Sergio Londono
encoder
Dependencies: QEI TextLCD-modificada mbed
Revision 0:d7388a87aeb7, committed 2013-11-15
- Comitter:
- salondonog
- Date:
- Fri Nov 15 17:45:21 2013 +0000
- Commit message:
- encoder
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/DebouncedIn.cpp Fri Nov 15 17:45:21 2013 +0000
@@ -0,0 +1,93 @@
+#include "DebouncedIn.h"
+#include "mbed.h"
+
+/*
+ * Constructor
+ */
+DebouncedIn::DebouncedIn(PinName in)
+ : _in(in) {
+
+ // reset all the flags and counters
+ _samples = 0;
+ _output = 0;
+ _output_last = 0;
+ _rising_flag = 0;
+ _falling_flag = 0;
+ _state_counter = 0;
+
+ // Attach ticker
+ _ticker.attach(this, &DebouncedIn::_sample, 0.005);
+}
+
+void DebouncedIn::_sample() {
+
+ // take a sample
+ _samples = _samples >> 1; // shift left
+
+ if (_in) {
+ _samples |= 0x80;
+ }
+
+ // examine the sample window, look for steady state
+ if (_samples == 0x00) {
+ _output = 0;
+ }
+ else if (_samples == 0xFF) {
+ _output = 1;
+ }
+
+
+ // Rising edge detection
+ if ((_output == 1) && (_output_last == 0)) {
+ _rising_flag++;
+ _state_counter = 0;
+ }
+
+ // Falling edge detection
+ else if ((_output == 0) && (_output_last == 1)) {
+ _falling_flag++;
+ _state_counter = 0;
+ }
+
+ // steady state
+ else {
+ _state_counter++;
+ }
+
+ // update the output
+ _output_last = _output;
+
+}
+
+
+
+// return number of rising edges
+int DebouncedIn::rising(void) {
+ int return_value = _rising_flag;
+ _rising_flag = 0;
+ return(return_value);
+}
+
+// return number of falling edges
+int DebouncedIn::falling(void) {
+ int return_value = _falling_flag;
+ _falling_flag = 0;
+ return(return_value);
+}
+
+// return number of ticsk we've bene steady for
+int DebouncedIn::steady(void) {
+return(_state_counter);
+}
+
+// return the debounced status
+int DebouncedIn::read(void) {
+ return(_output);
+}
+
+// shorthand for read()
+DebouncedIn::operator int() {
+ return read();
+}
+
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/DebouncedIn.h Fri Nov 15 17:45:21 2013 +0000
@@ -0,0 +1,31 @@
+#include "mbed.h"
+
+ class DebouncedIn {
+ public:
+ DebouncedIn(PinName in);
+
+ int read (void);
+ operator int();
+
+ int rising(void);
+ int falling(void);
+ int steady(void);
+
+ private :
+ // objects
+ DigitalIn _in;
+ Ticker _ticker;
+
+ // function to take a sample, and update flags
+ void _sample(void);
+
+ // counters and flags
+ int _samples;
+ int _output;
+ int _output_last;
+ int _rising_flag;
+ int _falling_flag;
+ int _state_counter;
+
+ };
+
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/QEI.lib Fri Nov 15 17:45:21 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 Fri Nov 15 17:45:21 2013 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/salondonog/code/TextLCD-modificada/#74616aa6c0c7
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Fri Nov 15 17:45:21 2013 +0000
@@ -0,0 +1,194 @@
+#include "mbed.h"
+#include "TextLCD.h"
+#include "DebouncedIn.h"
+#include "QEI.h"
+
+TextLCD lcd(PTB10, PTB11, PTE2, PTE3, PTE4, PTE5); //configura los puestos PTE0,PTE1,PTE2,PTE3,PTE4,PTE5, donde se conectara el LCD 16x2
+QEI conteo(PTA13,PTD5,NC,12);
+DebouncedIn salto(PTC16);
+DebouncedIn set(PTC17);
+AnalogIn Vin(PTB0);
+AnalogOut Vout(PTE30);
+
+Timer t;
+int flag;
+int q;
+int C1=0x0E; //configurar el lcd para mostrar el guin bajo
+int C2=0x0C; //configurar el lcd para no mostrar el guion bajo
+int s=0; //set point
+int p=0; //ganancia proporcional
+int i=0; //ganancia integral
+int d=0; //ganancia derivativa
+int k=0; //variable de control}
+int err, med, yr, ap, ai, ad, err_v, cycle;
+int pid;
+int viejo=0;
+int cont=0;
+
+void def_posicion(int h){
+ if (h==0){
+ lcd.locate(3,0); lcd.printf("%d",s);
+ lcd.locate(3,0);
+ }
+ else if(h==1){
+ lcd.locate(11,0); lcd.printf("%d",p);
+ lcd.locate(11,0);
+ }
+ else if (h==2){
+ lcd.locate(3,1); lcd.printf("%d",i);
+ lcd.locate(3,1);
+ }
+ else {
+ lcd.locate(11,1); lcd.printf("%d",d);
+ lcd.locate(11,1);
+ }
+ }
+
+
+void incremento (int r) { //Funcion que incremente los valores
+if(k==0){
+ s+=r;
+ if(s<=0){
+ s=0;
+ }
+ else if (s>=999){
+ s=999;
+ }
+ lcd.locate(3,0);
+ lcd.printf("%d ",s);
+ }
+else if(k==1){
+ p+=r;
+ if(p<=0){
+ p=0;
+ }
+ else if (p>=999){
+ p=999;
+ }
+ lcd.locate(11,0);
+ lcd.printf("%d ",p);
+ }
+else if(k==2){
+ i+=r;
+ if(i<=0){
+ i=0;
+ }
+ else if (i>=999){
+ i=999;
+ }
+ lcd.locate(3,1);
+ lcd.printf("%d ",i);
+ }
+else{
+ d+=r;
+ if(d<=0){
+ d=0;
+ }
+ else if (d>=999){
+ d=999;
+ }
+ lcd.locate(11,1);
+ lcd.printf("%d ",d);
+ }
+ }
+
+
+void star_patch1(void){ //funcion que imprime los caracteres que no van a variar en el display
+lcd.cls();
+lcd.locate(8,0);
+lcd.printf("Kp=%d",p);
+lcd.locate(0,1);
+lcd.printf("Ki=%d",i);
+lcd.locate(8,1);
+lcd.printf("Kd=%d",d);
+lcd.writeCommand(C1); //permite que el cursor se vea y sea intermitente
+lcd.locate(0,0);
+lcd.printf("Sp=%d",s);
+}
+
+void star_patch2(void){ //funcion que imprime los caracteres que no van a variar en el display
+lcd.writeCommand(C2);
+lcd.cls();
+lcd.printf("***INICIA PID***"); lcd.printf("***************");
+wait(2);
+lcd.cls();
+lcd.printf("Er%=d",err);
+lcd.locate(8,0); lcd.printf("Me=%d",med);
+lcd.locate(0,1); lcd.printf("Sp=%d",s);
+lcd.locate(8,1); lcd.printf("Co=%d",pid);
+wait(3);
+}
+
+int main(){
+star_patch1();
+viejo=0;
+cont=0;
+while(1){
+ if(k>=3 && salto.falling()){
+ k=0;
+ def_posicion(k);
+ }
+ if(salto.falling()){
+ ++k;
+ def_posicion(k);
+ }
+ else if(set.falling()){
+ break;
+ }
+ viejo=conteo.getPulses()-cont;
+ cont=conteo.getPulses();
+ if(viejo==0){
+ //no hace nada
+ }
+ else {
+ incremento(viejo);
+ }}
+
+star_patch2();
+
+while (1){
+
+med=Vin.read()*1000;
+err = (s-med);
+ap = k*err;
+ai =(i*err)+ai; //calculo de la integral del error
+// se verifica que la accion integral no sea muy grande
+ad = d*(err-err_v); //calculo de la accion derivativa
+pid = (ap+ai+ad);
+//****se muestran las variables******************************************
+if (pid > 999){
+pid=1000;
+}
+else if (pid<0){
+pid=0;
+}
+Vout.write(pid/1000);
+if(flag==0){
+t.start();
+flag=1;
+}
+if (t>0.3){
+lcd.locate(3,0);
+lcd.printf(" ");
+lcd.locate(3,0);
+lcd.printf("%d",err);
+lcd.locate(11,0);
+lcd.printf(" ");
+lcd.locate(11,0);
+lcd.printf("%d",med);
+lcd.locate(3,1);
+lcd.printf(" ");
+lcd.locate(3,1);
+lcd.printf("%d",s);
+lcd.locate(11,1);
+lcd.printf(" ");
+lcd.locate(11,1);
+lcd.printf("%d ",pid);
+t.reset();
+flag=0;
+wait(.1);
+}
+// se actualizan las variables *******************************************
+err_v = err;
+}
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Fri Nov 15 17:45:21 2013 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/a9913a65894f \ No newline at end of file