DuckietownHS_Marcianise
Come sfruttare una procedura per gestire un motore DC pilotato da due PWM
Dependencies: mbed
Revision 0:56dae31e7e04, committed 2016-12-03
- Comitter:
- FrancescoCaiazzo
- Date:
- Sat Dec 03 10:39:21 2016 +0000
- Commit message:
- Sfrutto una procedura per gestire un motore pilotato da 2 PWM
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
| mbed.bld | Show annotated file Show diff for this revision Revisions of this file |
diff -r 000000000000 -r 56dae31e7e04 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Sat Dec 03 10:39:21 2016 +0000
@@ -0,0 +1,57 @@
+/****************************************************
+* FAST PROTOTYPING WITH NUCLEO *
+* Example Code 14: DC motor control con Procedura *
+* Author: Francesco Caiazzo *
+* Organization: Perlatecnica no-profit organization *
+*****************************************************/
+
+#include "mbed.h"
+#define P 10000 // periodo
+
+PwmOut mB1(D10);
+PwmOut mB2(D11);
+
+void motore(int speed) //funzione muove motore
+{
+ speed *= 100; //adatto il duty cycle
+
+ if (speed > 0) //controllo se speed > 0
+ {
+ // Avanti
+ mB1.pulsewidth_us(0);
+ mB2.pulsewidth_us(speed);
+ }
+ else if (speed < 0)
+ {
+ // Dietro
+ mB2.pulsewidth_us(0);
+ mB1.pulsewidth_us(-speed); // rendo positiva la velocità
+ }
+ else
+ {
+ // Stop
+ mB2.pulsewidth_us(0);
+ mB1.pulsewidth_us(0);
+ }
+
+
+}
+
+int main()
+{
+ //setto il periodo per i due pin del motore B
+ mB1.period_us(P);
+ mB2.period_us(P);
+
+ while(1)
+ {
+ motore(100); // avanti a v = 100
+ wait(1); // aspetto 1s
+ motore(0); // mi fermo
+ wait(1); // aspetto 1s
+ motore(-100); // dietro a v = 100
+ wait(1); // aspetto 1s
+ motore(0); // mi fermo
+ wait(1); // aspetto 1s
+ }
+}
\ No newline at end of file
diff -r 000000000000 -r 56dae31e7e04 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Sat Dec 03 10:39:21 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/d75b3fe1f5cb \ No newline at end of file