
+
+
+
+ // Define your own keypad values
+ char Keytable[] = { '1', '2', '3', '*',
+ '4', '5', '6', '0',
+ '7', '8', '9', '#',
+ 'A', 'B', 'C', 'D'
+ };
+
+ int Teclado[] = { 1, 4, 7, 13,
+ 2, 5, 8, 0,
+ 3, 6, 9, 14,
+ 10,11,12, 15
+ };
+
+ uint32_t cbAfterInput(uint32_t key)
+ {
+
+ if (Keytable[key]=='A') {
+ Teclado[key]=0;
+ ++c;
+ }
+
+ if(Keytable[key]=='B') {
+ Teclado[key]=0;
+ sp=0;
+ kp=0;
+ ki=0;
+ kd=0;
+ }
+
+
+ if(Keytable[key]=='D'){
+ Teclado[key]=0;
+ p=1;
+ }
+
+////////////
+
+ if (c==0){
+
+ sp=sp+Teclado[key];
+
+ }
+
+ if (c==1) {
+
+ kp=kp+Teclado[key];
+
+ }
+ if (c==2) {
+
+ ki=ki+Teclado[key];
+
+ }
+ if (c==3) {
+
+ kd=kd+Teclado[key];
+
+ }
+
+////////////
+
+
+ return 0;
+ }//fin unit32_t
+
+
+
+ int main() {
+ Keypad keypad(PTA2,PTD4,PTD3,PTD1,PTD2,PTD0,PTD5,PTA13);
+ keypad.CallAfterInput(&cbAfterInput);
+ keypad.Start();
+
+ lcd.cls();
+ lcd.printf("Sp: %d",sp);
+ lcd.locate(8,0);
+ lcd.printf("Kp: %d",kp);
+ lcd.locate(0,1);
+ lcd.printf("Ki: %d",ki);
+ lcd.locate(8,1);
+ lcd.printf("Kd: %d",kd);
+ lcd.writeCommand(C1);//escribimos un comando segun el manual del modulo LCD
+ lcd.locate(0,0);
+ lcd.printf("Sp: %d",sp);
+
+ while (1) {
+
+
+ if (c==0){
+
+ lcd.locate(3,0);
+ lcd.putc(0xFE);
+ lcd.locate(4,0);
+ lcd.printf("%d",sp);
+
+ }
+
+ if (c==1){
+
+ lcd.locate(11,0);
+ lcd.putc(0xFE);
+ lcd.locate(12,0);
+ lcd.printf("%d",kp);
+
+ }
+
+ if (c==2) {
+
+ lcd.locate(3,1);
+ lcd.putc(0xFE);
+ lcd.locate(4,1);
+ lcd.printf("%d",ki);
+
+ }
+ if (c==3) {
+
+ lcd.locate(11,1);
+ lcd.putc(0xFE);
+ lcd.locate(12,1);
+ lcd.printf("%d",kd);
+
+ }
+
+ if(c==4 || c>4){
+ c=0;
+ }
+
+ if(p==1){
+ c=0;
+ break;
+ }
+
+ }
+
+
+ lcd.writeCommand(C4);//escribimos un comando segun el manual del modulo LCD para quitar cursor bajo
+ lcd.cls(); //borra la pantalla
+ lcd.printf(" GUARDADOS!");
+ wait(2);
+ lcd.cls();
+ lcd.printf(" INICIA EL PID");
+ wait(2);
+ // se imprimen los parches del control *****************************************
+
+ i=sp/999;
+ lcd.cls();
+ lcd.printf("Er:%.2f",m);
+ lcd.locate(8,0);
+ lcd.printf("Me:%.2f",j);
+ lcd.locate(0,1);
+ lcd.printf("Sp:%d",sp);
+ lcd.locate(8,1);
+ lcd.printf("Co:%.1f",h);
+ wait(2);
+
+ //
+ while(1) {
+
+ spi=sp*(3.3/999);
+
+ //wait(0.3);
+ i=sp/999;
+ if(i<=1){
+
+ j=Ain;
+ ji=j*3.3;
+ m=(spi-ji);
+ //n=m*100;
+ ap=kp*m;
+ ai=(ki*m)+ai;
+
+ ad=kd*(m-mv);
+ h=ap+ai+ad;
+
+ if (h>999){
+ h=999;
+ }
+ if (h<0){
+ h=0;
+ }
+
+ g=(h/999);
+
+ Aout=g;
+ wait(0.22);
+
+
+ lcd.cls();
+ lcd.printf("Er:%.2f",m);
+ lcd.locate(8,0);
+ lcd.printf("Me:%.2f",j);
+ lcd.locate(0,1);
+ lcd.printf("Sp:%d",sp);
+ lcd.locate(8,1);
+ lcd.printf("Co:%.1f",h);
+ }
+
+
+ mv=m;
+ } //While
+ //
+
+ }//int main
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Wed Dec 04 19:29:51 2013 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/a9913a65894f \ No newline at end of file