Hexapod / Mbed OS PwmOut_HelloWorld

Proyecto Hexápodo

Dependencies:   Servo SoftPWM

Fork of PwmOut_HelloWorld by Francisco Núñez Cid

hexapod.h@16:a82c32cbe63e, 2018-10-24 (annotated)

Committer:
Francisco_12
Date:
Wed Oct 24 17:34:01 2018 +0000
Revision:
16:a82c32cbe63e
Parent:
15:91e78eb9cae9 
Paso a hilos;

Who changed what in which revision?

UserRevisionLine numberNew 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);