Santiago Alvarez
d
Dependencies: Debounced QEI mbed
Revision 0:93983293c81b, committed 2013-12-03
- Comitter:
- salvarear
- Date:
- Tue Dec 03 19:58:45 2013 +0000
- Child:
- 1:e214227f5d00
- Commit message:
- d
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Debounced.lib Tue Dec 03 19:58:45 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 Tue Dec 03 19:58:45 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 Tue Dec 03 19:58:45 2013 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/salvarear/code/encoder/#261399fccd38
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Tue Dec 03 19:58:45 2013 +0000
@@ -0,0 +1,202 @@
+#include "mbed.h"
+#include "DebouncedIn.h"
+#include "TextLCD.h"
+#include "QEI.h"
+
+AnalogIn Vin(PTB0); //entrada de la planta
+AnalogOut Vout(PTE30); //salida hacia la planta
+
+QEI wheel (PTA16, PTA17, NC, 24); //pines correspondientes al encoder.
+TextLCD lcd(PTB10, PTB11, PTE2, PTE3, PTE4, PTE5); // rs, e, d4-d7
+
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+DigitalOut led4(LED4);
+DebouncedIn button1(PTC12); // Aumento
+DebouncedIn button2(PTC13); // Disminución
+DebouncedIn button3(PTC16); // Cambio de variable
+DebouncedIn button4(PTC17); // Reset
+
+int C1=0x0E; // solo muestra el curzor
+int C2=0x18; // desplaza izquierda
+int C3=0x1A; // desplaza derecha
+int C4=0x0C; // quito cursor bajo
+int i; // indice de la variable
+
+int j,kp,ki,kd,sp,cont,medida,cont1,cont2,cont3;
+float pid, err, ap, ai, ad, err_v, spf,kif,kpf,kdf,med;
+
+
+int main() {
+
+ lcd.writeCommand(C1);
+ lcd.printf("Sp=0 Kp=0");
+ lcd.locate(0,1);
+ lcd.printf("Ki=0 Kd=0");
+ lcd.locate(2,0);
+ lcd.printf("=");
+
+ while(1) {
+
+ cont1=wheel.getPulses(); //ciclo delpara el encoder
+ if(cont1<0){
+ wheel.reset();
+ cont1=0;
+ }
+ if(cont1!=cont2) {
+
+ switch(i) {
+
+ case 0:
+
+ lcd.locate(2,0);
+ lcd.printf("= ");
+ lcd.locate(3,0);
+ lcd.printf("%d",cont1);
+ sp=cont1;
+
+ break;
+ case 1:
+
+ lcd.locate(10,0);
+ lcd.printf("= ");
+ lcd.locate(11,0);
+ lcd.printf("%d",med);
+ kp=medida;
+ break;
+ case 2:
+ lcd.locate(2,1);
+ lcd.printf("= ");
+ lcd.locate(3,1);
+ lcd.printf("%d",med);
+ ki=med;
+ break;
+ case 3:
+ lcd.locate(10,1);
+ lcd.printf("= ");
+ lcd.locate(11,1);
+ lcd.printf("%d",med);
+ kd=med;
+ break;
+ }
+ cont2=cont1;
+
+ }
+
+
+ if(button3.falling()) { //al presionar el encoder
+ wheel.reset();
+ i++;
+ if(i>3) {
+ i=0;
+ }
+ switch (i) {
+ case 0:
+ lcd.locate(2,0);
+ lcd.printf("=");
+ break;
+ case 1:
+ lcd.locate(10,0);
+ lcd.printf("=");
+ break;
+ case 2:
+ lcd.locate(2,1);
+ lcd.printf("=");
+ break;
+ case 3:
+ lcd.locate(10,1);
+ lcd.printf("=");
+ break;
+ }
+ }
+
+
+ if (button4.falling()){
+ lcd.locate(0,1);
+ lcd.printf("Ha salido del programa ");
+ break; //sale del bucle si pisan suiche4
+ }
+
+ }
+
+ lcd.writeCommand(C4);
+ led3=1;
+ led3= !led3;
+ lcd.cls();
+ lcd.printf(" DATOS GUARDADOS!");
+ wait(0.8);
+ lcd.cls();
+ lcd.printf("INICIANDO EL PID");
+ wait(0.2);
+ lcd.cls();
+ lcd.printf("Er%d",err);
+ lcd.locate(8,0);
+ lcd.printf("Med%d",med);
+ lcd.locate(0,1);
+ lcd.printf("Sp%d",sp);
+ lcd.locate(8,1);
+ lcd.printf("pid%d",pid);
+ wait(0.5);
+
+ // CICLO PRINCIPAL CONTROLADOR PID
+ while(1) {
+ //leer puerto analogo y asignar a med
+ med=Vin.read();
+ medida=med*100;
+ kpf=kp*0.001;
+ kif=ki*0.001;
+ kdf=kd*0.0001;
+ err = (sp-medida);
+
+ ap = kpf*err;
+ ai =(kif*err)+ai; //calculo de la integral del error
+ ad = kdf*(err-err_v); //calculo de la accion derivativa
+ err_v=err; //guarda el error
+ pid = (ap+ai+ad);
+
+ // se verifica que pid sea menor o igual la valor maximo *****************
+ if (pid > 99){
+ pid=100;
+ }
+
+ // se verifica que pid sea positivo **************************************
+ if (pid <0){
+ pid=0;
+ }
+
+ //wait(.5);
+
+
+
+ // se verifica que la accion integral no sea muy grande
+ if (ai > 999){
+ ai=1000;
+ }
+
+
+ Vout=pid;
+
+
+ lcd.locate(2,0);
+ lcd.printf(" ");
+ lcd.locate(0,0);
+ lcd.printf("Er%2.2f",err);
+ lcd.locate(10,0);
+ lcd.printf(" ");
+ lcd.locate(8,0);
+ lcd.printf("Me%d",medida);
+ lcd.locate(2,1);
+ lcd.printf(" ");
+ lcd.locate(0,1);
+ lcd.printf("Sp%d",sp);
+ lcd.locate(10,1);
+ lcd.printf(" ");
+ lcd.locate(8,1);
+ lcd.printf("Pid%4.2f",pid);
+ cont=0;
+ }
+ }
+
+
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Tue Dec 03 19:58:45 2013 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/a9913a65894f \ No newline at end of file