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samples
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node
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117.bas
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'
#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
'
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