programma commando motori
Dependencies: mbed HCSR04 mbed-rtos
main.cpp
- Committer:
- Wonderjack996
- Date:
- 2017-05-22
- Revision:
- 0:637e2ec8d164
- Child:
- 1:009a67d6875f
File content as of revision 0:637e2ec8d164:
#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 }