'#sec:Main 100 input "Ganancia ? (10)",kp:if (kp=0) then kp=10 110 input "Integracion?(5) ",ti:if (ti=0) then ti=5 120 input "Factor Derivativo? (1) ",td:if (td=0) then td=1 121 input "Referencia? (50)",rf:if (rf=0) then rf=50 122 kp=kp/10:ti=ti/10:td=td/10 140 input "Acceleracion? (100)",ac:if (ac=0) then ac=100 150 input "Desaceleracion? (100)",de:if (de=0) then de=100 180 x=0:ra=0:rao=0:cn=0 181 color 9 182 cls:?"PID por J.MaturanaV":c=0 184 for y=159 to 59 step-10 185 color c 186 line 0,y,159,y:c=c+1 188 next y 200 color 0 201 a\$=str\$(kp*10)+" "+str\$(ti*10)+" " 202 a\$=a\$+str\$(td*10)+" "+str\$(rf)+" " 203 a\$=a\$+str\$(ac)+" "+str\$(de)+" " 204 at 0,0:print a\$ 206 mx=int(rf) 210 mi=int(rf):cx=0:ci=0 220 if (rf> ra) then let cb=1 225 if (rf< ra) then let cb=-1 230 t=1:s=0 240 ea=rf-ra:e=rf-ra 250 s=e+s:x=x+1:if (x> 159) then x=0:goto 200 251 if s> 128 then s=128 252 if s< -128 then s=-128 260 u=kp*(e+(s/ti)+((e-ea)/t)*td) 282 if (u> 128) then u=150 284 if (u< -128) then u=-150 290 ea=e 300 if (u> 0) then let xu=(u*0.1)*(ac/100) :goto 320 305 if (u< 0) then let xu=(u*0.1)*(de/100) :goto 320 310 xu=(u*0.1) 320 rao=ra:ra=ra+xu 321 if ((cb=1) and (ra> rf) and (cx=0)) then let cx=1 322 if ((cb=-1) and (ci=1) and (ra> rf)) then let cx=1 323 if ((cx=1) and (ra> rf) and (ra> mx)) then let mx=int(ra) 324 if ((cb=-1) and (ra< rf) and (ci=0)) then let ci=1 325 if ((cb=1) and (cx=1) and (ra< rf)) then let ci=1 326 if ((ci=1) and (ra< rf) and (ra< mi)) then let mi=int(ra) 330 uu=int(u*10)/10 332 rr=int(ra*10)/10 335 if ((rf-ra)> 0.3) then let cn=cn+1 336 if ((ra-rf)> 0.3) then let cn=cn+1 340 a\$=str\$(cn)+" " 350 a\$=a\$+str\$(int(u))+" "+str\$(int(mi))+" "+str\$(int(mx))+" " 355 at 0,16:print a\$ 357 line x,159-ra,x-1,159-rao 358 g\$=inkey\$ 360 if g\$="k" then input "Nuevo kp?",kp:kp=kp/10:goto 180 361 if g\$="h" then gosub 1000 364 if g\$="i" then input "Nuevo ti?",ti:ti=ti/10:goto 180 368 if g\$="d" then input "Nuevo td?",td:td=td/10:goto 180 370 if g\$="a" then input "Nueva aceleracion?",ac:goto 180 374 if g\$="b" then input "Nueva desaceleracion?",de:goto 180 375 if g\$="c" then goto 180 380 if g\$="e" then goto 100 383 g=val(g\$) 384 if g< 1 or g> 9 then 240 385 rf=g*10 390 goto 240 1000 cls:color 9:?"Ayuda":color 0 1010 ?"K-ancho de banda" 1020 ?"I-factor integrativo" 1030 ?"D-derivativo" 1040 ?"A-aceleracion" 1050 ?"B-desaceleracion" 1060 ?"C-reinicia" 1070 ?"numeros 1 a 9 referencia" 1080 pause 1100 goto 180 '