Revision 3:e43babb84ff3, committed 2018-09-09

Comitter:

MigueAut

Date:

Sun Sep 09 01:02:43 2018 +0000

Parent:

2:6e6157daf08b

Commit message:

3 MOTORES

Changed in this revision

diff -r 6e6157daf08b -r e43babb84ff3 main.cpp
--- a/main.cpp	Wed Sep 05 20:31:54 2018 +0000
+++ b/main.cpp	Sun Sep 09 01:02:43 2018 +0000
@@ -20,6 +20,8 @@
         read_cc=read_command();
         switch (read_cc) {
             case  0x01: moving(); break;
+         case  0x02: moving(); break;
+         case  0x03: moving(); break;
             default: debug_m("error de comando.  \n");break ;      
         }
     }
@@ -35,7 +37,7 @@
     
     char intc=command.getc();
     
-    while(intc != '<')
+    while(intc != '<' )
         intc=command.getc();
     return command.getc();
 }
@@ -52,7 +54,7 @@
     
     char nmotor=command.getc();
     char grados=command.getc();
-    debug_m("SE MOEVE EL MOTOR %d, EN %d GRADOS ..\n", nmotor,grados );    
+    debug_m("SE MUEVE EL MOTOR %d, EN %d GRADOS ..\n", nmotor,grados );    
     char endc=command.getc();
     mover_ser(nmotor,grados); 
     

diff -r 6e6157daf08b -r e43babb84ff3 mover.cpp
--- a/mover.cpp	Wed Sep 05 20:31:54 2018 +0000
+++ b/mover.cpp	Sun Sep 09 01:02:43 2018 +0000
@@ -18,8 +18,8 @@
 
 int coord2us(float coord)
 {
-    if(0 <= coord <= MAXPOS)
-        return int(750+coord*1900/50);// u6
+    if(0 <= coord <= 180)
+        return int(750+coord*1900/180);// u6
     return 750;
 
 }
@@ -28,14 +28,20 @@
  
 
 
-void mover_ser(uint8_t motor, uint8_t pos){
+void mover_ser(uint8_t nmotor, uint8_t grados){
+  int pulseX = coord2us(grados);
+  switch(nmotor){
+  case 0x01:
+    myServo1.pulsewidth_us(pulseX);
+    break;
+    case 0x02:
+    myServo2.pulsewidth_us(pulseX);
+    break;
+    case 0x03:   
+    myServo3.pulsewidth_us(pulseX);
+    break;}
+}
 
-    int pulseX = coord2us(pos);
-    
-    myServo1.pulsewidth_us(pulseX);
- 
-
-}
 
 void init_servo()
 {

diff -r 6e6157daf08b -r e43babb84ff3 mover.h
--- a/mover.h	Wed Sep 05 20:31:54 2018 +0000
+++ b/mover.h	Sun Sep 09 01:02:43 2018 +0000
@@ -11,7 +11,7 @@
 void init_servo();
 void draw();
 void nodraw();
-void mover_ser(uint8_t motor, uint8_t pos);
+void mover_ser(uint8_t nmotor, uint8_t grados);