Diff: main.cpp

Revision:

0:637e2ec8d164

Child:

1:009a67d6875f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon May 22 08:42:32 2017 +0000
@@ -0,0 +1,71 @@
+#include "mbed.h"
+
+#define PWMB PC_7  //D9
+#define DIRB D8    //D8
+
+#define PWMA PB_4  //D5
+#define DIRA D4    //D4
+
+PwmOut motorBpower(PWMB);
+DigitalOut motorBdirection(DIRB);
+
+PwmOut motorApower(PWMA);
+DigitalOut motorAdirection(DIRA);
+
+void avanti();
+void indietro();
+void destra();
+void sinistra();
+void fermo();
+
+int main() {
+    
+    motorBpower.period_ms(10);
+    motorApower.period_ms(10);
+    
+    wait(2);
+    
+    avanti();
+    wait(2);
+    fermo();
+    
+    while(true);
+}
+
+void avanti()
+{
+    motorBdirection = 1; 
+    motorAdirection = 0;
+    motorBpower.pulsewidth(0.01); // 100%
+    motorApower.pulsewidth(0.01); // 100%
+}
+
+void indietro()
+{
+    motorBdirection = 0; 
+    motorAdirection = 1;
+    motorBpower.pulsewidth(0.01); // 100%
+    motorApower.pulsewidth(0.01); // 100%
+}
+
+void destra()
+{
+    motorBdirection = 0; 
+    motorAdirection = 0;
+    motorBpower.pulsewidth(0.01); // 100%
+    motorApower.pulsewidth(0.007); // 70%
+}
+
+void sinistra()
+{
+    motorBdirection = 1; 
+    motorAdirection = 1;
+    motorBpower.pulsewidth(0.007); // 100%
+    motorApower.pulsewidth(0.01); // 100%
+}
+
+void fermo()
+{
+    motorBpower.pulsewidth(0); // fermo
+    motorApower.pulsewidth(0); // fermo
+}