Juan Agustin Otero / Mbed 2 deprecated Robot_Leg_Driver

Driver para movimiento de una pierna electronica

Dependencies:   TSI mbed

Files at this revision

API Documentation at this revision

Revision 0:fc3d2482b2f7, committed 2018-04-20

Comitter:
JAgustinOtero
Date:
Fri Apr 20 21:34:45 2018 +0000
Commit message:
Driver para movimiento de una pierna robotica de 2 servos;

Changed in this revision

TSI.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file
mbed.bld Show annotated file Show diff for this revision Revisions of this file 
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/TSI.lib	Fri Apr 20 21:34:45 2018 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/TSI/#1a60ef257879

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Apr 20 21:34:45 2018 +0000
@@ -0,0 +1,139 @@
+#include "mbed.h"
+#include "TSISensor.h"
+#define ADE 0.7
+#define ATR 0.3
+
+
+DigitalOut LR(LED1);
+DigitalOut LG(LED2);
+DigitalOut LA(LED3);
+PwmOut O1 (PTB0);
+PwmOut O2 (PTB1);
+AnalogIn AnalogicoXY(PTB2);
+Ticker servo1;
+
+
+char DIRE=0;
+char HABO1=0;
+char HABO2=0;
+
+
+void servo1f (void);
+
+void ME_servocontrol(void);
+
+enum {PM,LEV_PATA,ADE_PATA,BAJAR_PATA,ATR_PATA};
+
+char ME_servocontrol_estado=0;
+
+TSISensor tsi;
+
+int main()
+{
+
+    servo1.attach(&servo1f,0.05);
+    //  servo1.attach(&ME_servocontrol,1);
+//    myled.period(200);
+//    myled=0.05;
+    O1=0.025;
+    O2=0.025;
+    while(1) {
+        ME_servocontrol();
+    }
+}
+
+void servo1f ()
+{
+    if(HABO1==1 && DIRE==1)
+        O1=O1+(0.005);
+    if(HABO2==1 && DIRE==1)
+        O2=O2+(0.005);
+    if(HABO1==1 && DIRE==0)
+        O1=O1-(0.005);
+    if(HABO2==1 && DIRE==0)
+        O2=O2-(0.005);
+}
+
+void ME_servocontrol()
+{
+    switch(ME_servocontrol_estado) {
+        case PM:
+            O1=0.04625;
+            O2=0.0025;
+            HABO1=0;
+            HABO2=0;
+            LR=0;
+            LG=1;
+            LA=1;
+            if(/*AnalogicoXY>ADE &&*/tsi.readPercentage()>0.65 || /*AnalogicoXY<ATR*/ tsi.readPercentage()<0.35 && tsi.readPercentage()>0) ME_servocontrol_estado=LEV_PATA;
+            break;
+        case LEV_PATA:
+            HABO1=0;
+            HABO2=1;
+            DIRE=1;
+            LR=1;
+            LG=0;
+            LA=1;
+            if(/*AnalogicoXY>ADE &&*/tsi.readPercentage()>0.65 && O2>=0.0625) {
+                ME_servocontrol_estado=ADE_PATA;
+            }
+            if(/*AnalogicoXY<ATR*/tsi.readPercentage()<0.35 && O2>=0.0625) {
+                ME_servocontrol_estado=ATR_PATA;
+            }
+            if(/*AnalogicoXY<ADE && AnalogicoXY>ATR*/tsi.readPercentage()<=0.65 && tsi.readPercentage()>=0.35 || tsi.readPercentage()==0) {
+                ME_servocontrol_estado=PM;
+            }
+            break;
+        case ADE_PATA:
+            HABO1=1;
+            HABO2=0;
+            DIRE=1;
+            LR=1;
+            LG=1;
+            LA=0;
+            if(/*AnalogicoXY>ADE &&*/ tsi.readPercentage()>0.65 && O1>=0.0625) {
+                ME_servocontrol_estado=BAJAR_PATA;
+            }
+            if(/*AnalogicoXY<ATR*/tsi.readPercentage()<0.35 && O1>=0.0625) {
+                ME_servocontrol_estado=LEV_PATA;
+            }
+            if(/*AnalogicoXY<ADE && AnalogicoXY>ATR*/tsi.readPercentage()<=0.65 && tsi.readPercentage()>=0.35 || tsi.readPercentage()==0) {
+                ME_servocontrol_estado=PM;
+            }
+            break;
+        case BAJAR_PATA:
+            HABO1=0;
+            HABO2=1;
+            DIRE=0;
+            LR=1;
+            LG=0;
+            LA=0;
+            if(/*AnalogicoXY>ADE &&*/ tsi.readPercentage()>0.65 && O2<=0.025) {
+                ME_servocontrol_estado=ATR_PATA;
+            }
+            if(/*AnalogicoXY<ATR*/tsi.readPercentage()<0.35 && O2<=0.025) {
+                ME_servocontrol_estado=ADE_PATA;
+            }
+            if(/*AnalogicoXY<ADE && AnalogicoXY>ATR*/tsi.readPercentage()<=0.65 && tsi.readPercentage()>=0.35 || tsi.readPercentage()==0) {
+                ME_servocontrol_estado=PM;
+            }
+            break;
+        case ATR_PATA:
+            HABO1=1;
+            HABO2=0;
+            DIRE=0;
+            LR=0;
+            LG=1;
+            LA=0;
+            if(/*AnalogicoXY>ADE &&*/ tsi.readPercentage()>0.65 && O1<=0.025) {
+                ME_servocontrol_estado=LEV_PATA;
+            }
+            if(/*AnalogicoXY<ATR*/tsi.readPercentage()<0.35 && O1<=0.025) {
+                ME_servocontrol_estado=BAJAR_PATA;
+            }
+            if(/*AnalogicoXY<ADE && AnalogicoXY>ATR*/tsi.readPercentage()<=0.65 && tsi.readPercentage()>=0.35 || tsi.readPercentage()==0) {
+                ME_servocontrol_estado=PM;
+            }
+            break;
+    }
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Fri Apr 20 21:34:45 2018 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/994bdf8177cb
\ No newline at end of file