3FEN / Mbed 2 deprecated MotorShield_futura

programma commando motori

Dependencies:   mbed HCSR04 mbed-rtos

main.cpp@2:7df0fc7d8d3c, 2017-05-25 (annotated)

Committer:
Wonderjack996
Date:
Thu May 25 07:12:44 2017 +0000
Revision:
2:7df0fc7d8d3c
Parent:
1:009a67d6875f
Child:
3:5b91f83642bf
Child:
4:088a0fad279a
programma steve fine giornata 24-05

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Wonderjack996 2:7df0fc7d8d3c 1 /*---LIBRERIE---*/
Wonderjack996 2:7df0fc7d8d3c 2 #include "mbed.h"
Wonderjack996 2:7df0fc7d8d3c 3 #include "rtos.h"
Wonderjack996 2:7df0fc7d8d3c 4 #include "hcsr04.h"
Wonderjack996 2:7df0fc7d8d3c 5 /*--------------*/
Wonderjack996 1:009a67d6875f 6
Wonderjack996 2:7df0fc7d8d3c 7 /*---COSTANTI---*/
Wonderjack996 2:7df0fc7d8d3c 8 #define MAX 999999 //valore intero massimo utilizzabile
Wonderjack996 0:637e2ec8d164 9
Wonderjack996 2:7df0fc7d8d3c 10 #define CTRL_SIRENA D11 //D11 - pin aggancio sensore sonoro
Wonderjack996 2:7df0fc7d8d3c 11
Wonderjack996 2:7df0fc7d8d3c 12 #define DISTANCE_CTRL 10 /*decido una distanza, in cm, per i vari controlli dell' ultrasuono, esempio utilizzo come valore
Wonderjack996 2:7df0fc7d8d3c 13 per capire quando la macchina si deve fermare*/
Wonderjack996 0:637e2ec8d164 14
Wonderjack996 2:7df0fc7d8d3c 15 /*---PIN BLUETHOOT---*/
Wonderjack996 2:7df0fc7d8d3c 16 /*I pin utilizzati per TX e RX sono pin morfo, a livello hardware collegare il pin TX dell HC05 al PA_12 e quello RX a PA_11 ( a livello harware vanno invertiti )*/
Wonderjack996 2:7df0fc7d8d3c 17 #define TX PA_11
Wonderjack996 2:7df0fc7d8d3c 18 #define RX PA_12
Wonderjack996 2:7df0fc7d8d3c 19 /*-------------------*/
Wonderjack996 2:7df0fc7d8d3c 20
Wonderjack996 2:7df0fc7d8d3c 21 /*---PIN CONTROLLO MOTORI---*/
Wonderjack996 2:7df0fc7d8d3c 22 #define PWMB PC_7 //D9
Wonderjack996 2:7df0fc7d8d3c 23 #define DIRB D8 //D8
Wonderjack996 2:7df0fc7d8d3c 24
Wonderjack996 2:7df0fc7d8d3c 25 #define PWMA PB_4 //D5
Wonderjack996 2:7df0fc7d8d3c 26 #define DIRA D4 //D4
Wonderjack996 2:7df0fc7d8d3c 27 /*--------------------------*/
Wonderjack996 2:7df0fc7d8d3c 28
Wonderjack996 2:7df0fc7d8d3c 29 /*---PIN ULTRASUONI---*/
Wonderjack996 2:7df0fc7d8d3c 30 #define AVANTI_TRIGGER PA_5 //D13
Wonderjack996 2:7df0fc7d8d3c 31 #define AVANTI_ECHO PA_6 //D12
Wonderjack996 2:7df0fc7d8d3c 32 #define SINISTRA_TRIGGER PA_8 //D7
Wonderjack996 2:7df0fc7d8d3c 33 #define SINISTRA_ECHO PB_10 //D6
Wonderjack996 2:7df0fc7d8d3c 34 #define DESTRA_TRIGGER PA_10 //D2
Wonderjack996 2:7df0fc7d8d3c 35 #define DESTRA_ECHO PB_3 //D3
Wonderjack996 2:7df0fc7d8d3c 36 /*--------------------*/
Wonderjack996 2:7df0fc7d8d3c 37 /*--------------*/
Wonderjack996 1:009a67d6875f 38
Wonderjack996 2:7df0fc7d8d3c 39 /*---VARIABILI---*/
Wonderjack996 2:7df0fc7d8d3c 40 /*---CONTROLLO MOTORI---*/
Wonderjack996 2:7df0fc7d8d3c 41 PwmOut motorBpower(PWMB); //oggetti controllo motori
Wonderjack996 2:7df0fc7d8d3c 42 DigitalOut motorBdirection(DIRB);
Wonderjack996 2:7df0fc7d8d3c 43
Wonderjack996 2:7df0fc7d8d3c 44 PwmOut motorApower(PWMA);
Wonderjack996 2:7df0fc7d8d3c 45 DigitalOut motorAdirection(DIRA);
Wonderjack996 2:7df0fc7d8d3c 46 /*---------------------*/
Wonderjack996 2:7df0fc7d8d3c 47
Wonderjack996 2:7df0fc7d8d3c 48 /*---CONTROLLO ULTRASUONI---*/
Wonderjack996 2:7df0fc7d8d3c 49 HCSR04 ultrasuoniAvanti(AVANTI_TRIGGER, AVANTI_ECHO); //istanzio oggetti per utilizzo ultrasuoni
Wonderjack996 2:7df0fc7d8d3c 50 HCSR04 ultrasuoniSinistra(SINISTRA_TRIGGER, SINISTRA_ECHO);
Wonderjack996 2:7df0fc7d8d3c 51 HCSR04 ultrasuoniDestra(DESTRA_TRIGGER, DESTRA_ECHO);
Wonderjack996 2:7df0fc7d8d3c 52 /*--------------------------*/
Wonderjack996 2:7df0fc7d8d3c 53
Wonderjack996 2:7df0fc7d8d3c 54 Serial pc(USBTX, USBRX); //istanzio oggetto per utilizzo monitor seriale
Wonderjack996 2:7df0fc7d8d3c 55
Wonderjack996 2:7df0fc7d8d3c 56 Serial device(TX, RX); //oggetto per gestione seriale bluethoot
Wonderjack996 2:7df0fc7d8d3c 57
Wonderjack996 2:7df0fc7d8d3c 58 bool flagSirena = true; //utilizzato per bloccare il robot nel caso senta una sirena
Wonderjack996 2:7df0fc7d8d3c 59
Wonderjack996 2:7df0fc7d8d3c 60 bool flagAutomatic; //utilizzo per sapere se utilizzare modalita automatica o meno
Wonderjack996 2:7df0fc7d8d3c 61 /*----------------*/
Wonderjack996 1:009a67d6875f 62
Wonderjack996 2:7df0fc7d8d3c 63 /*---PROTOTIPI---*/
Wonderjack996 2:7df0fc7d8d3c 64 void avanti();
Wonderjack996 2:7df0fc7d8d3c 65 void indietro();
Wonderjack996 2:7df0fc7d8d3c 66 void destra();
Wonderjack996 2:7df0fc7d8d3c 67 void sinistra();
Wonderjack996 2:7df0fc7d8d3c 68 void fermo();
Wonderjack996 2:7df0fc7d8d3c 69 bool checkFermo();
Wonderjack996 2:7df0fc7d8d3c 70 void automaticProgram();
Wonderjack996 2:7df0fc7d8d3c 71 void check_sirena_thread(void const *args);
Wonderjack996 2:7df0fc7d8d3c 72 void check_stop_thread(void const *args);
Wonderjack996 2:7df0fc7d8d3c 73 /*---------------*/
Wonderjack996 0:637e2ec8d164 74
Wonderjack996 0:637e2ec8d164 75 int main() {
Wonderjack996 0:637e2ec8d164 76
Wonderjack996 1:009a67d6875f 77 unsigned char rx;
Wonderjack996 1:009a67d6875f 78
Wonderjack996 2:7df0fc7d8d3c 79 motorBpower.period_ms(10); //setto periodo per impulsi da inviare ai motori ( consiglio di non variare )
Wonderjack996 2:7df0fc7d8d3c 80 motorApower.period_ms(10); //setto periodo per impulsi da inviare ai motori ( consiglio di non variare )
Wonderjack996 0:637e2ec8d164 81
Wonderjack996 1:009a67d6875f 82 while(true){
Wonderjack996 1:009a67d6875f 83 if( device.readable() ) { //funzione simile alla Serial.available() di arduino, solo se il monitor e` attivo permette di utilizzarlo
Wonderjack996 1:009a67d6875f 84 rx = device.getc(); //funzione simile alla Serial.read() di arduino, legge il carattere dal seriale del bluethoot
Wonderjack996 2:7df0fc7d8d3c 85 //pc.printf("recived: %c \r\n",rx); //stampa a video
Wonderjack996 1:009a67d6875f 86 switch(rx){ //in base alla lettera che riceve sa cosa deve fare
Wonderjack996 1:009a67d6875f 87 case 'a':
Wonderjack996 1:009a67d6875f 88 avanti();
Wonderjack996 1:009a67d6875f 89 break;
Wonderjack996 1:009a67d6875f 90 case 'b':
Wonderjack996 1:009a67d6875f 91 indietro();
Wonderjack996 1:009a67d6875f 92 break;
Wonderjack996 1:009a67d6875f 93 case 'c':
Wonderjack996 1:009a67d6875f 94 destra();
Wonderjack996 1:009a67d6875f 95 break;
Wonderjack996 1:009a67d6875f 96 case 'd':
Wonderjack996 1:009a67d6875f 97 sinistra();
Wonderjack996 1:009a67d6875f 98 break;
Wonderjack996 1:009a67d6875f 99 case 'e':
Wonderjack996 1:009a67d6875f 100 fermo();
Wonderjack996 1:009a67d6875f 101 break;
Wonderjack996 2:7df0fc7d8d3c 102 case 'f':
Wonderjack996 2:7df0fc7d8d3c 103 flagAutomatic = true;
Wonderjack996 2:7df0fc7d8d3c 104 automaticProgram(); //funzione pilota automatico
Wonderjack996 2:7df0fc7d8d3c 105 break;
Wonderjack996 1:009a67d6875f 106 }
Wonderjack996 1:009a67d6875f 107 }
Wonderjack996 1:009a67d6875f 108 }
Wonderjack996 0:637e2ec8d164 109
Wonderjack996 0:637e2ec8d164 110 }
Wonderjack996 0:637e2ec8d164 111
Wonderjack996 2:7df0fc7d8d3c 112 void automaticProgram()
Wonderjack996 2:7df0fc7d8d3c 113 {
Wonderjack996 2:7df0fc7d8d3c 114 int avantiDis, distance; //la variabile direction contiene 0 se il robot deve andare a destra, 1 se deve andare a sinistra
Wonderjack996 2:7df0fc7d8d3c 115
Wonderjack996 2:7df0fc7d8d3c 116 int distanceDx, distanceSx;
Wonderjack996 2:7df0fc7d8d3c 117
Wonderjack996 2:7df0fc7d8d3c 118 Thread sirenaThread(check_sirena_thread); // start Thread controllo sirena
Wonderjack996 2:7df0fc7d8d3c 119 Thread ctrlStopThread(check_stop_thread); // start Thread controllo sirena
Wonderjack996 2:7df0fc7d8d3c 120
Wonderjack996 2:7df0fc7d8d3c 121 fermo();
Wonderjack996 2:7df0fc7d8d3c 122
Wonderjack996 2:7df0fc7d8d3c 123 while(flagAutomatic){ //flag modificabile dal thread che aspetta il segnale di stop
Wonderjack996 2:7df0fc7d8d3c 124 while(flagSirena && flagAutomatic){ //il robot si puo' muovere liberamente finche non sente il suono della sirena tipo ambulanza
Wonderjack996 2:7df0fc7d8d3c 125 ultrasuoniAvanti.start();
Wonderjack996 2:7df0fc7d8d3c 126 avantiDis = ultrasuoniAvanti.get_dist_cm();
Wonderjack996 2:7df0fc7d8d3c 127 //pc.printf("avanti: %d \r\n",avantiDis);
Wonderjack996 2:7df0fc7d8d3c 128 while( avantiDis >= DISTANCE_CTRL && flagSirena && flagAutomatic ){ //finche il valore letto dall' ultrasuono e' maggiore della distanza di urto la macchina puo' procedere
Wonderjack996 2:7df0fc7d8d3c 129 avanti();
Wonderjack996 2:7df0fc7d8d3c 130 ultrasuoniAvanti.start();
Wonderjack996 2:7df0fc7d8d3c 131 avantiDis = ultrasuoniAvanti.get_dist_cm();
Wonderjack996 2:7df0fc7d8d3c 132 //pc.printf("avanti: %d \r\n",avantiDis);
Wonderjack996 2:7df0fc7d8d3c 133 wait_ms(10);
Wonderjack996 2:7df0fc7d8d3c 134 }
Wonderjack996 2:7df0fc7d8d3c 135
Wonderjack996 2:7df0fc7d8d3c 136 fermo();
Wonderjack996 2:7df0fc7d8d3c 137
Wonderjack996 2:7df0fc7d8d3c 138 if( checkFermo() && flagSirena && flagAutomatic ){
Wonderjack996 2:7df0fc7d8d3c 139 /*funzione utilizzata per leggere un valore attendibile ( nel range dell ultrasuono ). se dopo 100 tentativi
Wonderjack996 2:7df0fc7d8d3c 140 il valore non e' ancora attendibile allora esco dal controllo in modo da non rimanere bloccato*/
Wonderjack996 2:7df0fc7d8d3c 141 for( int i = 0; i < 100 && ( distanceDx < 2 || distanceDx > 400 ); i++ ){ //questo perche il range dell'ultrasuono usato va da 2 cm a 4 m ( 400 cm )
Wonderjack996 2:7df0fc7d8d3c 142 ultrasuoniDestra.start();
Wonderjack996 2:7df0fc7d8d3c 143 distanceDx = ultrasuoniDestra.get_dist_cm();
Wonderjack996 2:7df0fc7d8d3c 144 //wait_ms(10);
Wonderjack996 2:7df0fc7d8d3c 145 }
Wonderjack996 2:7df0fc7d8d3c 146
Wonderjack996 2:7df0fc7d8d3c 147 for( int i = 0; i < 100 && ( distanceSx < 2 || distanceSx > 400 ); i++ ){ //questo perche il range dell'ultrasuono usato va da 2 cm a 4 m ( 400 cm )
Wonderjack996 2:7df0fc7d8d3c 148 ultrasuoniSinistra.start();
Wonderjack996 2:7df0fc7d8d3c 149 distanceSx = ultrasuoniSinistra.get_dist_cm();
Wonderjack996 2:7df0fc7d8d3c 150 //wait_ms(10);
Wonderjack996 2:7df0fc7d8d3c 151 }
Wonderjack996 2:7df0fc7d8d3c 152
Wonderjack996 2:7df0fc7d8d3c 153 /*controllo se il valori valori di uscita dalle iterazioni sono attendibili ( nel range )
Wonderjack996 2:7df0fc7d8d3c 154 se non soddisfano i criteri allora li setto al valore MAX in modo che i seguenti controlli non li prendano
Wonderjack996 2:7df0fc7d8d3c 155 in considerazione*/
Wonderjack996 2:7df0fc7d8d3c 156 if( distanceSx < 2 || distanceSx > 400 )
Wonderjack996 2:7df0fc7d8d3c 157 distanceSx = MAX;
Wonderjack996 2:7df0fc7d8d3c 158
Wonderjack996 2:7df0fc7d8d3c 159 if( distanceDx < 2 || distanceDx > 400 )
Wonderjack996 2:7df0fc7d8d3c 160 distanceDx = MAX;
Wonderjack996 2:7df0fc7d8d3c 161
Wonderjack996 2:7df0fc7d8d3c 162 pc.printf("distanceSx: %d distanceDx: %d\r\n",distanceSx, distanceDx);
Wonderjack996 2:7df0fc7d8d3c 163
Wonderjack996 2:7df0fc7d8d3c 164 //in base ai valori letti capisco da che lato e' piu vicino la superficie piana e in base a cio sono da che parte girare
Wonderjack996 2:7df0fc7d8d3c 165 if( distanceSx > distanceDx ){
Wonderjack996 2:7df0fc7d8d3c 166 sinistra();
Wonderjack996 2:7df0fc7d8d3c 167 wait_ms(1000);
Wonderjack996 2:7df0fc7d8d3c 168
Wonderjack996 2:7df0fc7d8d3c 169 ultrasuoniDestra.start();
Wonderjack996 2:7df0fc7d8d3c 170 distance = ultrasuoniDestra.get_dist_cm();
Wonderjack996 2:7df0fc7d8d3c 171 //pc.printf("sinistra: %d \r\n",sinistraDis);
Wonderjack996 2:7df0fc7d8d3c 172 while( distance >= DISTANCE_CTRL && flagSirena && flagAutomatic ){ //il robot continua la rotazione per evitare l' ostacolo finche l' ultrasuono di destra lo avverte di aver trovato una superficie piana
Wonderjack996 2:7df0fc7d8d3c 173 ultrasuoniDestra.start();
Wonderjack996 2:7df0fc7d8d3c 174 distance = ultrasuoniDestra.get_dist_cm();
Wonderjack996 2:7df0fc7d8d3c 175 //pc.printf("distance: %d \r\n",distance);
Wonderjack996 2:7df0fc7d8d3c 176 }
Wonderjack996 2:7df0fc7d8d3c 177 }
Wonderjack996 2:7df0fc7d8d3c 178 else{
Wonderjack996 2:7df0fc7d8d3c 179 destra();
Wonderjack996 2:7df0fc7d8d3c 180 wait_ms(1000);
Wonderjack996 2:7df0fc7d8d3c 181
Wonderjack996 2:7df0fc7d8d3c 182 ultrasuoniSinistra.start();
Wonderjack996 2:7df0fc7d8d3c 183 distance = ultrasuoniSinistra.get_dist_cm();
Wonderjack996 2:7df0fc7d8d3c 184 //pc.printf("sinistra: %d \r\n",sinistraDis);
Wonderjack996 2:7df0fc7d8d3c 185 while( distance >= DISTANCE_CTRL && flagSirena && flagAutomatic ){ //il robot continua la rotazione per evitare l' ostacolo finche l' ultrasuono di destra lo avverte di aver trovato una superficie piana
Wonderjack996 2:7df0fc7d8d3c 186 ultrasuoniSinistra.start();
Wonderjack996 2:7df0fc7d8d3c 187 distance = ultrasuoniSinistra.get_dist_cm();
Wonderjack996 2:7df0fc7d8d3c 188 //pc.printf("distance: %d \r\n",distance);
Wonderjack996 2:7df0fc7d8d3c 189 }
Wonderjack996 2:7df0fc7d8d3c 190 }
Wonderjack996 2:7df0fc7d8d3c 191
Wonderjack996 2:7df0fc7d8d3c 192 wait_ms(200);
Wonderjack996 2:7df0fc7d8d3c 193 fermo();
Wonderjack996 2:7df0fc7d8d3c 194 }
Wonderjack996 2:7df0fc7d8d3c 195 }
Wonderjack996 2:7df0fc7d8d3c 196 }
Wonderjack996 2:7df0fc7d8d3c 197 }
Wonderjack996 2:7df0fc7d8d3c 198
Wonderjack996 2:7df0fc7d8d3c 199 void check_stop_thread(void const *args)
Wonderjack996 2:7df0fc7d8d3c 200 {
Wonderjack996 2:7df0fc7d8d3c 201 /*thread che controlla se l'utente via dispositivi ha chiesto lo stop del proamma automatico*/
Wonderjack996 2:7df0fc7d8d3c 202 unsigned char rx;
Wonderjack996 2:7df0fc7d8d3c 203 while(true) {
Wonderjack996 2:7df0fc7d8d3c 204 if( device.readable() ) { //funzione simile alla Serial.available() di arduino, solo se il monitor e` attivo permette di utilizzarlo
Wonderjack996 2:7df0fc7d8d3c 205 rx = device.getc(); //funzione simile alla Serial.read() di arduino, legge il carattere dal seriale del bluethoot
Wonderjack996 2:7df0fc7d8d3c 206 if( rx == 'g' )
Wonderjack996 2:7df0fc7d8d3c 207 flagAutomatic = false;
Wonderjack996 2:7df0fc7d8d3c 208 }
Wonderjack996 2:7df0fc7d8d3c 209 }
Wonderjack996 2:7df0fc7d8d3c 210 }
Wonderjack996 2:7df0fc7d8d3c 211
Wonderjack996 2:7df0fc7d8d3c 212 void check_sirena_thread(void const *args)
Wonderjack996 2:7df0fc7d8d3c 213 {
Wonderjack996 2:7df0fc7d8d3c 214 /*thread che controlla sempre il pin dedicato alla sirena, se il pin diventa alto comunica il cambiamento
Wonderjack996 2:7df0fc7d8d3c 215 con un flag al main che si adatta alla situazione*/
Wonderjack996 2:7df0fc7d8d3c 216 DigitalIn in(CTRL_SIRENA);
Wonderjack996 2:7df0fc7d8d3c 217 while(true){
Wonderjack996 2:7df0fc7d8d3c 218 int val = in.read();
Wonderjack996 2:7df0fc7d8d3c 219 if( val == 1 )
Wonderjack996 2:7df0fc7d8d3c 220 flagSirena = false;
Wonderjack996 2:7df0fc7d8d3c 221 else
Wonderjack996 2:7df0fc7d8d3c 222 flagSirena = true;
Wonderjack996 2:7df0fc7d8d3c 223 }
Wonderjack996 2:7df0fc7d8d3c 224 }
Wonderjack996 2:7df0fc7d8d3c 225
Wonderjack996 2:7df0fc7d8d3c 226 bool checkFermo()
Wonderjack996 2:7df0fc7d8d3c 227 {
Wonderjack996 2:7df0fc7d8d3c 228 /*funzione utilizzata per evitare che disturbi dell ultrasuono vengano presi in considerazione come valori utili
Wonderjack996 2:7df0fc7d8d3c 229 La funzione controlla per un TOT volte se il valore e' attendibile e in caso positivo ritorna TRUE*/
Wonderjack996 2:7df0fc7d8d3c 230 bool ret = true;
Wonderjack996 2:7df0fc7d8d3c 231 int avantiDis, ctrl = 50;
Wonderjack996 2:7df0fc7d8d3c 232 for(int i = 0; i < ctrl; i++){
Wonderjack996 2:7df0fc7d8d3c 233 ultrasuoniAvanti.start();
Wonderjack996 2:7df0fc7d8d3c 234 avantiDis = ultrasuoniAvanti.get_dist_cm();
Wonderjack996 2:7df0fc7d8d3c 235 if( avantiDis >= DISTANCE_CTRL ){
Wonderjack996 2:7df0fc7d8d3c 236 ret = false;
Wonderjack996 2:7df0fc7d8d3c 237 break;
Wonderjack996 2:7df0fc7d8d3c 238 }
Wonderjack996 2:7df0fc7d8d3c 239 wait_ms(10);
Wonderjack996 2:7df0fc7d8d3c 240 }
Wonderjack996 2:7df0fc7d8d3c 241 return ret;
Wonderjack996 2:7df0fc7d8d3c 242 }
Wonderjack996 2:7df0fc7d8d3c 243
Wonderjack996 0:637e2ec8d164 244 void avanti()
Wonderjack996 0:637e2ec8d164 245 {
Wonderjack996 0:637e2ec8d164 246 motorBdirection = 1;
Wonderjack996 0:637e2ec8d164 247 motorAdirection = 0;
Wonderjack996 0:637e2ec8d164 248 motorBpower.pulsewidth(0.01); // 100%
Wonderjack996 0:637e2ec8d164 249 motorApower.pulsewidth(0.01); // 100%
Wonderjack996 0:637e2ec8d164 250 }
Wonderjack996 0:637e2ec8d164 251
Wonderjack996 0:637e2ec8d164 252 void indietro()
Wonderjack996 0:637e2ec8d164 253 {
Wonderjack996 0:637e2ec8d164 254 motorBdirection = 0;
Wonderjack996 0:637e2ec8d164 255 motorAdirection = 1;
Wonderjack996 0:637e2ec8d164 256 motorBpower.pulsewidth(0.01); // 100%
Wonderjack996 0:637e2ec8d164 257 motorApower.pulsewidth(0.01); // 100%
Wonderjack996 0:637e2ec8d164 258 }
Wonderjack996 0:637e2ec8d164 259
Wonderjack996 0:637e2ec8d164 260 void destra()
Wonderjack996 0:637e2ec8d164 261 {
Wonderjack996 0:637e2ec8d164 262 motorBdirection = 0;
Wonderjack996 0:637e2ec8d164 263 motorAdirection = 0;
Wonderjack996 0:637e2ec8d164 264 motorBpower.pulsewidth(0.01); // 100%
Wonderjack996 0:637e2ec8d164 265 motorApower.pulsewidth(0.007); // 70%
Wonderjack996 0:637e2ec8d164 266 }
Wonderjack996 0:637e2ec8d164 267
Wonderjack996 0:637e2ec8d164 268 void sinistra()
Wonderjack996 0:637e2ec8d164 269 {
Wonderjack996 0:637e2ec8d164 270 motorBdirection = 1;
Wonderjack996 0:637e2ec8d164 271 motorAdirection = 1;
Wonderjack996 0:637e2ec8d164 272 motorBpower.pulsewidth(0.007); // 100%
Wonderjack996 0:637e2ec8d164 273 motorApower.pulsewidth(0.01); // 100%
Wonderjack996 0:637e2ec8d164 274 }
Wonderjack996 0:637e2ec8d164 275
Wonderjack996 0:637e2ec8d164 276 void fermo()
Wonderjack996 0:637e2ec8d164 277 {
Wonderjack996 0:637e2ec8d164 278 motorBpower.pulsewidth(0); // fermo
Wonderjack996 0:637e2ec8d164 279 motorApower.pulsewidth(0); // fermo
Wonderjack996 0:637e2ec8d164 280 }