Diff: main.cpp

Revision:

0:6155643a7318

diff -r 000000000000 -r 6155643a7318 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Sep 06 19:51:43 2017 +0000
@@ -0,0 +1,62 @@
+#include "mbed.h"
+#define MAXPOS 255
+ 
+PwmOut myServoX(PB_3);
+PwmOut myServoY(PB_6);
+PwmOut myServoZ(PB_4);
+ 
+ 
+int coord2pulse(float coord)
+{
+    if(0 <= coord <= MAXPOS)
+        return int(coord*1000/150+750);// us
+    return 750;
+ 
+}
+void draw(){
+    myServoY.pulsewidth_us(750);
+ }
+void nodraw(){
+    myServoY.pulsewidth_us(2000);
+ }
+ 
+void vertex2d(float x, float y){
+ 
+    int pulseX = coord2pulse(x);
+    int pulseY = coord2pulse(y);
+    
+    myServoX.pulsewidth_us(pulseX);
+    myServoY.pulsewidth_us(pulseY);
+ 
+}
+void home()
+{
+vertex2d(0 ,0);
+}    
+ 
+void maxpos()
+{
+vertex2d(MAXPOS ,MAXPOS);
+}    
+ 
+int main() {
+     // configuracion de  periodo
+    myServoX.period_ms(20);
+    myServoY.period_ms(20);
+    myServoZ.period_ms(20);
+    
+    while(1)
+    {
+     draw();
+     wait(3);
+     home();
+     wait(3);
+     maxpos();    
+     wait(3);
+     nodraw();
+     wait(3);
+     
+     }
+ 
+}
+ 
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