Diff: hexapod.h

Revision:

13:9890394ebc80

Parent:

9:8e25ad440b2e

Child:

14:f37214436441

diff -r e1d33e64797c -r 9890394ebc80 hexapod.h
--- a/hexapod.h	Tue Oct 09 19:19:46 2018 +0000
+++ b/hexapod.h	Wed Oct 17 11:42:17 2018 +0000
@@ -1,10 +1,15 @@
 #include "mbed.h"
 #include "SoftPWM.h"
 #include "Servo.h"
+#include <rtos.h>
 
-#define MOV_AV 180    //En grados
-#define INICIO 90     //En grados
-#define MOV_RE 0      //En grados
+#define MOV_AV 115
+#define INICIO 90
+#define MOV_RE 65
+
+#define SERVO_COX 0
+#define SERVO_FEM 1
+#define SERVO_TIB 2
 
 #define ARRIBA 0
 #define ABAJO 1
@@ -14,11 +19,35 @@
 #define DERECHA 5
 #define IZQUIERDA 6
 
-void mueve_servo(SoftPWM* pata, int grados);
-void mueve_pata1(char pos);
-void mueve_pata2(char pos);
-void mueve_pata3(char pos);
-void mueve_pata4(char pos);
-void mueve_pata5(char pos);
-void mueve_pata6(char pos);
-void hexapod_mov(int type);
\ No newline at end of file
+//Declaración pines
+PinName TX = PC_6;
+PinName RX = PA_12;
+
+PinName coxa_1 = PB_8;
+PinName femur_1 = PB_9;
+PinName tibia_1 = PB_7;
+
+PinName coxa_2 = PA_0;
+PinName femur_2 = PA_1;
+PinName tibia_2 = PB_0;
+
+PinName coxa_3 = PB_1;
+PinName femur_3 = PA_3;
+PinName tibia_3 = PA_2;
+
+PinName coxa_4 = PA_5;
+PinName femur_4 = PA_6;
+PinName tibia_4 = PA_7;
+
+PinName coxa_5 = PB_6;
+PinName femur_5 = PA_9;
+PinName tibia_5 = PA_8;
+
+PinName coxa_6 = PB_10;
+PinName femur_6 = PB_3;
+PinName tibia_6 = PA_10;
+
+
+//Declaración de funciones
+void mueve_servo(SoftPWM* servo, int grados);
+void mueve_pata(char pata, char pos);
\ No newline at end of file