C�digo Fonte

				                      
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#include <16f877A.h>
#device adc=10
#use delay(clock=11059200)
#fuses HS,NOWDT,PUT,NOLVP
#use rs232(baud=9600, xmit=PIN_C6,rcv=PIN_C7)
#include 
#include 

//--------------------------------------------------------------------------------------
char a[6]={000000}, string[4]={0000},opid,mode[2];
boolean aux=0;
long int x, pwm_r=0,pwm_c=0;
int PV=0,HIST=0,aux1, aux2,K=1,Ti=5,Td=0,Ki,Kp,Kd,tmp300=2, h=0,buffer=0;
long int MV_SUP,MV_INF,PWM;
boolean q=0;
signed long int erro=0,erro1=0,erro2=0;
float uk=0,uk1=0,T=0.3,SP=40.0,value;

//-------------------------------------------------
// Interrupcao Serial
//-------------------------------------------------
#INT_RDA
void recebe()
{
buffer=0;
while(buffer!=6)
{
a[buffer]=getc();
buffer++;
}
aux=1;
}
//-------------------------------------------------
void read_string()
{
   string[0]=a[3];
   string[1]=a[4];
   string[2]=a[5];
   string[3]='\0';
}

void PID()
{

      Ki=(K*T)/Ti;
      Kp=K-(Ki/2);
      Kd=(K*Td)/T;
                     value = (float)read_adc();
                     value*=0.0048828;
                     value*=100;

      erro=SP-value;
      uk=uk1+(Kp+Ki+Kd)*erro-(Kp+Kd)*erro1+Kd*erro2;
   PWM=(long int)uk;
      if(PWM>1023)
         PWM=1023;
         else{
            if(PWM<0)
               PWM=0;
               }
      uk1=uk;
      erro2=erro1;
      erro1=erro;

	set_pwm2_duty ( PWM );
}


//--------------------------------------------------------------------------------------
//   INTERRUPCAO TIMER para PID
//--------------------------------------------------------------------------------------
#int_timer1
void timer1()
{//1

tmp300--;
   if(tmp300==0)
   {
   tmp300=2;

PID();

     if(input(PIN_D6)==1)
         output_D(0);
      else
         output_D(255);


   }
set_timer1(13633);

}//1

//-------------------------------------------------
//                   Main()
//-------------------------------------------------
main()
{
int *p;
//-----------------------------------------
p=&SP;
setup_timer_1 ( T1_INTERNAL | T1_DIV_BY_8 );
set_timer1(13633);
enable_interrupts(INT_RDA);
enable_interrupts(GLOBAL);
//-----------------------------------------
setup_ADC_ports (ALL_ANALOG);
setup_adc( ADC_CLOCK_INTERNAL );
set_adc_channel( 0 );
//-----------------------------------------
   setup_timer_2 (T2_DIV_BY_4, 248, 1);
	setup_ccp1 (ccp_pwm);
	set_pwm1_duty ( 0 );
   setup_ccp2 (ccp_pwm);
	set_pwm2_duty ( 0 );
//-----------------------------------------
	while (true)
	{
              if(aux==1)
               {
                  mode[0]=a[0];
                  mode[1]=a[1];
                  opid=a[2];
                  aux=0;
                  delay_ms(100);
               }
//----------------------------------------
   string[0]=a[3];
   string[1]=a[4];
   string[2]=a[5];
   string[3]='\0';
   x = atol(string);
   x*=1024/100;
switch( opid )
{//6
   delay_ms(100);
                  case 'R':
                  {
                     set_pwm1_duty (x);
                     pwm_r=x;
                     delay_ms(3);
                     printf("ACKR");
                     delay_ms(3);
                     a[0]='\0';
                     printf("%c",a[0]);
                     break;
                  }
                  case 'C':
                  {
                     pwm_c=x;
                     set_pwm2_duty (pwm_c);
                     delay_ms(3);
                     printf("ACKC");
                     delay_ms(3);
                     a[0]='\0';
                     printf("%c",a[0]);
                     break;
                  }
                  case 'L':
                  {

                     value = read_adc();
                     delay_ms(10);
                     value*=0.0048828;
                     value*=100;
                     printf("L");
                     PV=(int)value;
                     printf("%u", PV);
                     a[0]='\0';
                     printf("%c",a[0]);
                     strcpy(a,"00000");
                     break;
                  }
}//6
switch( mode[0] )
{// 0

   case 'A':
   {//1
   disable_interrupts(int_timer1);
   delay_ms(10);
                     value = read_adc();
                     delay_ms(10);
                     value*=0.0048828;
                     value*=100;
                     PV=(int)value;
                     a[0]='\0';
            switch( mode[1] )
            {//2
            read_string();
               case 'L':
               {//5
                     SP=atoi(string);

                     aux1=SP-HIST;
                     aux2=SP+HIST;
               break;
               }//5
               case 'R':
               {//1.1
                  delay_ms(10);

                  if(PVaux2)
                     {//1.4
                  set_pwm1_duty( MV_INF );
                     }//1.4
                  }//1.3
                  break;

               }//1.1
               case 'C':
               {//1.1
                  delay_ms(10);

                  if(PVaux2)
                     {//1.4
                  set_pwm2_duty( MV_SUP );
                     }//1.4
                  }//1.3
                  break;
               }//1.1
            case 'S':
            {//6
                     MV_SUP=atol(string);
                     break;
            }//6
            case 'I':
            {//6
                     MV_INF=atol(string);
                     break;
            }//6

            case 'H':
            {//6
                     HIST=atoi(string);
                     aux1=SP-HIST;
                     aux2=SP+HIST;
                     break;
            }//6
            }//2

   break;
   }//1

   case 'P':
   {
   switch( mode[1] )
   {
      case 'K':
      {
      K=atoi(string);
      break;
      }
      case 'I':
      {
      TI=atoi(string);
      break;
      }
      case 'D':
      {
      TD=atoi(string);
      break;
      }
      case 'E':
      {
      enable_interrupts(int_timer1);  
      break;
      }      

   break;
   }
    break;
   }
}//0

//----------------------------------------
opid='\0';
delay_ms(150);
	}

}
  

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||||||||||||||||||||||||||||||||||||||||||C�digo do Borland||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
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#include 
#pragma hdrstop
#include 
#include 
#include "Unit1.h"
//---------------------------------------------------------------------------
#pragma package(smart_init)
#pragma link "CGAUGES"
#pragma link "QCCom32"
#pragma link "ComPort"
#pragma resource "*.dfm"
TForm1 *Form1;
bool popup = false,control_track_bar = false;
char opid[2]="00",modo[2]="--";
int valor[2],tempo;
//---------------------------------------------------------------------------
__fastcall TForm1::TForm1(TComponent* Owner)
        : TForm(Owner)
{
        Edit1->Text     = 0;
        Edit2->Text     = 0;
        Edit3->Text     = 0;
        Panel2->Width   = 74;
        Panel2->Height  = 2;
        Panel2->Top     = 14;
        Panel2->Visible = false;
        Image2->Visible = false;
        Image3->Visible = false;
        Edit1->MaxLength= 3;
        Edit2->MaxLength= 3;
        StatusBar1->Panels->operator [](0)->Text = "Com Desligada";
        StatusBar1->Panels->operator [](1)->Text = "Gr�fico Pausado";
        ComPort1->EnumComDevicesFromRegistry(ComboBox1->Items);
        Timer5->Enabled     = false;
        Button3->Caption    = "Liga";
        Configurar->Enabled = false;
        Abrir_Porta->Enabled= false;
        opid[0] = '\xff';
        opid[1] = '\0';
}
//---------------------------------------------------------------------------
void __fastcall TForm1::TrackBar1Change(TObject *Sender)
{
if(control_track_bar==true)
       Edit1->Text = (TrackBar1->Position)*10;
}
//---------------------------------------------------------------------------
void __fastcall TForm1::TrackBar2Change(TObject *Sender)
{
if(control_track_bar==true)
        Edit2->Text = (TrackBar2->Position)*10;
}
//---------------------------------------------------------------------------
void __fastcall TForm1::Edit3Change(TObject *Sender)
{
valor[1]=atoi(Edit3->Text.c_str());
//        CGauge1->Progress = StrToInt(Edit3->Text);
}
//---------------------------------------------------------------------------
void __fastcall TForm1::Timer1Timer(TObject *Sender)
{
String frame;
char a[5];
int tamanho;

if(ComPort1->Active==1)
       frame = ComPort1->ReadString();

        strcpy(a,frame.c_str());
        tamanho = frame.Length();
        if (tamanho > 0)
        {
                if(a[0]=='A')
                {
                    switch(a[3])
                    {
                        case 'R':         // ackR
                         {
                          Image2->Visible=true;
                          break;
                         }
                       case 'C':         // ackC
                         {
                          Image3->Visible=true;
                          break;
                         }
                   }
                }

        if(a[0]=='L' && opid[1]=='L')
        {
        
opid[0]='L';
                a[0] = a[1];
                a[1] = a[2];
                a[2] = a[3];
                a[3] = '\0';

                if(a[0]=='1' || a[0]=='2' || a[0]=='3' || a[0]=='4' || a[0]=='5' || a[0]=='6' || a[0]=='7' || a[0]=='8' || a[0]=='9' || a[0]=='0')
                {
                if(a[1]=='1' || a[1]=='2' || a[1]=='3' || a[1]=='4' || a[1]=='5' || a[1]=='6' || a[1]=='7' || a[1]=='8' || a[1]=='9' || a[1]=='0')
{
                    Label7->Caption=a+String("�");
                    CGauge1->Progress=atoi(Label7->Caption.c_str());
                }
}
                }
                Timer3->Enabled = true;
        }

}
//---------------------------------------------------------------------------
void __fastcall TForm1::Edit1Change(TObject *Sender)
{
int pwm1;
       Timer1->Enabled = false;
       opid[1]=opid[0];
       opid[0]='R';
       pwm1=atoi(Edit1->Text.c_str());
       if(pwm1>100){ pwm1=100; Edit1->Text="100"; }
       TrackBar1->Position=pwm1/10;
       Timer3->Enabled = true;
       Image2->Visible = false;
}
//---------------------------------------------------------------------------
void __fastcall TForm1::Edit2Change(TObject *Sender)
{
int pwm2;
       Timer1->Enabled = false;
       opid[1]=opid[0];
       opid[0]='C';
       pwm2=atoi(Edit2->Text.c_str());
       if(pwm2>100){ pwm2=100; Edit2->Text="100"; }
       TrackBar2->Position=pwm2/10;
       Timer3->Enabled = true;
       Image3->Visible=false;
}
//---------------------------------------------------------------------------
void __fastcall TForm1::Timer2Timer(TObject *Sender)
{
if(popup==false)
{
        Label9->Color = clTeal;
        Panel2->Visible = true;
        if(Panel2->Width<200)
         Panel2->Width+=6;
         else
        {
            if(Panel2->Height<90)
            Panel2->Height+=3;
           else
           {
            Timer2->Enabled = false;
            Label9->Color   = clTeal;
            popup           = true;
           }
        }
}
   else
    {
        if(Panel2->Height>2)
         Panel2->Height-=3;
        else
        {
          if(Panel2->Width>74)
           Panel2->Width-=6;
          else
          {
           Timer2->Enabled = false;
           Panel2->Visible = false;
           Label9->Color   = clMoneyGreen;
           popup           = false;
           }
        }
     }
}
//---------------------------------------------------------------------------
void __fastcall TForm1::Label9Click(TObject *Sender)
{
Timer2->Enabled =   true;
}
//---------------------------------------------------------------------------
void __fastcall TForm1::Label9MouseEnter(TObject *Sender)
{
Label9->Color   =   clTeal;
}
//---------------------------------------------------------------------------
void __fastcall TForm1::Label9MouseLeave(TObject *Sender)
{
if(Panel2->Visible==false)
    Label9->Color = clMoneyGreen;
else
    Label9->Color = clTeal;
}
//---------------------------------------------------------------------------
void __fastcall TForm1::TrackBar1Enter(TObject *Sender)
{
control_track_bar = true;
}
//---------------------------------------------------------------------------
void __fastcall TForm1::TrackBar1Exit(TObject *Sender)
{
control_track_bar = false;
}
//---------------------------------------------------------------------------
void __fastcall TForm1::TrackBar2Enter(TObject *Sender)
{
control_track_bar = true;
}
//---------------------------------------------------------------------------
void __fastcall TForm1::TrackBar2Exit(TObject *Sender)
{
control_track_bar = false;
}
//---------------------------------------------------------------------------
void __fastcall TForm1::Timer3Timer(TObject *Sender)
{
char tring[3];
if(ComPort1->Active==1)
{
switch (opid[0])
{
    case 'R':
    {
        StrCopy(tring,Edit1->Text.c_str());
            if(Edit1->Text=="")
            {
                tring[0] = '0';
                tring[1] = '\0';
            }
    break;
    }
    case 'C':
    {
        StrCopy(tring,Edit2->Text.c_str());
                if(Edit2->Text=="")
                {
                tring[0] = '0';
                tring[1] = '\0';
                }
    break;
    }
    case 'L':
    {
                tring[0] = '\0';
                tring[1] = '\0';
    break;
    }
    default:
    {
                opid[0] = '\0';
    break;
    }
}

if(opid!='\0')
{
 ComPort1->WriteChar(modo[0]);
 ComPort1->WriteChar(modo[1]);
 ComPort1->WriteChar(opid[0]);
    if(strcmp(tring,"100")==0)
        ComPort1->WriteString(100);
    else
     {
        ComPort1->WriteChar('0');
            for(int aux=0;aux<2;aux++)
                ComPort1->WriteChar(tring[aux]);
     }
}
        Timer3->Enabled = false;
        Timer1->Enabled = true;        
        opid[1]=opid[0];
        opid[0]='L';
}
}
//---------------------------------------------------------------------------
		GR�FICO    
//---------------------------------------------------------------------------
void __fastcall TForm1::FormCreate(TObject *Sender)
{
    tempo = 0;
    Profundidade->Position  = Grafico->Chart3DPercent;
    Rotacao->Position       = Grafico->View3DOptions->Rotation;
    Perspectiva->Position   = Grafico->View3DOptions->Perspective;
    Elevacao->Position      = Grafico->View3DOptions->Elevation;
}
//---------------------------------------------------------------------------
void __fastcall TForm1::D3Click(TObject *Sender)
{
    Grafico->View3DWalls = D3->Checked;
}
//---------------------------------------------------------------------------
void __fastcall TForm1::OrtogonalClick(TObject *Sender)
{
    Grafico->View3DOptions->Orthogonal = Ortogonal->Checked;
}
//---------------------------------------------------------------------------
void __fastcall TForm1::ProfundidadeChange(TObject *Sender)
{
    Grafico->Chart3DPercent = Profundidade->Position;
}
//---------------------------------------------------------------------------
void __fastcall TForm1::RotacaoChange(TObject *Sender)
{
    Grafico->View3DOptions->Rotation = Rotacao->Position;
}
//---------------------------------------------------------------------------
void __fastcall TForm1::PerspectivaChange(TObject *Sender)
{
    Grafico->View3DOptions->Perspective = Perspectiva->Position;
}
//---------------------------------------------------------------------------
void __fastcall TForm1::ElevacaoChange(TObject *Sender)
{
    Grafico->View3DOptions->Elevation = Elevacao->Position;
}
//---------------------------------------------------------------------------
void __fastcall TForm1::ZoomoutClick(TObject *Sender)
{
    Grafico->ZoomPercent(60);
}
//---------------------------------------------------------------------------
void __fastcall TForm1::ZoominClick(TObject *Sender)
{
    Grafico->ZoomPercent(120);
}
//---------------------------------------------------------------------------
void __fastcall TForm1::LimparClick(TObject *Sender)
{
Series1->Clear();
Series2->Clear();
Grafico->BottomAxis->Minimum = 0;
Grafico->BottomAxis->Maximum = 25;
tempo=0;
}
//---------------------------------------------------------------------------
void __fastcall TForm1::BitBtn1Click(TObject *Sender)
{
    Grafico->ZoomPercent(120);
}
//---------------------------------------------------------------------------
void __fastcall TForm1::BitBtn2Click(TObject *Sender)
{
    Grafico->ZoomPercent(60);
}
//---------------------------------------------------------------------------
void __fastcall TForm1::Timer5Timer(TObject *Sender)
{

  valor[0]=atoi(Label7->Caption.c_str());
  Series1->Add(valor[0],"",clRed);
  Series2->Add(valor[1],"",clGreen);
  Series3->Add(atoi(Edit3->Text.c_str())+atoi(Edit6->Text.c_str()),"",clYellow);
  Series4->Add(atoi(Edit3->Text.c_str())-atoi(Edit6->Text.c_str()),"",clBlue);
  tempo++;
    if (tempo > 70)
    {
        Grafico->BottomAxis->Minimum ++;
        Grafico->BottomAxis->Maximum ++;
    }
}
//---------------------------------------------------------------------------
void __fastcall TForm1::ComboBox1Change(TObject *Sender)
{
if(ComboBox1->Text!="")
    {
        ComPort1->DeviceName = ComboBox1->Text;
        Configurar->Enabled  = true;
        Abrir_Porta->Enabled = true;
    }
}
//---------------------------------------------------------------------------
void __fastcall TForm1::Abrir_PortaClick(TObject *Sender)
{
Timer3->Enabled                         = true;  // liga timer antes de definir opid !
ComPort1->DeviceName                    = ComboBox1->Text;
ComPort1->Active                        = true;
StatusBar1->Panels->operator [](0)->Text= "Com Ativa";
StatusBar1->Panels->operator [](1)->Text= "Gr�fico Ligado";
Timer5->Enabled                         = true;
Button3->Caption                        = "Pause";
opid[0]='L';

}
//---------------------------------------------------------------------------
void __fastcall TForm1::ConfigurarClick(TObject *Sender)
{
 ComPort1->ConfigDialog();
}
//---------------------------------------------------------------------------
void __fastcall TForm1::Button3Click(TObject *Sender)
{
Timer5->Enabled=!Timer5->Enabled;
if(Timer5->Enabled==1)
{
Button3->Caption = "Pause";
StatusBar1->Panels->operator [](1)->Text="Gr�fico Ligado";
}
else
{
Button3->Caption = "Liga";
StatusBar1->Panels->operator [](1)->Text="Gr�fico Pausado";
}
}
//---------------------------------------------------------------------------
void __fastcall TForm1::CheckBox1Click(TObject *Sender)
{
if(CheckBox1->State==cbChecked)
{
    if(CheckBox2->State==cbChecked)
           CheckBox2->State=cbUnchecked;
           modo[0]='A';
           modo[1]='R';
           TrackBar1->Enabled=false;
           Edit1->Enabled=false;
}
else
{
 modo[0]='-';
 modo[1]='-'; 
 TrackBar1->Enabled=true;
 Edit1->Enabled=true;
}
}
//---------------------------------------------------------------------------
void __fastcall TForm1::CheckBox2Click(TObject *Sender)
{
if(CheckBox2->State==cbChecked)
{
    if(CheckBox1->State==cbChecked)
           CheckBox1->State=cbUnchecked;
           modo[0]='A';
           modo[1]='C';
           TrackBar2->Enabled=false;
           Edit2->Enabled=false;

}
else
{
 modo[0]='-';
 modo[1]='-';
 TrackBar2->Enabled=true;
 Edit2->Enabled=true;
 }
}
//---------------------------------------------------------------------------
void __fastcall TForm1::Button5Click(TObject *Sender)
{
int v1;
v1=atoi(Edit3->Text.c_str());
Label17->Caption=v1;
Label17->Caption=Label17->Caption+AnsiString("�");
CGauge2->Progress=v1;

ComPort1->WriteChar('A');
ComPort1->WriteChar('L');
ComPort1->WriteChar('0');
if(v1<100)
    ComPort1->WriteChar('0');
if(v1<10)
    ComPort1->WriteChar('0');
ComPort1->WriteString(v1);
}
//---------------------------------------------------------------------------

void __fastcall TForm1::Button4Click(TObject *Sender)
{
int MV_SUP;
MV_SUP=atoi(Edit4->Text.c_str());
    ComPort1->WriteChar('A');
    ComPort1->WriteChar('S');
    ComPort1->WriteChar('0');
if(MV_SUP<100)
    ComPort1->WriteChar('0');
if(MV_SUP<10)
    ComPort1->WriteChar('0');
    ComPort1->WriteString(MV_SUP);
}
//---------------------------------------------------------------------------

void __fastcall TForm1::Button6Click(TObject *Sender)
{
int MV_INF;

MV_INF=atoi(Edit5->Text.c_str());
    ComPort1->WriteChar('A');
    ComPort1->WriteChar('I');
    ComPort1->WriteChar('0');

if(MV_INF<100)
    ComPort1->WriteChar('0');
if(MV_INF<10)
    ComPort1->WriteChar('0');

    ComPort1->WriteString(MV_INF);
}
//---------------------------------------------------------------------------

void __fastcall TForm1::Button7Click(TObject *Sender)
{
int hist;

hist=atoi(Edit6->Text.c_str());
    ComPort1->WriteChar('A');
    ComPort1->WriteChar('H');
    ComPort1->WriteChar('0');
if(hist<100)
    ComPort1->WriteChar('0');
if(hist<10)
    ComPort1->WriteChar('0');

    ComPort1->WriteString(hist);
    
}
//---------------------------------------------------------------------------
void __fastcall TForm1::Button9Click(TObject *Sender)
{
int Ti;
Ti=atoi(Edit7->Text.c_str());
    ComPort1->WriteChar('P');
    ComPort1->WriteChar('I');
    ComPort1->WriteChar('0');
if(Ti<100)
    ComPort1->WriteChar('0');
if(Ti<10)
    ComPort1->WriteChar('0');
    ComPort1->WriteString(Ti);
}
//---------------------------------------------------------------------------

void __fastcall TForm1::Button8Click(TObject *Sender)
{
int K;
K=atoi(Edit7->Text.c_str());
    ComPort1->WriteChar('P');
    ComPort1->WriteChar('K');
    ComPort1->WriteChar('0');
if(K<100)
    ComPort1->WriteChar('0');
if(K<10)
    ComPort1->WriteChar('0');
    ComPort1->WriteString(K);

}
//---------------------------------------------------------------------------

void __fastcall TForm1::Button10Click(TObject *Sender)
{
int Td;
Td=atoi(Edit7->Text.c_str());
    ComPort1->WriteChar('P');
    ComPort1->WriteChar('D');
    ComPort1->WriteChar('0');
if(Td<100)
    ComPort1->WriteChar('0');
if(Td<10)
    ComPort1->WriteChar('0');
    ComPort1->WriteString(Td);
}
//---------------------------------------------------------------------------
void __fastcall TForm1::Button11Click(TObject *Sender)
{
    ComPort1->WriteString(Edit10->Text.c_str());
    modo[0]='P';
    modo[1]='R';
}
//---------------------------------------------------------------------------

void __fastcall TForm1::Button1Click(TObject *Sender)
{
    ComPort1->WriteChar('P');
    ComPort1->WriteChar('E');
    ComPort1->WriteChar('0');
    ComPort1->WriteChar('0');
    ComPort1->WriteChar('0');
    ComPort1->WriteChar('0');
}
//---------------------------------------------------------------------------