3FEN / Mbed 2 deprecated MotorShield_futura

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

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Who changed what in which revision?

UserRevisionLine numberNew 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 }