Luis Miguel Lovera Salazar / Mbed 2 deprecated pwm

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Dependencies:   mbed

Fork of 01-04EntregaPrimerCorte by ferney alberto beltran molina

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

Committer:
MigueAut
Date:
Sun Sep 09 01:02:43 2018 +0000
Revision:
3:e43babb84ff3
Parent:
1:526bdd5faa37 
3 MOTORES

Who changed what in which revision?

UserRevisionLine numberNew contents of line
fabeltranm 0:89b318e49395 1
fabeltranm 1:526bdd5faa37 2 #include "mover.h"
fabeltranm 0:89b318e49395 3 #include "mbed.h"
fabeltranm 0:89b318e49395 4 #include "math.h"
fabeltranm 0:89b318e49395 5
fabeltranm 0:89b318e49395 6
fabeltranm 1:526bdd5faa37 7 PwmOut myServo1(PB_3);
fabeltranm 1:526bdd5faa37 8 PwmOut myServo2(PB_4);
fabeltranm 1:526bdd5faa37 9 PwmOut myServo3(PB_5);
fabeltranm 0:89b318e49395 10
fabeltranm 1:526bdd5faa37 11
fabeltranm 0:89b318e49395 12 uint8_t ss_time=50; // tiempo de espera para moverse 1 mm en microsegundos
fabeltranm 0:89b318e49395 13
fabeltranm 0:89b318e49395 14 void put_sstime(uint8_t vtime){
fabeltranm 0:89b318e49395 15 ss_time=vtime;
fabeltranm 0:89b318e49395 16
fabeltranm 0:89b318e49395 17 }
fabeltranm 0:89b318e49395 18
fabeltranm 0:89b318e49395 19 int coord2us(float coord)
fabeltranm 0:89b318e49395 20 {
MigueAut 3:e43babb84ff3 21 if(0 <= coord <= 180)
MigueAut 3:e43babb84ff3 22 return int(750+coord*1900/180);// u6
fabeltranm 0:89b318e49395 23 return 750;
fabeltranm 0:89b318e49395 24
fabeltranm 0:89b318e49395 25 }
fabeltranm 0:89b318e49395 26
fabeltranm 1:526bdd5faa37 27
fabeltranm 0:89b318e49395 28
fabeltranm 0:89b318e49395 29
fabeltranm 0:89b318e49395 30
MigueAut 3:e43babb84ff3 31 void mover_ser(uint8_t nmotor, uint8_t grados){
MigueAut 3:e43babb84ff3 32 int pulseX = coord2us(grados);
MigueAut 3:e43babb84ff3 33 switch(nmotor){
MigueAut 3:e43babb84ff3 34 case 0x01:
MigueAut 3:e43babb84ff3 35 myServo1.pulsewidth_us(pulseX);
MigueAut 3:e43babb84ff3 36 break;
MigueAut 3:e43babb84ff3 37 case 0x02:
MigueAut 3:e43babb84ff3 38 myServo2.pulsewidth_us(pulseX);
MigueAut 3:e43babb84ff3 39 break;
MigueAut 3:e43babb84ff3 40 case 0x03:
MigueAut 3:e43babb84ff3 41 myServo3.pulsewidth_us(pulseX);
MigueAut 3:e43babb84ff3 42 break;}
MigueAut 3:e43babb84ff3 43 }
fabeltranm 0:89b318e49395 44
fabeltranm 0:89b318e49395 45
fabeltranm 0:89b318e49395 46 void init_servo()
fabeltranm 0:89b318e49395 47 {
fabeltranm 1:526bdd5faa37 48 myServo1.period_ms(20);
fabeltranm 1:526bdd5faa37 49 myServo2.period_ms(20);
fabeltranm 1:526bdd5faa37 50 myServo3.period_ms(20);
fabeltranm 0:89b318e49395 51
fabeltranm 0:89b318e49395 52
fabeltranm 0:89b318e49395 53 }