Revision 0:f22c817caf6c, committed 2019-08-10

Comitter:

NeoLewis

Date:

Sat Aug 10 18:15:12 2019 +0000

Commit message:

teste da versao funcional;

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sat Aug 10 18:15:12 2019 +0000
@@ -0,0 +1,125 @@
+#include "mbed.h"
+//Serial pc(USBTX, USBRX);
+PwmOut Right(p23);
+PwmOut Left(p25);
+ 
+DigitalOut myled(LED1);
+#define MIN 1060 //990
+#define MAX 1860 //2040
+#define MID ((MAX+MIN)/2)
+int i;
+int k;
+ 
+/*
+int main() {
+    
+    Right.period_ms(16);   
+    Left.period_ms(16);
+    Right.pulsewidth_us(MID);
+    Left.pulsewidth_us(MID);
+    wait(2);
+    
+    for (k=MAX,i=MID;k>=MIN,i<=MAX;k-=5,i+=5) //boa desaceleração 
+    {
+        Left.pulsewidth_us(k); 
+        wait(0.01);
+        Right.pulsewidth_us(i); 
+        wait(0.01);
+    }
+}
+*/
+    /*
+    for (k=MAX;k>=MIN;k-=15) //bom numero para fazer curvas , desacelera rapido e reverte bem
+    {
+        Left.pulsewidth_us(k); 
+        wait(0.01);
+        Right.pulsewidth_us(i); 
+        wait(0.01);
+    }
+    */
+    
+    /*
+    for (k;k>=MIN;k-=15) //TESTE PERFEITO 
+    {
+        Left.pulsewidth_us(k); 
+        wait(0.01);
+        Right.pulsewidth_us(i); 
+        wait(0.01);
+    }
+    
+    
+    
+    
+      while(1) {
+        myled = !myled;
+        wait(1);
+    }
+}
+*/
+
+//Função que desloca os motores de acordo com o sinal PPM recebido
+void Drive(int maximo,int minimo,int controle) 
+{
+    switch(controle)
+    {
+        case 1:
+            Right.period_ms(16);   
+            Left.period_ms(16);
+            Left.pulsewidth_us(minimo); 
+            Right.pulsewidth_us(minimo);
+            break;
+        case 2:
+            for (;k<=maximo || i<=maximo;k+=15,i+=15) 
+            {
+                Left.pulsewidth_us(k); 
+                wait(0.01);
+                Right.pulsewidth_us(i); 
+                wait(0.01);
+            }
+            break;
+            
+        case 3:
+            for (;k>=minimo || i<=maximo;k-=15,i+=15) 
+            {
+                Left.pulsewidth_us(k); 
+                wait(0.01);
+                Right.pulsewidth_us(i); 
+                wait(0.01);
+            }
+            break;
+        case 4:
+            for (;k<=maximo || i>=minimo;k+=15,i-=15) 
+            {
+                Left.pulsewidth_us(k); 
+                wait(0.01);
+                Right.pulsewidth_us(i); 
+                wait(0.01);
+            }
+            break;
+        case 5:
+            for (;k>=minimo || i>=minimo;k-=15,i-=15) 
+            {
+                Left.pulsewidth_us(k); 
+                wait(0.01);
+                Right.pulsewidth_us(i); 
+                wait(0.01);
+            }
+            break;
+        default:
+            Left.pulsewidth_us(MID); 
+            Right.pulsewidth_us(MID);
+            break;
+    }
+}
+
+int main()
+{
+    Drive(MAX,MIN,1);
+    
+    while(1)
+    {
+        Drive(MAX,MIN,2);
+    }
+    
+}
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Sat Aug 10 18:15:12 2019 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400
\ No newline at end of file