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mainwindow.cpp
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#include "mainwindow.h"
#include "ui_mainwindow.h"
MainWindow::MainWindow(QWidget *parent) :
QMainWindow(parent),
ui(new Ui::MainWindow)
{
ui->setupUi(this);
serial = new QSerialPort(this);
connect(serial, &QSerialPort::readyRead, this, &MainWindow::readData);
tamanhoTanque = SettingModal.GetTamanhoTanque();
valorSensor = SettingModal.GetSensor();
// pSinal = new Plot(ui->widSINAL); pSinal->hide(); pSinal->show();
// pSinal = new Plot(U,Y,ui->widSINAL,700,140); pSinal->hide(); pSinal->show();
// pSinal->setMinimumSize(700,140);
// pSinal->setMaximumSize(700,140);
// pSinal->setTitle("Gráfico do Nível");
// pSinal->setyLabel("Nível (cm)");
// pSinal->setxLabel("Tempo");
// pErro = new Plot (ui->widERRO); pErro->hide(); pErro->show();
// pErro = new Plot (U,Y,ui->widERRO,700,140); pErro->hide(); pErro->show();
// pErro->setMinimumSize(700,140);
// pErro->setMaximumSize(700,140);
// pErro->setTitle("Gráfico do ERRO");
// pErro->setyLabel("Erro");
// pErro->setxLabel("Tempo");
// pPwm = new Plot (ui->widPWM); pPwm->hide(); pPwm->show();
// pPwm = new Plot (U,Y,ui->widPWM,700,140); pPwm->hide(); pPwm->show();
// pPwm->setMinimumSize(700,140);
// pPwm->setMaximumSize(700,140);
// pPwm->setTitle("Gráfico do PWM");
// pPwm->setyLabel("PWM");
// pPwm->setxLabel("Tempo");
PlotHandler::plotProperties propPSinal;
propPSinal.setxLabel("Tempo");
propPSinal.setyLabel("Nivel");
propPSinal.setTitle("Grafico do Nivel");
propPSinal.rangemin = 0;
propPSinal.rangemax = 25;
pSinal = new PlotHandler::plot<double>(ui->widSINAL, propPSinal);
PlotHandler::plotProperties propPErro;
propPErro.setxLabel("Tempo");
propPErro.setyLabel("Erro");
propPErro.setTitle("Grafico do Erro");
propPErro.rangemin = 0;
propPErro.rangemax = 255;
pErro = new PlotHandler::plot<double>(ui->widERRO, propPErro);
PlotHandler::plotProperties propPPwm;
propPPwm.setxLabel("Tempo");
propPPwm.setyLabel("PWM");
propPPwm.setTitle("Grafico do PWM");
propPPwm.rangemin = 0;
propPPwm.rangemax = 140;
pPwm = new PlotHandler::plot<double>(ui->widPWM, propPPwm);
//pTemp = new PlotHandler::plot<double>(ui->widTEMP);
ui->widget_aberta->hide();
ui->widget_fechada->hide();
ui->widget_Sintonia->hide();
ui->widgetNivel->hide();
}
MainWindow::~MainWindow()
{
delete ui;
if (serial->isOpen())
serial->close();
}
void MainWindow::delay(){
QTime dieTime = QTime::currentTime().addSecs(1);
while (QTime::currentTime() < dieTime)
QCoreApplication::processEvents(QEventLoop::AllEvents,100);
}
void MainWindow::on_ConnectPushButton_clicked()
{
serial->setPortName(ui->PortLineEdit->text());
serial->setBaudRate(serial->Baud4800);
serial->setDataBits(serial->Data8);
serial->setParity(serial->NoParity);
serial->setStopBits(serial->OneStop);
serial->setFlowControl(serial->NoFlowControl);
if (serial->open(QIODevice::ReadWrite)){
QMessageBox msg; msg.setText("Device Connected!");
msg.exec();
malha = false;
QString aberta = "a";
ui->widget_aberta->show();
ui->widget_fechada->hide();
ui->comboBox->setCurrentText("Malha Aberta");
delay();
serial->write(aberta.toStdString().c_str());
delay();
serial->write(espaco.toStdString().c_str());
delay();
} else {
QMessageBox::critical(this,tr("Erro!"), serial->errorString());
}
}
void MainWindow::on_DisconnectPushButton_clicked()
{
if (serial->isOpen())
serial->close();
QMessageBox msg; msg.setText("Disconnected!");
msg.exec();
}
void MainWindow::readData(){
QByteArray data = serial->readAll();
std::string c = QString(data).toStdString();
ui->textEdit->setText(ui->textEdit->toPlainText()+data);
ui->textEdit->verticalScrollBar()->setSliderPosition(ui->textEdit->verticalScrollBar()->maximum());
if(c.find('\r') == -1)
{
tempSerialData += c;
}
else
{
tempSerialData += c;
if (malha) {
double error = QString(tempSerialData.substr(0, 6).c_str()).toDouble();
if(error > 127.0)
error -= 255.0;
tempSerialData.erase(0, 6);
QString errorstring = QString::number(error,'g',6);
ui->ErroLineEdit->setText(errorstring);
double sinal = QString(tempSerialData.substr(0, 5).c_str()).toDouble();
tempSerialData.erase(0, 5);
QString sinalstring = QString::number(sinal,'g',6);
ui->SinalLineEdit->setText(sinalstring);
double pwm = QString(tempSerialData.substr(0, 5).c_str()).toDouble();
tempSerialData.erase(0, 5);
pwmstring = QString::number(pwm,'g',6);
ui->PWMLineEdit->setText(pwmstring);
if (valorSensor == 1){
temp = tamanhoTanque - QString(tempSerialData.substr(0, 5).c_str()).toDouble();
tempSerialData.erase(0, 5);
tempstring = QString::number(temp,'g',6);
ui->TempLineEdit->setText(tempstring);
nivel = ((int) temp * 100)/tamanhoTanque;
ui->progressBar->setValue(nivel);
} else if (valorSensor == 2){
temp = QString(tempSerialData.substr(0, 5).c_str()).toDouble();
tempSerialData.erase(0, 5);
tempstring = QString::number(temp,'g',6);
ui->TempLineEdit->setText(tempstring);
nivel = ((int) temp * 100)/tamanhoTanque;
ui->progressBar->setValue(nivel);
}
double time = QString(tempSerialData.substr(0, 7).c_str()).toDouble();
QString timestring = QString::number(time,'g',6);
ui->TempoLineEdit->setText(timestring);
// pTemp->realTimeDataUpdate(time,temp);
pErro->realTimeDataUpdate(time,error);
pSinal->realTimeDataUpdate(time,nivel);
pPwm->realTimeDataUpdate(time,pwm);
tempSerialData.clear();
int pos = c.find('\r');
tempSerialData = c.substr(pos+1);
} else {
double pwm = QString(tempSerialData.substr(0, 5).c_str()).toDouble();
tempSerialData.erase(0, 5);
pwmstring = QString::number(pwm,'g',6);
ui->PWMLineEdit->setText(pwmstring);
if (valorSensor == 1){
temp = tamanhoTanque - QString(tempSerialData.substr(0, 5).c_str()).toDouble();
tempSerialData.erase(0, 5);
tempstring = QString::number(temp,'g',6);
ui->TempLineEdit->setText(tempstring);
nivel = ((int) temp * 100)/tamanhoTanque;
ui->progressBar->setValue(nivel);
} else if (valorSensor == 2){
temp = QString(tempSerialData.substr(0, 5).c_str()).toDouble();
tempSerialData.erase(0, 5);
tempstring = QString::number(temp,'g',6);
ui->TempLineEdit->setText(tempstring);
nivel = ((int) temp * 100)/tamanhoTanque;
ui->progressBar->setValue(nivel);
}
double time = QString(tempSerialData.substr(0, 7).c_str()).toDouble();
QString timestring = QString::number(time,'g',6);
ui->TempoLineEdit->setText(timestring);
tempSerialData.clear();
int pos = c.find('\r');
tempSerialData = c.substr(pos+1);
pSinal->realTimeDataUpdate(time, nivel);
pPwm->realTimeDataUpdate(time,pwm);
if(isMinSetted || isMaxSetted){
stabilize((int)temp);
}
}
}
}
void MainWindow::stabilize(int nvl){
int limitTime = 50;
Yatual = nvl;
ui->label_40->setText(std::to_string(contador).c_str());
if(modulo(Yanterior - Yatual) < 2){
contador++;
}else{
contador = 0;
}
if(contador > limitTime){
if(isMinSetted) {
contador = 0;
setPWM(std::to_string(pwmMax),"max");
}else if(isMaxSetted){
setPWM("0","real");
matrizGerada = true;
std::string str; str << Y;
cout << Y << endl;
str.clear(); str << U;
cout << U << endl;
}
}
if(isMinSetted && contador == limitTime-1 ){
Y = Y| LinAlg::Matrix<double>(std::stod(tempstring.toStdString().c_str()));
U = U| LinAlg::Matrix<double>(std::stod(pwmstring.toStdString().c_str()));
}else if(isMaxSetted && contadorErro > 5){
if(tempstring.toStdString().c_str() != "0" && pwmstring.toStdString().c_str() != "0"){
Y = Y| LinAlg::Matrix<double>(std::stod(tempstring.toStdString().c_str()));
U = U| LinAlg::Matrix<double>(std::stod(pwmstring.toStdString().c_str()));
}
}
if(isMaxSetted && contadorErro <=6){
contadorErro++;
}
Yanterior = Yatual;
}
int MainWindow::modulo(int numero){
if(numero < 0){
return numero*(-1);
}else{
return numero;
}
}
void MainWindow::setPWM(string pwm, string type){
if(type == "min"){
this->isMinSetted = true;
this->isMaxSetted = false;
}else if(type == "max"){
this->isMinSetted = false;
this->isMaxSetted = true;
} else if(type == "real"){
this->isMaxSetted = false;
this->isMinSetted = false;
}
QTextCodec *codec = QTextCodec::codecForName("Windows-1251");
for(unsigned i = 0; i < pwm.length(); ++i){
std::string send; send = pwm[i];
QByteArray encodedString = codec->fromUnicode(send.c_str());
serial->write(encodedString);
delay();
}
QByteArray encodedString = codec->fromUnicode("m");
serial->write(encodedString);
delay();
encodedString = codec->fromUnicode(" ");
serial->write(encodedString);
}
void MainWindow::on_ClearPushButton_clicked()
{
ui->textEdit->clear();
ui->ErroLineEdit->clear();
ui->SinalLineEdit->clear();
ui->PWMLineEdit->clear();
ui->TempLineEdit->clear();
ui->TempoLineEdit->clear();
// pSinal = new Plot(ui->widSINAL);
// pErro = new Plot (ui->widERRO);
// pPwm = new Plot (ui->widPWM);
pSinal = new PlotHandler::plot<double>(ui->widSINAL);
pErro = new PlotHandler::plot<double>(ui->widERRO);
//pTemp = new PlotHandler::plot<double>(ui->widTEMP);
pPwm = new PlotHandler::plot<double>(ui->widPWM);
}
void MainWindow::on_SendPushButton_clicked()
{
serial->write(ui->SendLineEdit->text().toStdString().c_str());
}
void MainWindow::Enviar(int dado){
QString centena = QString::number((dado / 100),'g',6);
QString dezena = QString::number(((dado%100)/10),'g',6);
QString unidade = QString::number(((dado%100)%10),'g',6);
serial->write(centena.toStdString().c_str());
delay();
serial->write(dezena.toStdString().c_str());
delay();
serial->write(unidade.toStdString().c_str());
delay();
}
void MainWindow::Enviar(string dado){
QTextCodec *codec = QTextCodec::codecForName("Windows-1251");
for(unsigned i = 0; i < dado.length(); ++i){
if (dado[i] != '.'){
std::string send; send = dado[i];
QByteArray encodedString = codec->fromUnicode(send.c_str());
serial->write(encodedString);
delay();
}
}
}
void MainWindow::on_AjustepushButtonAberta_clicked()
{
double pwm = ui->PWMLineEditAberta->text().toDouble();
Enviar((int)pwm);
serial->write(m.toStdString().c_str());
delay();
Enviar("0");
serial->write(espaco.toStdString().c_str());
delay();
}
void MainWindow::on_AjustePushButtonFechad_clicked()
{
string kp = ui->kPLineEdit->text().toStdString();
string ki = ui->kILineEdit->text().toStdString();
string kd = ui->kDLineEdit->text().toStdString();
string setpoint = ui->SetPointLineEditFechad->text().toStdString();
std::cout << kp << ki << kd << std::endl;
Enviar(kp);
serial->write(p.toStdString().c_str());
delay();
Enviar(ki);
serial->write(i.toStdString().c_str());
delay();
Enviar(kd);
serial->write(d.toStdString().c_str());
delay();
Enviar(setpoint);
serial->write(espaco.toStdString().c_str());
delay();
ui->textEdit->clear();
//pSinal = new PlotHandler::plot<double>(ui->widSINAL);
//pErro = new PlotHandler::plot<double>(ui->widERRO);
//pTemp = new PlotHandler::plot<double>(ui->widTEMP);
//pPwm = new PlotHandler::plot<double>(ui->widPWM);
}
void MainWindow::on_comboBox_currentTextChanged(const QString &arg1)
{
if (ui->comboBox->currentText() == ""){
ui->widget_aberta->hide();
ui->widget_fechada->hide();
ui->widget_Sintonia->hide();
ui->widgetNivel->hide();
}
if (ui->comboBox->currentText() == "Malha Aberta"){
malha = false;
ui->widget_aberta->show();
ui->widget_fechada->hide();
ui->widget_Sintonia->hide();
ui->widgetNivel->hide();
serial->write(aberta.toStdString().c_str());
delay();
serial->write(espaco.toStdString().c_str());
}
if (ui->comboBox->currentText() == "Malha Fechada"){
malha = true;
QString fechada = "f";
ui->widget_fechada->show();
ui->widget_aberta->hide();
ui->widget_Sintonia->hide();
ui->widgetNivel->show();
serial->write(fechada.toStdString().c_str());
delay();
serial->write(espaco.toStdString().c_str());
}
if (ui->comboBox->currentText() == "Sintonizar"){
malha = false;
PwmDialogBox pwmmodal;
pwmmodal.setModal(true);
pwmmodal.exec();
ui->widget_Sintonia->show();
ui->widget_aberta->hide();
ui->widget_fechada->hide();
ui->widgetNivel->hide();
pwmMin = (int) pwmmodal.getPWMMin();
pwmMax = (int) pwmmodal.getPWMMax();
ui->textEdit->clear();
setPWM(std::to_string(pwmMin),"min");
}
}
void MainWindow::on_actionExit_triggered()
{
QApplication::quit();
}
void MainWindow::on_SimularPushButton_clicked()
{
if (matrizGerada){
//NIVEL
// LinAlg::Matrix<double> Y = "0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.198013266932447,0.392105608476768,0.582354664157513,0.768836536133642,0.951625819640405,1.13079563282843,1.30641764601194,1.47856211033789,1.64729788588728,1.81269246922018,1.97481202037522,2.13372138933447,2.28948414196434,2.44216258544275,2.59181779318282,2.73850962926309,2.88229677237390,3.02323673928969,3.16138590787644,3.29679953964361,3.42953180184943,3.55963578916859,3.68716354493074,3.81216608193859,3.93469340287367,4.05479452029806,4.17251747626010,4.28790936151185,4.40101633434598,4.51188363905974,4.62055562405326,4.72707575956952,4.83148665508301,4.93383007634411,5.03414696208591,5.13247744040029,5.22886084478966,5.32333572990091,5.41593988694777,5.50671035882779,5.59568345494001,5.68289476570921,5.76837917682251,5.85217088318419,5.93430340259401,6.01480958915486,6.09372164641479,6.17107114024888,6.24688901148601,6.32120558828558,6.39405059826922,6.46545318041220,6.53544189669943,6.60404474355061,6.67128916301921,6.73720205376961,6.80180978183696,6.86513819117395,6.92721261398869,6.98805788087798,7.04769833075986,7.10615782060950,7.16345973500230,7.21962699546806,7.27468206965987,7.32864698034150,7.38154331419674,7.43339223046444,7.48421446940244,7.53403036058394,7.58285983102964,7.63072241317878,7.67763725270241,7.72362311616187,7.76869839851570,7.81288113047785,7.85618898573022,7.89863928799235,7.94024901795117,7.98103482005345,8.02101300916385,8.06019957709108,8.09861019898479,8.13626023960590,8.17316475947265,8.20933852088506,8.24479599383003,8.27955136176949,8.31361852731404,8.34701111778413,8.37974249066119,8.41182573893079,8.44327369632002,8.47409894243116,8.50431380777365,8.53393037869650,8.56296050222297,8.59141579078955,8.61930762689107,8.64664716763387,8.67344534919878,8.69971289121574,8.72546030105179,8.75069787801417,8.77543571747018,8.79968371488543,8.82345156978221,8.84674878961937,8.86958469359550,8.89196841637666,8.91390891175042,8.93541495620747,8.95649515245235,8.97715793284462,8.99741156277196,9.01726414395638,9.03672361769507,9.05579776803697,9.07449422489656,9.09282046710587,9.11078382540613,9.12839148538018,9.14565049032678,9.16256774407803,9.17915001376101,9.19540393250467,9.21133600209324,9.22695259556699,9.24225995977154,9.25726421785665,9.27197137172563,9.28638730443613,9.30051778255344,9.31436845845721,9.32794487260249,9.34125245573596,9.35429653106831,9.36708231640358,9.37961492622641,9.39189937374781,9.40394057291060,9.41574334035498,9.42731239734532,9.43865237165865,9.44976779943592,9.46066312699643,9.47134271261649,9.48181082827273,9.49207166135101,9.50212931632135,9.51198781637986,9.52165110505801,9.53112304780011,9.54040743350955,9.54950797606441,9.55842831580306,9.56717202098033,9.57574258919488,9.58414344878826,9.59237796021633,9.60044941739345,9.60836104901012,9.61611601982447,9.62371743192823,9.63116832598759,9.63847168245953,9.64563042278400,9.65264741055261,9.65952545265400,9.66626730039673,9.67287565060979,9.67935314672138,9.68570237981631,9.69192588967248,9.69802616577681,9.70400564832107,9.70986672917802,9.71561175285815,9.72124301744752,9.72676277552707,9.73217323507361,9.73747656034311,9.74267487273639,9.74777025164772,9.75276473529660,9.75766032154308,9.76245896868694,9.76716259625102,9.77177308574906,9.77629228143833,9.78072199105737,9.78506398654909,9.78932000476957,9.79349174818286,9.79758088554194,9.80158905255629,9.80551785254613,9.80936885708387,9.81314360662266,9.81684361111265,9.82047035060496,9.82402527584375,9.82750980884653,9.83092534347293,9.83427324598238,9.83755485558049,9.84077148495487,9.84392442080016,9.84701492433273,9.85004423179521,9.85301355495097,9.85592408156887,9.85877697589835,9.86157337913519,9.86431440987798,9.86700116457555,9.86963471796561,9.87221612350463,9.87474641378925,9.87722660096931,9.87965767715275,9.88204061480248,9.88437636712531,9.88666586845332,9.88891003461757,9.89110976331445,9.89326593446476,9.89537941056572,9.89745103703595,9.89948164255365,9.90147203938812,9.90342302372461,9.90533537598289,9.90720986112934,9.90904722898303,9.91084821451559,9.91261353814526,9.91434390602501,9.91604001032508,9.91770252950979,9.91933212860899,9.92092945948405,9.92249516108862,9.92402985972421,9.92553416929075,9.92700869153210,9.92845401627684,9.92987072167414,9.93125937442503,9.93262053000914,9.93395473290684,9.93526251681710,9.93654440487090,9.93780090984057,9.93903253434483,9.94023977104993,9.94142310286664,9.94258300314345,9.94371993585595,9.94483435579238,9.94592670873558,9.94699743164129,9.94804695281294,9.94907569207300,9.95008406093089,9.95107246274760,9.95204129289703,9.95299093892416,9.95392178070006,9.95483419057386,9.95572853352168,9.95660516729260,9.95746444255184,9.95830670302095,9.95913228561535,9.95994152057908,9.96073473161693,9.96151223602388,9.96227434481207,9.96302136283516,9.96375358891033,9.96447131593778,9.96517483101787,9.96586441556604,9.96654034542528,9.96720289097656,9.96785231724692,9.96848888401555,9.96911284591763,9.96972445254624,9.97032394855218,9.97091157374187,9.97148756317320,9.97205214724962,9.97260555181231,9.97314799823045,9.97367970348986,9.97420088027972,9.97471173707770,9.97521247823333,9.97570330404975,9.97618441086382,9.97665599112470,9.97711823347077,9.97757132280513,9.97801544036956,9.97845076381701,9.97887746728266,9.97929572145359,9.97970569363703,9.98010754782734,9.98050144477154,9.98088754203366,9.98126599405777,9.98163695222970,9.98200056493768,9.98235697763165,9.98270633288142,9.98304877043376,9.98338442726825,9.98371343765211,9.98403593319387,9.98435204289605,9.98466189320675,9.98496560807021,9.98526330897645,9.98555511500979,9.98584114289652,9.98612150705163,9.98639631962451,9.98666569054386,9.98692972756163,9.98718853629615,9.98744222027437,9.98769088097326,9.98793461786041,9.98817352843384,9.98840770826095,9.98863725101679,9.98886224852154,9.98908279077720,9.98929896600360,9.98951086067371,9.98971855954824,9.98992214570951,9.99012170059468,9.99031730402838,9.99050903425458,9.99069696796794,9.99088118034445,9.99106174507150,9.99123873437741,9.99141221906025,9.99158226851621,9.99174895076733,9.99191233248875,9.99207247903533,9.99222945446782,9.99238332157849,9.99253414191623,9.99268197581119,9.99282688239890,9.99296891964393,9.99310814436307,9.99324461224806,9.99337837788787,9.99350949479055,9.99363801540461,9.99376399114000,9.99388747238870,9.99400850854485,9.99412714802453,9.99424343828512,9.99435742584427,9.99446915629851,9.99457867434154,9.99468602378201,9.99479124756114,9.99489438776985,9.99499548566559,9.99509458168886,9.99519171547941,9.99528692589203,9.99538025101217,9.99547172817112,9.99556139396096,9.99564928424920,9.99573543419313,9.99581987825388,9.99590265021019,9.99598378317196,9.99606330959344,9.99614126128627,9.99621766943216,9.99629256459540,9.99636597673504,9.99643793521692,9.99650846882539,9.99657760577484,9.99664537372096,9.99671179977185,9.99677691049880,9.99684073194698,9.99690328964580,9.99696460861920,9.99702471339557,9.99708362801763,9.99714137605202,9.99719798059870,9.99725346430027,9.99730784935093,9.99736115750544,9.99741341008777,9.99746462799964,9.99751483172891,9.99756404135773,9.99761227657062,9.99765955666230,9.99770590054544,9.99775132675820,9.99779585347169,9.99783949849718,9.99788227929325,9.99792421297281,9.99796531630988,9.99800560574635,9.99804509739852,9.99808380706358,9.99812175022593,9.99815894206331,9.99819539745298,9.99823113097756,9.99826615693096,9.99830048932400,9.99833414189011,9.99836712809077,9.99839946112089,9.99843115391412,9.99846221914800,9.99849266924903,9.99852251639767,9.99855177253316,9.99858044935836,9.99860855834437,9.99863611073517,9.99866311755207,9.99868958959818,9.99871553746264,9.99874097152497,9.99876590195912,9.99879033873760,9.99881429163544,9.99883777023413,9.99886078392542,9.99888334191509,9.99890545322663,9.99892712670487,9.99894837101949,9.99896919466849,9.99898960598162,9.99900961312366,9.99902922409775,9.99904844674854,9.99906728876534,9.99908575768521,9.99910386089596,9.99912160563912,9.99913899901283,9.99915604797466";
// LinAlg::Matrix<double> Y = "0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,2,2,2,2,2,2,2,2,2,3,3,3,3,4,4,4,5,4,4,5,6,6,6,7,7,7,8,8,8,9,9,9,10,10,10,10,10,10,10,10,10,10,10,11,10,10,10,10,10,11,11,11,11,12,12,12,12,13,13,13,13,14,14,14,14,14,15,15,16,16,17,17,18,18,18,19,18,19,19,20,19,20,20,19,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20";
// LinAlg::Matrix<double> Y = "12,13,13,13,13,13,13,13,13,13,13,14,14,13,13,14,14,14,14,14,14,14,14,14,15,14,15,15,15,15,15,15,16,15,16,15,15,16,16,16,16,16,16,16,17,17,16,16,17,17,17,17,17,17,17,17,17,17,17,18,18,18,17,18,18,18,18,18,18,18,18,18,19,19,19,19,18,18,19,19,19,19,19,19,19,19,19,20,20,20,19,20,20,20,20,20,20,20,20,20,20,20,21,20,21,21,21,21,21,21,20,21,21,21,21,21,21,21,21,21,21,21,22";
//PWM
// LinAlg::Matrix<double> U = "0,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1";
// LinAlg::Matrix<double> U = "0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150";
// LinAlg::Matrix<double> U = "100,100,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120";
if (ui->ModelsComboBox->currentText() == "Sunderesen/Krishnaswany"){
ModelHandler::TransferFunction<double> FOP = ModelHandler::FOPDTSundaresanKrishnaswamy(Y,U,0.1);
ControlHandler::PID<double> pid[10];
pid[0]= ControlHandler::tunningZieglerNichols(FOP,ui->ControllerComboBox->currentText().toStdString());
pid[1]= ControlHandler::tunningCHRRegulatorio(FOP,ui->ControllerComboBox->currentText().toStdString());
pid[2]= ControlHandler::tunningCHRServo0OV(FOP,ui->ControllerComboBox->currentText().toStdString());
pid[3]= ControlHandler::tunningCHRServo20OV(FOP,ui->ControllerComboBox->currentText().toStdString());
pid[4]= ControlHandler::tunningCohenCoon(FOP,ui->ControllerComboBox->currentText().toStdString());
pid[5]= ControlHandler::tunningIAELopes(FOP,ui->ControllerComboBox->currentText().toStdString());
pid[6]= ControlHandler::tunningIAERovira(FOP,ui->ControllerComboBox->currentText().toStdString());
pid[7]= ControlHandler::tunningIMC(FOP,ui->ControllerComboBox->currentText().toStdString(),0.2);
pid[8]= ControlHandler::tunningITAELopes(FOP,ui->ControllerComboBox->currentText().toStdString());
pid[9]= ControlHandler::tunningITAERovira(FOP,ui->ControllerComboBox->currentText().toStdString());
LinAlg::Matrix<double> PIDParametros = pid[ui->MethodsComboBox->currentIndex()].getParams();
std::string kp, ki, kd;
std::stringstream kkp, kki, kkd;
kkp << fixed << setprecision(1) << PIDParametros(1,1);
kkp >> kp;
kki << fixed << setprecision(1) << PIDParametros(1,2);
kki >> ki;
kkd << fixed << setprecision(1) << PIDParametros(1,3);
kkd >> kd;
std::stringstream atraso;
std::string katraso;
atraso << "exp(-" << FOP.getTransportDelay() << "s)";
atraso >> katraso;
ui->AtrasoLabel->setText(QString::fromStdString(katraso));
ui->kPLineEdit_2->setText(QString::fromStdString(kp));
ui->kILineEdit_2->setText(QString::fromStdString(ki));
ui->kDLineEdit_2->setText(QString::fromStdString(kd));
std::string str ; str << FOP;
ui->EquacaoLabel->setText(QString::fromStdString(str));
str.clear(); str << pid[ui->MethodsComboBox->currentIndex()];
ui->PIDLabel->setText(QString::fromStdString(str));
LinAlg::Matrix<double> Ytemp = FOP.sim(U-U(1,1));
Ytemp = (LinAlg::Zeros<double>(1,unsigned(FOP.getTransportDelay()/FOP.getSampleTime()))|Ytemp)+Y(1,1);
// Comparar com o Y real;
closeLoopSimulation = new PlotHandler::plot<double>(Y||Ytemp,U||U,ui->widgetSimulation); closeLoopSimulation->hide(); closeLoopSimulation->show();
}
if (ui->ModelsComboBox->currentText() == "Grafico Ziegler-Nichols"){
ModelHandler::TransferFunction<double> FOP = ModelHandler::FOPDTZieglerNichols(Y,U,0.1);
ControlHandler::PID<double> pid[10];
pid[0]= ControlHandler::tunningZieglerNichols(FOP,ui->ControllerComboBox->currentText().toStdString());
pid[1]= ControlHandler::tunningCHRRegulatorio(FOP,ui->ControllerComboBox->currentText().toStdString());
pid[2]= ControlHandler::tunningCHRServo0OV(FOP,ui->ControllerComboBox->currentText().toStdString());
pid[3]= ControlHandler::tunningCHRServo20OV(FOP,ui->ControllerComboBox->currentText().toStdString());
pid[4]= ControlHandler::tunningCohenCoon(FOP,ui->ControllerComboBox->currentText().toStdString());
pid[5]= ControlHandler::tunningIAELopes(FOP,ui->ControllerComboBox->currentText().toStdString());
pid[6]= ControlHandler::tunningIAERovira(FOP,ui->ControllerComboBox->currentText().toStdString());
pid[7]= ControlHandler::tunningIMC(FOP,ui->ControllerComboBox->currentText().toStdString(),0.2);
pid[8]= ControlHandler::tunningITAELopes(FOP,ui->ControllerComboBox->currentText().toStdString());
pid[9]= ControlHandler::tunningITAERovira(FOP,ui->ControllerComboBox->currentText().toStdString());
LinAlg::Matrix<double> PIDParametros = pid[ui->MethodsComboBox->currentIndex()].getParams();
std::string kp, ki, kd;
std::stringstream kkp, kki, kkd;
kkp << fixed << setprecision(1) << PIDParametros(1,1);
kkp >> kp;
kki << fixed << setprecision(1) << PIDParametros(1,2);
kki >> ki;
kkd << fixed << setprecision(1) << PIDParametros(1,3);
kkd >> kd;
std::stringstream atraso;
std::string katraso;
atraso << "exp(-" << FOP.getTransportDelay() << "s)";
atraso >> katraso;
ui->AtrasoLabel->setText(QString::fromStdString(katraso));
ui->kPLineEdit_2->setText(QString::fromStdString(kp));
ui->kILineEdit_2->setText(QString::fromStdString(ki));
ui->kDLineEdit_2->setText(QString::fromStdString(kd));
std::string str ; str << FOP;
ui->EquacaoLabel->setText(QString::fromStdString(str));
str.clear(); str << pid[ui->MethodsComboBox->currentIndex()];
ui->PIDLabel->setText(QString::fromStdString(str));
LinAlg::Matrix<double> Ytemp = FOP.sim(U-U(1,1));
Ytemp = (LinAlg::Zeros<double>(1,unsigned(FOP.getTransportDelay()/FOP.getSampleTime()))|Ytemp)+Y(1,1);
// Comparar com o Y real;
closeLoopSimulation = new PlotHandler::plot<double>(Y||Ytemp,U||U,ui->widgetSimulation); closeLoopSimulation->hide(); closeLoopSimulation->show();
}
if (ui->ModelsComboBox->currentText() == "Grafico"){
ModelHandler::TransferFunction<double> FOP = ModelHandler::FOPDTCurvaDeReacao(Y,U,0.1);
ControlHandler::PID<double> pid[10];
pid[0]= ControlHandler::tunningZieglerNichols(FOP,ui->ControllerComboBox->currentText().toStdString());
pid[1]= ControlHandler::tunningCHRRegulatorio(FOP,ui->ControllerComboBox->currentText().toStdString());
pid[2]= ControlHandler::tunningCHRServo0OV(FOP,ui->ControllerComboBox->currentText().toStdString());
pid[3]= ControlHandler::tunningCHRServo20OV(FOP,ui->ControllerComboBox->currentText().toStdString());
pid[4]= ControlHandler::tunningCohenCoon(FOP,ui->ControllerComboBox->currentText().toStdString());
pid[5]= ControlHandler::tunningIAELopes(FOP,ui->ControllerComboBox->currentText().toStdString());
pid[6]= ControlHandler::tunningIAERovira(FOP,ui->ControllerComboBox->currentText().toStdString());
pid[7]= ControlHandler::tunningIMC(FOP,ui->ControllerComboBox->currentText().toStdString(),0.2);
pid[8]= ControlHandler::tunningITAELopes(FOP,ui->ControllerComboBox->currentText().toStdString());
pid[9]= ControlHandler::tunningITAERovira(FOP,ui->ControllerComboBox->currentText().toStdString());
LinAlg::Matrix<double> PIDParametros = pid[ui->MethodsComboBox->currentIndex()].getParams();
std::string kp, ki, kd;
std::stringstream kkp, kki, kkd;
kkp << fixed << setprecision(1) << PIDParametros(1,1);
kkp >> kp;
kki << fixed << setprecision(1) << PIDParametros(1,2);
kki >> ki;
kkd << fixed << setprecision(1) << PIDParametros(1,3);
kkd >> kd;
std::stringstream atraso;
std::string katraso;
atraso << "exp(-" << FOP.getTransportDelay() << "s)";
atraso >> katraso;
ui->AtrasoLabel->setText(QString::fromStdString(katraso));
ui->kPLineEdit_2->setText(QString::fromStdString(kp));
ui->kILineEdit_2->setText(QString::fromStdString(ki));
ui->kDLineEdit_2->setText(QString::fromStdString(kd));
std::string str ; str << FOP;
ui->EquacaoLabel->setText(QString::fromStdString(str));
str.clear(); str << pid[ui->MethodsComboBox->currentIndex()];
ui->PIDLabel->setText(QString::fromStdString(str));
LinAlg::Matrix<double> Ytemp = FOP.sim(U-U(1,1));
Ytemp = (LinAlg::Zeros<double>(1,unsigned(FOP.getTransportDelay()/FOP.getSampleTime()))|Ytemp)+Y(1,1);
// Comparar com o Y real;
closeLoopSimulation = new PlotHandler::plot<double>(Y||Ytemp,U||U,ui->widgetSimulation); closeLoopSimulation->hide(); closeLoopSimulation->show();
}
if (ui->ModelsComboBox->currentText() == "Smith"){
ModelHandler::TransferFunction<double> FOP = ModelHandler::FOPDTSmith(Y,U,0.1);
// std::cout << FOP << "exp(-" <<FOP.getTransportDelay() << "s)" << std::endl;
ControlHandler::PID<double> pid[10];
pid[0]= ControlHandler::tunningZieglerNichols(FOP,ui->ControllerComboBox->currentText().toStdString());
pid[1]= ControlHandler::tunningCHRRegulatorio(FOP,ui->ControllerComboBox->currentText().toStdString());
pid[2]= ControlHandler::tunningCHRServo0OV(FOP,ui->ControllerComboBox->currentText().toStdString());
pid[3]= ControlHandler::tunningCHRServo20OV(FOP,ui->ControllerComboBox->currentText().toStdString());
pid[4]= ControlHandler::tunningCohenCoon(FOP,ui->ControllerComboBox->currentText().toStdString());
pid[5]= ControlHandler::tunningIAELopes(FOP,ui->ControllerComboBox->currentText().toStdString());
pid[6]= ControlHandler::tunningIAERovira(FOP,ui->ControllerComboBox->currentText().toStdString());
pid[7]= ControlHandler::tunningIMC(FOP,ui->ControllerComboBox->currentText().toStdString(),0.2);
pid[8]= ControlHandler::tunningITAELopes(FOP,ui->ControllerComboBox->currentText().toStdString());
pid[9]= ControlHandler::tunningITAERovira(FOP,ui->ControllerComboBox->currentText().toStdString());
// std::cout << pid[ui->MethodsComboBox->currentIndex()] << std::endl;
// std::cout << pid[ui->MethodsComboBox->currentIndex()].getParams() << std::endl;
LinAlg::Matrix<double> PIDParametros = pid[ui->MethodsComboBox->currentIndex()].getParams();
std::string kp, ki, kd;
std::stringstream kkp, kki, kkd;
kkp << fixed << setprecision(1) << PIDParametros(1,1);
kkp >> kp;
kki << fixed << setprecision(1) << PIDParametros(1,2);
kki >> ki;
kkd << fixed << setprecision(1) << PIDParametros(1,3);
kkd >> kd;
std::stringstream atraso;
std::string katraso;
atraso << "exp(-" << FOP.getTransportDelay() << "s)";
atraso >> katraso;
ui->AtrasoLabel->setText(QString::fromStdString(katraso));
ui->kPLineEdit_2->setText(QString::fromStdString(kp));
ui->kILineEdit_2->setText(QString::fromStdString(ki));
ui->kDLineEdit_2->setText(QString::fromStdString(kd));
std::string str ; str << FOP;
ui->EquacaoLabel->setText(QString::fromStdString(str));
str.clear(); str << pid[ui->MethodsComboBox->currentIndex()];
ui->PIDLabel->setText(QString::fromStdString(str));
LinAlg::Matrix<double> Ytemp = FOP.sim(U-U(1,1));
Ytemp = (LinAlg::Zeros<double>(1,unsigned(FOP.getTransportDelay()/FOP.getSampleTime()))|Ytemp)+Y(1,1);
// Comparar com o Y real;
closeLoopSimulation = new PlotHandler::plot<double>(Y||Ytemp,U||U,ui->widgetSimulation); closeLoopSimulation->hide(); closeLoopSimulation->show();
}
} else {
QMessageBox msg; msg.setText("Sistema ainda não SINTONIZADO.\nAcessar a guia 'Modo' e ir em 'Modo Funcionamento/Sintonizar' para sintonizar!");
msg.exec();
}
}
void MainWindow::on_EnviarParamPushButton_clicked()
{
ui->kPLineEdit->setText(ui->kPLineEdit_2->text());
ui->kILineEdit->setText(ui->kILineEdit_2->text());
ui->kDLineEdit->setText(ui->kDLineEdit_2->text());
ui->comboBox->setCurrentText("Malha Fechada");
}
void MainWindow::on_verticalSlider_sliderMoved(int position)
{
if (position > 80){
QMessageBox msg; msg.setText("Setpoint acima do permitido!");
msg.exec();
ui->verticalSlider->setSliderPosition(80);
}
ui->SetPointLineEditFechad->setText(QString::number(((position*25)/100),'g',6));
}
void MainWindow::on_SetPointLineEditFechad_textChanged(const QString &arg1)
{
double sp = arg1.toDouble();
if (sp > tamanhoTanque-5){
QMessageBox msg; msg.setText("Setpoint acima do permitido ("+QString::fromStdString(to_string(tamanhoTanque-5)+")!"));
msg.exec();
ui->SetPointLineEditFechad->setText(QString::fromStdString(to_string(tamanhoTanque-5)));
ui->verticalSlider->setSliderPosition(80);
} else {
ui->verticalSlider->setSliderPosition((int)(sp*100)/25);
}
}
void MainWindow::on_kPLineEdit_textChanged(const QString &arg1)
{
double kkp = arg1.toDouble();
if (kkp > 25.5){
QMessageBox msg; msg.setText("kP maior que o máximo permitido (25.5)!");
msg.exec();
ui->kPLineEdit->setText("25.5");
}
}
void MainWindow::on_kILineEdit_textChanged(const QString &arg1)
{
double kki = arg1.toDouble();
if (kki > 25.5){
QMessageBox msg; msg.setText("kI maior que o máximo permitido (25.5)!");
msg.exec();
ui->kILineEdit->setText("25.5");
}
}
void MainWindow::on_kDLineEdit_textChanged(const QString &arg1)
{
double kkd = arg1.toDouble();
if (kkd > 25.5){
QMessageBox msg; msg.setText("kD maior que o máximo permitido (25.5)!");
msg.exec();
ui->kDLineEdit->setText("25.5");
}
}
void MainWindow::on_PWMLineEditAberta_textChanged(const QString &arg1)
{
double kpwm = arg1.toDouble();
if (kpwm > 198){
QMessageBox msg; msg.setText("PWM maior que o máximo permitido (198)!");
msg.exec();
ui->PWMLineEditAberta->setText("198");
}
}
void MainWindow::on_actionAtmelISP_triggered()
{
system("start ATMELISP.exe");
}
void MainWindow::on_actionSettings_triggered()
{
SettingModal.setModal(true);
SettingModal.exec();
tamanhoTanque = SettingModal.GetTamanhoTanque();
valorSensor = SettingModal.GetSensor();
}
void MainWindow::on_ReSintonizaPushButton_clicked()
{
ui->comboBox->setCurrentText("Sintonizar");
}
void MainWindow::on_SimuladorPushButton_clicked()
{
//NIVEL
// LinAlg::Matrix<double> Y = "12,13,13,13,13,13,13,13,13,13,13,14,14,13,13,14,14,14,14,14,14,14,14,14,15,14,15,15,15,15,15,15,16,15,16,15,15,16,16,16,16,16,16,16,17,17,16,16,17,17,17,17,17,17,17,17,17,17,17,18,18,18,17,18,18,18,18,18,18,18,18,18,19,19,19,19,18,18,19,19,19,19,19,19,19,19,19,20,20,20,19,20,20,20,20,20,20,20,20,20,20,20,21,20,21,21,21,21,21,21,20,21,21,21,21,21,21,21,21,21,21,21,22";
// LinAlg::Matrix<double> Y = "12,13,13,13,13,13,13,13,13,13,13,14,14,13,13,14,14,14,14,14,14,14,14,14,15,14,15,15,15,15,15,15,16,15,16,15,15,16,16,16,16,16,16,16,17,17,16,16,17,17,17,17,17,17,17,17,17,17,17,18,18,18,17,18,18,18,18,18,18,18,18,18,19,19,19,19,18,18,19,19,19,19,19,19,19,19,19,20,20,20,19,20,20,20,20,20,20,20,20,20,20,20,21,20,21,21,21,21,21,21,20,21,21,21,21,21,21,21,21,21,21,21,22";
// LinAlg::Matrix<double> Y = "0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.951625819640404,1.81269246922018,2.59181779318282,3.29679953964361,3.93469340287367,4.51188363905974,5.03414696208591,5.50671035882778,5.93430340259401,6.32120558828558,6.67128916301921,6.98805788087798,7.27468206965988,7.53403036058394,7.76869839851570,7.98103482005345,8.17316475947266,8.34701111778414,8.50431380777365,8.64664716763388,8.77543571747018,8.89196841637666,8.99741156277196,9.09282046710588,9.17915001376101,9.25726421785666,9.32794487260250,9.39189937374782,9.44976779943593,9.50212931632136,9.54950797606442,9.59237796021634,9.63116832598760,9.66626730039674,9.69802616577682,9.72676277552707,9.75276473529661,9.77629228143834,9.79758088554196,9.81684361111266,9.83427324598239,9.85004423179522,9.86431440987799,9.87722660096932,9.88891003461758,9.89948164255367,9.90904722898304,9.91770252950980,9.92553416929076,9.93262053000915,9.93903253434484,9.94483435579239,9.95008406093090,9.95483419057387,9.95913228561536,9.96302136283517,9.96654034542529,9.96972445254624,9.97260555181232,9.97521247823334,9.97757132280514,9.97970569363704,9.98163695222971,9.98338442726826,9.98496560807022,9.98639631962452,9.98769088097327,9.98886224852155,9.98992214570951,9.99088118034445,9.99174895076734,9.99253414191623,9.99324461224806,9.99388747238870,9.99446915629852,9.99499548566559,9.99547172817113,9.99590265021020,9.99629256459541,9.99664537372097,9.99696460861921,9.99725346430028,9.99751483172892,9.99775132675821,9.99796531630989,9.99815894206332,9.99833414189012,9.99849266924904,9.99863611073518,9.99876590195913,9.99888334191510,9.99898960598163,9.99908575768522,9.99917275934443,9.99925148170112,9.99932271263509,9.99938716504947,9.99944548400568,9.99949825317944,9.99954600070238,9.99958920444775,9.99962829681316,9.99966366904814,9.99969567516992,9.99972463550650,9.99975083990269,9.99977455062087,9.99979600496589,9.99981541766004,9.99983298299210,9.99984887676180,9.99986325803934,9.99987627075738,9.99988804515158,9.99989869906402,9.99990833912264,9.99991706180839,9.99992495442085,9.99993209595193,9.99993855787647,9.99994440486758,9.99994969544393,9.99995448255537,9.99995881411292,9.99996273346828,9.99996627984766,9.99996948874442,9.99997239227428,9.99997501949674,9.99997739670593,9.99997954769375,9.99998149398802,9.99998325506791,9.99998484855888,9.99998629040914,9.99998759504920,9.99998877553635,9.99998984368529,9.99999081018642,9.99999168471281,9.99999247601701,9.99999319201866,9.99999383988374,9.99999442609631,9.99999495652337,9.99999543647363,9.99999587075058,9.99999626370062,9.99999661925651,9.99999694097680,9.99999723208134,9.99999749548363,9.99999773381987,9.99999794947543,9.99999814460864,9.99999832117247,9.99999848093403,9.99999862549227,9.99999875629398,9.99999887464825,9.99999898173963,9.99999907863992,9.99999916631892,9.99999924565416,9.99999931743966,9.99999938239387,9.99999944116686,9.99999949434687,9.99999954246612,9.99999958600623,9.99999962540294,9.99999966105057,9.99999969330587,9.99999972249167,9.99999974890008,9.99999977279540,9.99999979441678,9.99999981398061,9.99999983168269,9.99999984770020,9.99999986219344,9.99999987530747,9.99999988717353,9.99999989791039,9.99999990762550,9.99999991641610,9.99999992437016,9.99999993156729,9.99999993807952,9.99999994397203,9.99999994930380,9.99999995412818,9.99999995849346,9.99999996244333,9.99999996601732,9.99999996925120,9.99999997217734,9.99999997482501,9.99999997722073,9.99999997938846,9.99999998134991,9.99999998312470,9.99999998473060,9.99999998618367,9.99999998749847,9.99999998868815,9.99999998976461,9.99999999073864,9.99999999161997,9.99999999241744,9.99999999313902,9.99999999379192,9.99999999438270,9.99999999491726,9.99999999540094,9.99999999583860,9.99999999623461,9.99999999659294,9.99999999691716,9.99999999721053,9.99999999747599,9.99999999771618,9.99999999793351,9.99999999813016,9.99999999830810,9.99999999846911,9.99999999861479,9.99999999874661,9.99999999886589,9.99999999897381,9.99999999907147,9.99999999915983,9.99999999923978,9.99999999931213,9.99999999937759,9.99999999943682,9.99999999949041,9.99999999953890,9.99999999958278,9.99999999962249,9.99999999965841,9.99999999969092,9.99999999972033,9.99999999974695,9.99999999977103,9.99999999979282,9.99999999981253,9.99999999983037,9.99999999984652,9.99999999986112,9.99999999987434,9.99999999988630,9.99999999989712,9.99999999990691,9.99999999991577,9.99999999992378,9.99999999993104,9.99999999993760,9.99999999994354,9.99999999994891,9.99999999995377,9.99999999995817,9.99999999996215,9.99999999996575,9.99999999996901,9.99999999997196,9.99999999997463,9.99999999997704,9.99999999997923,9.99999999998120,9.99999999998299,9.99999999998461,9.99999999998608,9.99999999998740,9.99999999998860,9.99999999998969,9.99999999999067,9.99999999999156,9.99999999999236,9.99999999999309,9.99999999999374,9.99999999999434,9.99999999999488,9.99999999999537,9.99999999999581,9.99999999999621,9.99999999999657,9.99999999999689,9.99999999999719,9.99999999999746,9.99999999999770,9.99999999999792,9.99999999999812,9.99999999999830,9.99999999999846,9.99999999999860,9.99999999999874,9.99999999999886,9.99999999999897,9.99999999999906,9.99999999999915,9.99999999999923,9.99999999999931,9.99999999999937,9.99999999999943,9.99999999999949,9.99999999999954,9.99999999999958,9.99999999999962,9.99999999999966,9.99999999999969,9.99999999999972,9.99999999999975,9.99999999999977,9.99999999999979,9.99999999999981,9.99999999999983,9.99999999999985,9.99999999999986,9.99999999999987,9.99999999999989,9.99999999999990,9.99999999999991,9.99999999999992,9.99999999999993,9.99999999999993,9.99999999999994,9.99999999999994,9.99999999999995,9.99999999999995,9.99999999999996,9.99999999999996,9.99999999999997,9.99999999999997,9.99999999999997,9.99999999999998,9.99999999999998,9.99999999999998,9.99999999999998,9.99999999999998,9.99999999999998,9.99999999999999,9.99999999999999,9.99999999999999,9.99999999999999,9.99999999999999,9.99999999999999,9.99999999999999,9.99999999999999,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000,10.0000000000000";
// LinAlg::Matrix<double> Y = "10.000,10.000,10.000,10.000,10.000,10.000,11.000,11.000,10.000,10.000,11.000,11.000,11.000,11.000,11.000,11.000,11.000,12.000,11.000,12.000,12.000,12.000,12.000,12.000,12.000,13.000,13.000,12.000,13.000,13.000,13.000,13.000,13.000,14.000,14.000,14.000,13.000,14.000,14.000,14.000,14.000,14.000,14.000,15.000,14.000,15.000,14.000,15.000,15.000,15.000,15.000,15.000,15.000";
//PWM
// LinAlg::Matrix<double> U = "100,100,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120,120";
// LinAlg::Matrix<double> U = "0,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1";
// LinAlg::Matrix<double> U = "100.000,130.000,130.000,130.000,130.000,130.000,130.000,130.000,130.000,130.000,130.000,130.000,130.000,130.000,130.000,130.000,130.000,130.000,130.000,130.000,130.000,130.000,130.000,130.000,130.000,130.000,130.000,130.000,130.000,130.000,130.000,130.000,130.000,130.000,130.000,130.000,130.000,130.000,130.000,130.000,130.000,130.000,130.000,130.000,130.000,130.000,130.000,130.000,130.000,130.000,130.000,130.000,130.000";
simulador.setY(Y);
simulador.setU(U);
simulador.setModal(true);
simulador.exec();
if (simulador.enviar){
std::string kp, ki, kd;
std::stringstream kkp, kki, kkd;
kkp << fixed << setprecision(1) << simulador.getKp();
kkp >> kp;
kki << fixed << setprecision(1) << simulador.getKi();
kki >> ki;
kkd << fixed << setprecision(1) << simulador.getKd();
kkd >> kd;
ui->kPLineEdit->setText(QString::fromStdString(kp));
ui->kILineEdit->setText(QString::fromStdString(ki));
ui->kDLineEdit->setText(QString::fromStdString(kd));
ui->comboBox->setCurrentText("Malha Fechada");
}
}