programma commando motori
Dependencies: mbed HCSR04 mbed-rtos
main.cpp@0:637e2ec8d164, 2017-05-22 (annotated)
- Committer:
- Wonderjack996
- Date:
- Mon May 22 08:42:32 2017 +0000
- Revision:
- 0:637e2ec8d164
- Child:
- 1:009a67d6875f
programma per commando motori
;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Wonderjack996 | 0:637e2ec8d164 | 1 | #include "mbed.h" |
Wonderjack996 | 0:637e2ec8d164 | 2 | |
Wonderjack996 | 0:637e2ec8d164 | 3 | #define PWMB PC_7 //D9 |
Wonderjack996 | 0:637e2ec8d164 | 4 | #define DIRB D8 //D8 |
Wonderjack996 | 0:637e2ec8d164 | 5 | |
Wonderjack996 | 0:637e2ec8d164 | 6 | #define PWMA PB_4 //D5 |
Wonderjack996 | 0:637e2ec8d164 | 7 | #define DIRA D4 //D4 |
Wonderjack996 | 0:637e2ec8d164 | 8 | |
Wonderjack996 | 0:637e2ec8d164 | 9 | PwmOut motorBpower(PWMB); |
Wonderjack996 | 0:637e2ec8d164 | 10 | DigitalOut motorBdirection(DIRB); |
Wonderjack996 | 0:637e2ec8d164 | 11 | |
Wonderjack996 | 0:637e2ec8d164 | 12 | PwmOut motorApower(PWMA); |
Wonderjack996 | 0:637e2ec8d164 | 13 | DigitalOut motorAdirection(DIRA); |
Wonderjack996 | 0:637e2ec8d164 | 14 | |
Wonderjack996 | 0:637e2ec8d164 | 15 | void avanti(); |
Wonderjack996 | 0:637e2ec8d164 | 16 | void indietro(); |
Wonderjack996 | 0:637e2ec8d164 | 17 | void destra(); |
Wonderjack996 | 0:637e2ec8d164 | 18 | void sinistra(); |
Wonderjack996 | 0:637e2ec8d164 | 19 | void fermo(); |
Wonderjack996 | 0:637e2ec8d164 | 20 | |
Wonderjack996 | 0:637e2ec8d164 | 21 | int main() { |
Wonderjack996 | 0:637e2ec8d164 | 22 | |
Wonderjack996 | 0:637e2ec8d164 | 23 | motorBpower.period_ms(10); |
Wonderjack996 | 0:637e2ec8d164 | 24 | motorApower.period_ms(10); |
Wonderjack996 | 0:637e2ec8d164 | 25 | |
Wonderjack996 | 0:637e2ec8d164 | 26 | wait(2); |
Wonderjack996 | 0:637e2ec8d164 | 27 | |
Wonderjack996 | 0:637e2ec8d164 | 28 | avanti(); |
Wonderjack996 | 0:637e2ec8d164 | 29 | wait(2); |
Wonderjack996 | 0:637e2ec8d164 | 30 | fermo(); |
Wonderjack996 | 0:637e2ec8d164 | 31 | |
Wonderjack996 | 0:637e2ec8d164 | 32 | while(true); |
Wonderjack996 | 0:637e2ec8d164 | 33 | } |
Wonderjack996 | 0:637e2ec8d164 | 34 | |
Wonderjack996 | 0:637e2ec8d164 | 35 | void avanti() |
Wonderjack996 | 0:637e2ec8d164 | 36 | { |
Wonderjack996 | 0:637e2ec8d164 | 37 | motorBdirection = 1; |
Wonderjack996 | 0:637e2ec8d164 | 38 | motorAdirection = 0; |
Wonderjack996 | 0:637e2ec8d164 | 39 | motorBpower.pulsewidth(0.01); // 100% |
Wonderjack996 | 0:637e2ec8d164 | 40 | motorApower.pulsewidth(0.01); // 100% |
Wonderjack996 | 0:637e2ec8d164 | 41 | } |
Wonderjack996 | 0:637e2ec8d164 | 42 | |
Wonderjack996 | 0:637e2ec8d164 | 43 | void indietro() |
Wonderjack996 | 0:637e2ec8d164 | 44 | { |
Wonderjack996 | 0:637e2ec8d164 | 45 | motorBdirection = 0; |
Wonderjack996 | 0:637e2ec8d164 | 46 | motorAdirection = 1; |
Wonderjack996 | 0:637e2ec8d164 | 47 | motorBpower.pulsewidth(0.01); // 100% |
Wonderjack996 | 0:637e2ec8d164 | 48 | motorApower.pulsewidth(0.01); // 100% |
Wonderjack996 | 0:637e2ec8d164 | 49 | } |
Wonderjack996 | 0:637e2ec8d164 | 50 | |
Wonderjack996 | 0:637e2ec8d164 | 51 | void destra() |
Wonderjack996 | 0:637e2ec8d164 | 52 | { |
Wonderjack996 | 0:637e2ec8d164 | 53 | motorBdirection = 0; |
Wonderjack996 | 0:637e2ec8d164 | 54 | motorAdirection = 0; |
Wonderjack996 | 0:637e2ec8d164 | 55 | motorBpower.pulsewidth(0.01); // 100% |
Wonderjack996 | 0:637e2ec8d164 | 56 | motorApower.pulsewidth(0.007); // 70% |
Wonderjack996 | 0:637e2ec8d164 | 57 | } |
Wonderjack996 | 0:637e2ec8d164 | 58 | |
Wonderjack996 | 0:637e2ec8d164 | 59 | void sinistra() |
Wonderjack996 | 0:637e2ec8d164 | 60 | { |
Wonderjack996 | 0:637e2ec8d164 | 61 | motorBdirection = 1; |
Wonderjack996 | 0:637e2ec8d164 | 62 | motorAdirection = 1; |
Wonderjack996 | 0:637e2ec8d164 | 63 | motorBpower.pulsewidth(0.007); // 100% |
Wonderjack996 | 0:637e2ec8d164 | 64 | motorApower.pulsewidth(0.01); // 100% |
Wonderjack996 | 0:637e2ec8d164 | 65 | } |
Wonderjack996 | 0:637e2ec8d164 | 66 | |
Wonderjack996 | 0:637e2ec8d164 | 67 | void fermo() |
Wonderjack996 | 0:637e2ec8d164 | 68 | { |
Wonderjack996 | 0:637e2ec8d164 | 69 | motorBpower.pulsewidth(0); // fermo |
Wonderjack996 | 0:637e2ec8d164 | 70 | motorApower.pulsewidth(0); // fermo |
Wonderjack996 | 0:637e2ec8d164 | 71 | } |