Movimiento de Motor DC y Servo
Dependencies: Motor Servo mbed
main.cpp@0:996a30882975, 2014-10-11 (annotated)
- Committer:
- DnPlas
- Date:
- Sat Oct 11 20:49:52 2014 +0000
- Revision:
- 0:996a30882975
Programa control de Motor a DC y Servo
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
DnPlas | 0:996a30882975 | 1 | /*Borrador 1: realizar un recorrido formando un cuadrado. Las vueltas se harán cada cierto tiempo. |
DnPlas | 0:996a30882975 | 2 | 11 de octubre de 2014 - Daniela Plascencia */ |
DnPlas | 0:996a30882975 | 3 | //--------LIBRARIES-------- |
DnPlas | 0:996a30882975 | 4 | #include "mbed.h" |
DnPlas | 0:996a30882975 | 5 | #include "Servo.h" |
DnPlas | 0:996a30882975 | 6 | #include "Motor.h" |
DnPlas | 0:996a30882975 | 7 | //--------I/O PINS------- |
DnPlas | 0:996a30882975 | 8 | DigitalOut myled(LED1); |
DnPlas | 0:996a30882975 | 9 | PwmOut servo(PTD4); |
DnPlas | 0:996a30882975 | 10 | Motor motor(D3, D8, D9); |
DnPlas | 0:996a30882975 | 11 | Timer timer; |
DnPlas | 0:996a30882975 | 12 | //------VARIABLES------- |
DnPlas | 0:996a30882975 | 13 | float i = 0.0; |
DnPlas | 0:996a30882975 | 14 | //-------MAIN PROGRAM------ |
DnPlas | 0:996a30882975 | 15 | int main () |
DnPlas | 0:996a30882975 | 16 | { |
DnPlas | 0:996a30882975 | 17 | timer.start(); |
DnPlas | 0:996a30882975 | 18 | do { |
DnPlas | 0:996a30882975 | 19 | float tiempo = timer.read(); |
DnPlas | 0:996a30882975 | 20 | if(tiempo <= 5) { |
DnPlas | 0:996a30882975 | 21 | motor.speed(1.0); |
DnPlas | 0:996a30882975 | 22 | } else { |
DnPlas | 0:996a30882975 | 23 | if(i<=2.0) { |
DnPlas | 0:996a30882975 | 24 | i+= 1.0; |
DnPlas | 0:996a30882975 | 25 | motor.speed(0.5); |
DnPlas | 0:996a30882975 | 26 | servo.write(0.075); |
DnPlas | 0:996a30882975 | 27 | wait(0.2); |
DnPlas | 0:996a30882975 | 28 | servo.write(0.0); |
DnPlas | 0:996a30882975 | 29 | wait(0.2); |
DnPlas | 0:996a30882975 | 30 | timer.reset(); |
DnPlas | 0:996a30882975 | 31 | } |
DnPlas | 0:996a30882975 | 32 | } |
DnPlas | 0:996a30882975 | 33 | } while(i<=3.0); |
DnPlas | 0:996a30882975 | 34 | timer.stop(); |
DnPlas | 0:996a30882975 | 35 | } |