Hexapod
/
PwmOut_HelloWorld
Proyecto Hexápodo
Fork of PwmOut_HelloWorld by
hexapod.h@15:91e78eb9cae9, 2018-10-23 (annotated)
- Committer:
- Francisco_12
- Date:
- Tue Oct 23 15:01:24 2018 +0000
- Revision:
- 15:91e78eb9cae9
- Parent:
- 14:f37214436441
Movimientos nuevos
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Francisco_12 | 14:f37214436441 | 1 | /*********************** |
Francisco_12 | 14:f37214436441 | 2 | Declaración de #include |
Francisco_12 | 14:f37214436441 | 3 | ***********************/ |
Francisco_12 | 9:8e25ad440b2e | 4 | #include "mbed.h" |
Francisco_12 | 9:8e25ad440b2e | 5 | #include "SoftPWM.h" |
Francisco_12 | 9:8e25ad440b2e | 6 | #include "Servo.h" |
Francisco_12 | 13:9890394ebc80 | 7 | #include <rtos.h> |
Francisco_12 | 9:8e25ad440b2e | 8 | |
Francisco_12 | 14:f37214436441 | 9 | |
Francisco_12 | 14:f37214436441 | 10 | /********************** |
Francisco_12 | 14:f37214436441 | 11 | Declaración de #define |
Francisco_12 | 14:f37214436441 | 12 | **********************/ |
Francisco_12 | 14:f37214436441 | 13 | #define num_patas 6 |
Francisco_12 | 14:f37214436441 | 14 | #define num_servos 3 |
Francisco_12 | 14:f37214436441 | 15 | |
Francisco_12 | 14:f37214436441 | 16 | |
Francisco_12 | 14:f37214436441 | 17 | #define MOV_AV_COX_1 110 |
Francisco_12 | 14:f37214436441 | 18 | #define INICIO_COX_1 90 |
Francisco_12 | 14:f37214436441 | 19 | #define MOV_RE_COX_1 75 |
Francisco_12 | 14:f37214436441 | 20 | |
Francisco_12 | 14:f37214436441 | 21 | #define MOV_AV_FEM_1 115 |
Francisco_12 | 14:f37214436441 | 22 | #define INICIO_FEM_1 90 |
Francisco_12 | 14:f37214436441 | 23 | #define MOV_RE_FEM_1 65 |
Francisco_12 | 14:f37214436441 | 24 | |
Francisco_12 | 14:f37214436441 | 25 | #define MOV_AV_TIB_1 115 |
Francisco_12 | 14:f37214436441 | 26 | #define INICIO_TIB_1 90 |
Francisco_12 | 14:f37214436441 | 27 | #define MOV_RE_TIB_1 65 |
Francisco_12 | 14:f37214436441 | 28 | |
Francisco_12 | 14:f37214436441 | 29 | |
Francisco_12 | 14:f37214436441 | 30 | #define MOV_AV_COX_2 110 |
Francisco_12 | 14:f37214436441 | 31 | #define INICIO_COX_2 90 |
Francisco_12 | 14:f37214436441 | 32 | #define MOV_RE_COX_2 75 |
Francisco_12 | 14:f37214436441 | 33 | |
Francisco_12 | 14:f37214436441 | 34 | #define MOV_AV_FEM_2 115 |
Francisco_12 | 14:f37214436441 | 35 | #define INICIO_FEM_2 90 |
Francisco_12 | 14:f37214436441 | 36 | #define MOV_RE_FEM_2 65 |
Francisco_12 | 14:f37214436441 | 37 | |
Francisco_12 | 14:f37214436441 | 38 | #define MOV_AV_TIB_2 115 |
Francisco_12 | 14:f37214436441 | 39 | #define INICIO_TIB_2 90 |
Francisco_12 | 14:f37214436441 | 40 | #define MOV_RE_TIB_2 65 |
Francisco_12 | 14:f37214436441 | 41 | |
Francisco_12 | 14:f37214436441 | 42 | |
Francisco_12 | 14:f37214436441 | 43 | #define MOV_AV_COX_3 110 |
Francisco_12 | 14:f37214436441 | 44 | #define INICIO_COX_3 90 |
Francisco_12 | 14:f37214436441 | 45 | #define MOV_RE_COX_3 75 |
Francisco_12 | 14:f37214436441 | 46 | |
Francisco_12 | 14:f37214436441 | 47 | #define MOV_AV_FEM_3 115 |
Francisco_12 | 14:f37214436441 | 48 | #define INICIO_FEM_3 90 |
Francisco_12 | 14:f37214436441 | 49 | #define MOV_RE_FEM_3 65 |
Francisco_12 | 14:f37214436441 | 50 | |
Francisco_12 | 14:f37214436441 | 51 | #define MOV_AV_TIB_3 115 |
Francisco_12 | 14:f37214436441 | 52 | #define INICIO_TIB_3 90 |
Francisco_12 | 14:f37214436441 | 53 | #define MOV_RE_TIB_3 65 |
Francisco_12 | 14:f37214436441 | 54 | |
Francisco_12 | 13:9890394ebc80 | 55 | |
Francisco_12 | 13:9890394ebc80 | 56 | #define SERVO_COX 0 |
Francisco_12 | 13:9890394ebc80 | 57 | #define SERVO_FEM 1 |
Francisco_12 | 13:9890394ebc80 | 58 | #define SERVO_TIB 2 |
Francisco_12 | 9:8e25ad440b2e | 59 | |
Francisco_12 | 14:f37214436441 | 60 | |
Francisco_12 | 14:f37214436441 | 61 | #define HOME 0 |
Francisco_12 | 14:f37214436441 | 62 | #define AVANZA 1 |
Francisco_12 | 14:f37214436441 | 63 | #define RETROCEDE 2 |
Francisco_12 | 9:8e25ad440b2e | 64 | |
Francisco_12 | 14:f37214436441 | 65 | |
Francisco_12 | 14:f37214436441 | 66 | /********************** |
Francisco_12 | 14:f37214436441 | 67 | //Declaración de pines |
Francisco_12 | 14:f37214436441 | 68 | **********************/ |
Francisco_12 | 13:9890394ebc80 | 69 | PinName TX = PC_6; |
Francisco_12 | 13:9890394ebc80 | 70 | PinName RX = PA_12; |
Francisco_12 | 13:9890394ebc80 | 71 | |
Francisco_12 | 13:9890394ebc80 | 72 | PinName coxa_1 = PB_8; |
Francisco_12 | 13:9890394ebc80 | 73 | PinName femur_1 = PB_9; |
Francisco_12 | 13:9890394ebc80 | 74 | PinName tibia_1 = PB_7; |
Francisco_12 | 13:9890394ebc80 | 75 | |
Francisco_12 | 13:9890394ebc80 | 76 | PinName coxa_2 = PA_0; |
Francisco_12 | 13:9890394ebc80 | 77 | PinName femur_2 = PA_1; |
Francisco_12 | 13:9890394ebc80 | 78 | PinName tibia_2 = PB_0; |
Francisco_12 | 13:9890394ebc80 | 79 | |
Francisco_12 | 13:9890394ebc80 | 80 | PinName coxa_3 = PB_1; |
Francisco_12 | 13:9890394ebc80 | 81 | PinName femur_3 = PA_3; |
Francisco_12 | 13:9890394ebc80 | 82 | PinName tibia_3 = PA_2; |
Francisco_12 | 13:9890394ebc80 | 83 | |
Francisco_12 | 13:9890394ebc80 | 84 | PinName coxa_4 = PA_5; |
Francisco_12 | 13:9890394ebc80 | 85 | PinName femur_4 = PA_6; |
Francisco_12 | 13:9890394ebc80 | 86 | PinName tibia_4 = PA_7; |
Francisco_12 | 13:9890394ebc80 | 87 | |
Francisco_12 | 13:9890394ebc80 | 88 | PinName coxa_5 = PB_6; |
Francisco_12 | 13:9890394ebc80 | 89 | PinName femur_5 = PA_9; |
Francisco_12 | 13:9890394ebc80 | 90 | PinName tibia_5 = PA_8; |
Francisco_12 | 13:9890394ebc80 | 91 | |
Francisco_12 | 13:9890394ebc80 | 92 | PinName coxa_6 = PB_10; |
Francisco_12 | 13:9890394ebc80 | 93 | PinName femur_6 = PB_3; |
Francisco_12 | 13:9890394ebc80 | 94 | PinName tibia_6 = PA_10; |
Francisco_12 | 13:9890394ebc80 | 95 | |
Francisco_12 | 13:9890394ebc80 | 96 | |
Francisco_12 | 14:f37214436441 | 97 | /************************** |
Francisco_12 | 13:9890394ebc80 | 98 | //Declaración de funciones |
Francisco_12 | 14:f37214436441 | 99 | **************************/ |
Francisco_12 | 13:9890394ebc80 | 100 | void mueve_servo(SoftPWM* servo, int grados); |
Francisco_12 | 15:91e78eb9cae9 | 101 | void mueve_pata(char pata, char pos); |
Francisco_12 | 15:91e78eb9cae9 | 102 | void mueve_hexapodo(int type); |