File content as of revision 2:f52a2c0dedb4:

#include "mbed.h"
#include "math.h"
#define MAXPOS 50  // maxposX : 5.5cm ; maxposY : 4.5cm
#define SS_TIME 500 
#define PI 3.1415926
 
PwmOut myServoX(PB_3);
PwmOut myServoY(PB_4);
PwmOut myServoZ(PB_10);
 
 
int coord2us(float coord)
{
    if(0 <= coord <= MAXPOS)
        return int(750+coord*1900/50);// u6
    //return 750;
 } 
void vertex2d(float y) //, float y
    {
  //  int pulseX = coord2us(x);
        int pulseY = coord2us(y);
    
    //myServoX.pulsewidth_us(pulseX);
    myServoY.pulsewidth_us(pulseY);
        wait_ms(SS_TIME);
    }
    
  
    
void home()
    {
    vertex2d(0);
        }    
 
void maxpos()
    {
    vertex2d(MAXPOS);
    }    
    /*
void cuadrado(int x, int y, int l)
    {
        float a;
        float b;
              
        wait(2);vertex2d(a,b);  
        printf("position x =%.2f\n",a);
        printf("position y =%.2f\n",b);
             a=a+l;
        wait(2);vertex2d(a,b);
        printf("position x =%.2f\n",a);
        printf("position y =%.2f\n",b);
              b=b+l; 
        wait(2);vertex2d(a,b);
        printf("position x =%.2f\n",a);
        printf("position y =%.2f\n",b);
             a=a-l;
        wait(2);vertex2d(a,b);
        printf("position x =%.2f\n",a);
        printf("position y =%.2f\n",b);
              b=b-l;
        wait(2);vertex2d(a,b);     
        printf("position x =%.2f\n",a);
        printf("position y =%.2f\n",b);       
        
         vertex2d(x,y);
           // wait(2);
            a=x+l;
        vertex2d(a,y);
            //wait(2);
            b=y+l;
        vertex2d(a,b);
        //wait(2);
        vertex2d(x,b);
      //  wait(2);
        vertex2d(x,y);
         }    
 
void diag()
    {
    wait(2);vertex2d(0,0);
    wait(2);vertex2d(10,10);
    wait(2);vertex2d(20,20);
    wait(2);vertex2d(30,30);
    wait(2);vertex2d(40,40);*/
  
    /*wait(1);vertex2d(0,0);   
    wait(1);vertex2d(40,0);   
    wait(1);vertex2d(40,40);   
    wait(1);vertex2d(0,40);
    wait(1);vertex2d(0,0);  
    
    wait(1);vertex2d(10,0);   
    wait(1);vertex2d(10,40);   
    wait(1);vertex2d(20,40);   
    wait(1);vertex2d(20,0);
    wait(1);vertex2d(30,0);
    wait(1);vertex2d(30,40);   
    wait(1);vertex2d(40,40);   
    wait(1);vertex2d(40,0);     
        }

         

 void Pendiente(int x0,int y0,int x1,int y1)
{
float x;
float y;
float m;
for(x=x0; x<=x1; x=x+1)
{
m=(y1-y0)/(x1-x0);
y=m*(x-x0)+y0;
vertex2d(x,y);
 printf("position x =%.2f\n",x);
 printf("position y =%.2f\n",y);
}
*/
/*
 vertex2d(x0,y0);
 //wait(2);
  vertex2d(x1,y1);
}

void circle(float cx, float cy, float radio)    
    { 
    float y;
    float x;    
     wait(2); vertex2d(cx,cy);  
      
   
      for(double i=PI/2; i<=PI ;i=i+0.5)   
     {
      x=radio*cos(i);
      y=radio*sin(i);
      vertex2d(cx-x,cy-y);
      printf("position x =%.2f\n",x);
      printf("position y =%.2f\n",y);
      }  
       wait(1);
       for(double i=0; i<=PI/2 ;i+=0.5)   
     {
      x=radio*cos(i);
      y=radio*sin(i);
      vertex2d(x+cx,y+cy);
      printf("position x =%.2f\n",x);
      printf("position y =%.2f\n",y);
      }  
     
      for(double i=PI; i<=(3*PI)/2 ;i=i+0.5)   
     {
      x=radio*cos(i);
      y=radio*sin(i);
      vertex2d(x+y,cx+cy);
      printf("position x =%.2f\n",x);
      printf("position y =%.2f\n",y);
      }*/
      /*   
       for(double i=3*PI/2; i<=2*PI ;i=i+0.1)   
     {
      x=radio*cos(i);
      y=radio*sin(i);
      vertex2d(cx+x,cy-y);
      printf("position x =%.2f\n",x);
      printf("position y =%.2f\n",y);
      }         
 }
 
 void Pendiente(int x0,int y0,int x1,int y1);
 
 */
 
 int main()
 {
     // configuracion de  periodo
    myServoX.period_ms(20);
    myServoY.period_ms(20);
    myServoZ.period_ms(20);
    
    while(1)
  {
    home();
        wait(2);      
    maxpos();    
        wait(2); 
    home();
    
    
        /* wait(3);  
        //Pendiente(30,35,15,20);
        //Pendiente(15,20,0,35);
        //Pendiente(0,35,15,50);
        //wait(3);
        //Pendiente(15,50,30,35);
        //wait(3);
       
       wait(3);
        
        Pendiente(30,20,30,40);
        Pendiente(30,40,40,40);
        Pendiente(40,40,40,20);
        Pendiente(40,20,30,20);
        wait(3);
        Pendiente(20,0,50,0);
        Pendiente(50,0,50,10);
        Pendiente(50,10,30,15);
        
       cuadrado(0,0,10);
        wait(2);
        circle(30,0,15);
        wait(3); 
    
        diag(); 
        */
}
}