Luis Miguel Lovera Salazar / Mbed 2 deprecated pwm

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Dependencies:   mbed

Fork of 01-04EntregaPrimerCorte by ferney alberto beltran molina

main.cpp@3:e43babb84ff3, 2018-09-09 (annotated)

Committer:
MigueAut
Date:
Sun Sep 09 01:02:43 2018 +0000
Revision:
3:e43babb84ff3
Parent:
2:6e6157daf08b 
3 MOTORES

Who changed what in which revision?

UserRevisionLine numberNew contents of line
fabeltranm 0:89b318e49395 1 #include "mbed.h"
fabeltranm 0:89b318e49395 2
fabeltranm 0:89b318e49395 3 #include "main.h"
fabeltranm 0:89b318e49395 4
fabeltranm 0:89b318e49395 5
fabeltranm 0:89b318e49395 6
fabeltranm 0:89b318e49395 7
fabeltranm 0:89b318e49395 8 Serial command(USBTX, USBRX);
fabeltranm 0:89b318e49395 9
fabeltranm 0:89b318e49395 10
fabeltranm 0:89b318e49395 11
fabeltranm 0:89b318e49395 12 int main() {
fabeltranm 0:89b318e49395 13 init_servo();
fabeltranm 0:89b318e49395 14 init_serial();
fabeltranm 1:526bdd5faa37 15
fabeltranm 0:89b318e49395 16 debug_m("inicio \n");
fabeltranm 0:89b318e49395 17 uint32_t read_cc;
fabeltranm 0:89b318e49395 18 while(1)
fabeltranm 0:89b318e49395 19 {
fabeltranm 0:89b318e49395 20 read_cc=read_command();
fabeltranm 0:89b318e49395 21 switch (read_cc) {
fabeltranm 1:526bdd5faa37 22 case 0x01: moving(); break;
MigueAut 3:e43babb84ff3 23 case 0x02: moving(); break;
MigueAut 3:e43babb84ff3 24 case 0x03: moving(); break;
MigueAut 2:6e6157daf08b 25 default: debug_m("error de comando. \n");break ;
fabeltranm 0:89b318e49395 26 }
fabeltranm 0:89b318e49395 27 }
fabeltranm 0:89b318e49395 28 }
fabeltranm 0:89b318e49395 29
fabeltranm 0:89b318e49395 30
fabeltranm 0:89b318e49395 31
fabeltranm 0:89b318e49395 32 uint32_t read_command()
fabeltranm 0:89b318e49395 33 {
fabeltranm 1:526bdd5faa37 34 // retorna los byte recibidos concatenados en un entero,
fabeltranm 0:89b318e49395 35
fabeltranm 1:526bdd5faa37 36
fabeltranm 1:526bdd5faa37 37
fabeltranm 1:526bdd5faa37 38 char intc=command.getc();
fabeltranm 0:89b318e49395 39
MigueAut 3:e43babb84ff3 40 while(intc != '<' )
fabeltranm 1:526bdd5faa37 41 intc=command.getc();
MigueAut 2:6e6157daf08b 42 return command.getc();
fabeltranm 0:89b318e49395 43 }
fabeltranm 1:526bdd5faa37 44
fabeltranm 1:526bdd5faa37 45
fabeltranm 0:89b318e49395 46 void init_serial()
fabeltranm 0:89b318e49395 47 {
fabeltranm 0:89b318e49395 48 command.baud(9600);
fabeltranm 0:89b318e49395 49 }
fabeltranm 0:89b318e49395 50
fabeltranm 0:89b318e49395 51
fabeltranm 1:526bdd5faa37 52 void moving(){
fabeltranm 1:526bdd5faa37 53 debug_m("se inicia el comado mover..\n");
fabeltranm 0:89b318e49395 54
fabeltranm 1:526bdd5faa37 55 char nmotor=command.getc();
fabeltranm 1:526bdd5faa37 56 char grados=command.getc();
MigueAut 3:e43babb84ff3 57 debug_m("SE MUEVE EL MOTOR %d, EN %d GRADOS ..\n", nmotor,grados );
fabeltranm 1:526bdd5faa37 58 char endc=command.getc();
fabeltranm 1:526bdd5faa37 59 mover_ser(nmotor,grados);
MigueAut 2:6e6157daf08b 60
MigueAut 2:6e6157daf08b 61 debug_m("fin del comado MOVER ..\n");
fabeltranm 0:89b318e49395 62
fabeltranm 0:89b318e49395 63 }
fabeltranm 0:89b318e49395 64
fabeltranm 0:89b318e49395 65 void debug_m(char *s , ... ){
fabeltranm 0:89b318e49395 66 #if DEBUG
fabeltranm 0:89b318e49395 67 command.printf(s);
fabeltranm 0:89b318e49395 68 #endif
fabeltranm 0:89b318e49395 69 }