CONTROL ARAÑA

Dependencies:   mbed

Fork of 01-04EntregaPrimerCorte by ferney alberto beltran molina

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Show/hide line numbers mover.cpp Source File

mover.cpp

00001 
00002 #include "mover.h"
00003 #include "mbed.h"
00004 #include "math.h"
00005 
00006 
00007 PwmOut myServo1(PB_3);
00008 PwmOut myServo2(PB_4);
00009 PwmOut myServo3(PB_5);
00010 
00011 
00012 uint8_t  ss_time=50;     // tiempo  de espera para moverse 1 mm en microsegundos
00013 
00014 void put_sstime(uint8_t vtime){
00015     ss_time=vtime;
00016     
00017 }
00018 
00019 int coord2us(float coord)
00020 {
00021     if(0 <= coord <= 180)
00022         return int(750+coord*1900/180);// u6
00023     return 750;
00024 
00025 }
00026 
00027 
00028  
00029 
00030 
00031 void mover_ser(uint8_t nmotor, uint8_t grados){
00032   int pulseX = coord2us(grados);
00033   switch(nmotor){
00034   case 0x01:
00035     myServo1.pulsewidth_us(pulseX);
00036     break;
00037     case 0x02:
00038     myServo2.pulsewidth_us(pulseX);
00039     break;
00040     case 0x03:   
00041     myServo3.pulsewidth_us(pulseX);
00042     break;}
00043 }
00044 
00045 
00046 void init_servo()
00047 {
00048    myServo1.period_ms(20);
00049    myServo2.period_ms(20);
00050    myServo3.period_ms(20);
00051 
00052     
00053 }