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    Codigo Actuador

    Uploaded by

    Jared Montañez
    codigo actuador

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    © All Rights Reserved
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    Codigo Actuador

    Uploaded by

    Jared Montañez
    5 views4 pages
    codigo actuador

    Original Title

    codigo actuador

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    © © All Rights Reserved

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    TXT, PDF, TXT or read online from Scribd

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    codigo actuador

    Copyright:

    © All Rights Reserved
    Download as TXT, PDF, TXT or read online from Scribd
    Flag for inappropriate content
    Download as txt, pdf, or txt
    5 views4 pages

    Codigo Actuador

    Uploaded by

    Jared Montañez
    codigo actuador

    Copyright:

    © All Rights Reserved
    Download as TXT, PDF, TXT or read online from Scribd
    Flag for inappropriate content
    Download as txt, pdf, or txt
    of 4

    #include <Wire.

    h>

    void setup() {

    Serial.begin(9600);
    Wire.begin();

    pinMode(3,OUTPUT);
    pinMode(4,OUTPUT);
    pinMode(5,OUTPUT);
    pinMode(6,OUTPUT);
    pinMode(7,OUTPUT);
    pinMode(8,OUTPUT);
    pinMode(9,OUTPUT);
    pinMode(10,OUTPUT);
    pinMode(11,OUTPUT);
    pinMode(12,OUTPUT);

    float pid,pv,pv2,sp=0.999,
    error10=0,error9=0,error8=0,error7=0,error6=0,error5=0,error4=0,error3=0,error2=0,e
    rror1=0,error=0,sumaerror=0,kp=5.4,ki=3.6,kd=1.025;
    int c,c2;

    void loop() {

    Wire.requestFrom(2,5);
    if (Wire.available())
    {
    c=Wire.parseInt();
    pv= c/100.0;
    }

    if (pv<0.1)
    {
    pv=1;
    }

    Wire.requestFrom(3,5);
    if (Wire.available())
    {
    c2=Wire.parseInt();
    pv2= c2/100.0;
    }

    if (pv2<0.1)
    {
    pv=1;
    }

    error= sp-pv;
    sumaerror=error+error1+error2+error3+error4+error5+error6+error7+error8+error9+erro
    r10;
    pid =error*kp + sumaerror *ki + (error1-error)*kd;
    error10=error9;
    error9=error8;
    error8=error7;
    error7=error6;
    error6=error5;
    error5=error4;
    error4=error3;
    error3=error2;
    error2=error1;
    error1=error;

    Serial.print (pv);
    Serial.print ("/");
    Serial.print (pv2);
    Serial.print ("/");
    Serial.print (error);
    Serial.print ("/");
    Serial.println (pid);

    if (pid > 5)
    {
    pid = 5;
    }
    if (pid < 0)
    {
    pid = 0;
    }
    if( pid <=0.5)
    {
    digitalWrite(3,HIGH);
    digitalWrite(4,LOW);
    digitalWrite(5,LOW);
    digitalWrite(6,LOW);
    digitalWrite(7,LOW);
    digitalWrite(8,LOW);
    digitalWrite(9,LOW);
    digitalWrite(10,LOW);
    digitalWrite(11,LOW);
    digitalWrite(12,LOW);

    if((pid >0.5) && (pid<=1))


    {
    digitalWrite(3,HIGH);
    digitalWrite(4,HIGH);
    digitalWrite(5,LOW);
    digitalWrite(6,LOW);
    digitalWrite(7,LOW);
    digitalWrite(8,LOW);
    digitalWrite(9,LOW);
    digitalWrite(10,LOW);
    digitalWrite(11,LOW);
    digitalWrite(12,LOW);

    if((pid >1) && (pid<=1.5))


    {
    digitalWrite(3,HIGH);
    digitalWrite(4,HIGH);
    digitalWrite(5,HIGH);
    digitalWrite(6,LOW);
    digitalWrite(7,LOW);
    digitalWrite(8,LOW);
    digitalWrite(9,LOW);
    digitalWrite(10,LOW);
    digitalWrite(11,LOW);
    digitalWrite(12,LOW);

    if((pid >1.5) && (pid<=2))


    {
    digitalWrite(3,HIGH);
    digitalWrite(4,HIGH);
    digitalWrite(5,HIGH);
    digitalWrite(6,HIGH);
    digitalWrite(7,LOW);
    digitalWrite(8,LOW);
    digitalWrite(9,LOW);
    digitalWrite(10,LOW);
    digitalWrite(11,LOW);
    digitalWrite(12,LOW);

    if((pid >2) && (pid<=2.5))


    {
    digitalWrite(3,HIGH);
    digitalWrite(4,HIGH);
    digitalWrite(5,HIGH);
    digitalWrite(6,HIGH);
    digitalWrite(7,HIGH);
    digitalWrite(8,LOW);
    digitalWrite(9,LOW);
    digitalWrite(10,LOW);
    digitalWrite(11,LOW);
    digitalWrite(12,LOW);

    if((pid >2.5) && (pid<=3))


    {
    digitalWrite(3,HIGH);
    digitalWrite(4,HIGH);
    digitalWrite(5,HIGH);
    digitalWrite(6,HIGH);
    digitalWrite(7,HIGH);
    digitalWrite(8,HIGH);
    digitalWrite(9,LOW);
    digitalWrite(10,LOW);
    digitalWrite(11,LOW);
    digitalWrite(12,LOW);

    if((pid >3) && (pid<=3.5))


    {
    digitalWrite(3,HIGH);
    digitalWrite(4,HIGH);
    digitalWrite(5,HIGH);
    digitalWrite(6,HIGH);
    digitalWrite(7,HIGH);
    digitalWrite(8,HIGH);
    digitalWrite(9,HIGH);
    digitalWrite(10,LOW);
    digitalWrite(11,LOW);
    digitalWrite(12,LOW);

    if((pid >3.5) && (pid<=4))


    {
    digitalWrite(3,HIGH);
    digitalWrite(4,HIGH);
    digitalWrite(5,HIGH);
    digitalWrite(6,HIGH);
    digitalWrite(7,HIGH);
    digitalWrite(8,HIGH);
    digitalWrite(9,HIGH);
    digitalWrite(10,HIGH);
    digitalWrite(11,LOW);
    digitalWrite(12,LOW);

    if((pid >4) && (pid<=4.5))


    {
    digitalWrite(3,HIGH);
    digitalWrite(4,HIGH);
    digitalWrite(5,HIGH);
    digitalWrite(6,HIGH);
    digitalWrite(7,HIGH);
    digitalWrite(8,HIGH);
    digitalWrite(9,HIGH);
    digitalWrite(10,HIGH);
    digitalWrite(11,HIGH);
    digitalWrite(12,LOW);

    if(pid >4.5)
    {
    digitalWrite(3,HIGH);
    digitalWrite(4,HIGH);
    digitalWrite(5,HIGH);
    digitalWrite(6,HIGH);
    digitalWrite(7,HIGH);
    digitalWrite(8,HIGH);
    digitalWrite(9,HIGH);
    digitalWrite(10,HIGH);
    digitalWrite(11,HIGH);
    digitalWrite(12,HIGH);

    delay(7);
    }

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