Jimena Gomez Cuellar / Mbed 2 deprecated proyecto

servo visual

Dependencies:   MAX7219 mbed

Realizamos mediante comunicacion serial, ingresando el comando para los servomotores:

COMANDO MOVER MOTOR

POS 1POS 2POS 3POS 4POS 5
<#M,#°G>
  1. M -> indica el motor que se va a mover (00,01,02)
  2. °G -> indica los grados a mover del servomotor <,> -> inicio, separdor y fin de comando el inicio de comando no se almacena en el buffer

si el comando no tiene correctamente ingresado los simbolos ',' y '>', nos dara un error.

comando para el paso a paso:

COMANDO MOVER PASO A PASO

POS 1POS 2POS 3POS 4POS 5
<#MDIR#PASOS>
  1. M -> indica el motor que se va a mover ( 03)
  2. PASOS -> indica los pasos a mover del motor paso a paso DIR -> indica la direccion en la que girara el motor (00-derecha, 01- izquierda) < > ->inicio, separdor y fin de comando

el inicio de comando no se almacena en el buffer.

En la visualizacion de la matriz se observara el numero del motor que se esta moviendo y su direccion indicada con una flecha

<- hacia la izquierda cuando el angulo de los servos sea mayor que 90, y el sentido del paso a paso sea este. ^ hacia arriba cuando el angulo de los servos sea 90 -> hacia la derecha cuando el angulo de los servos sea menor que 90, y el sentido del paso a paso sea este.

1- servomotor uno (00) 2-servomotor dos (01) 3-servomotor tres (02) 4- paso a paso (03)

main.cpp@1:908a41a33553, 2017-04-27 (annotated)

Committer:
Paxtel
Date:
Thu Apr 27 21:39:55 2017 +0000
Revision:
1:908a41a33553
Parent:
0:65caec68ab34 
funcionamiento de 3 servomoteores y un paso a paso , con vizualizacion  sentido de giro en una matriz 8x8

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Paxtel 0:65caec68ab34 1 #include "mbed.h"
Paxtel 1:908a41a33553 2 #include "max7219.h" // incluir librerias.
Paxtel 1:908a41a33553 3 #include "vision.h"
Paxtel 1:908a41a33553 4
Paxtel 1:908a41a33553 5
Paxtel 1:908a41a33553 6 int motorSpeed; // variable para la velocidad del motor
Paxtel 1:908a41a33553 7
Paxtel 1:908a41a33553 8
Paxtel 1:908a41a33553 9 #define DEBUG 1
Paxtel 1:908a41a33553 10
Paxtel 1:908a41a33553 11 //*****************************************************************************
Paxtel 1:908a41a33553 12 // COMANDO MOVER MOTOR
Paxtel 1:908a41a33553 13 // |POS 1|POS 2|POS 3|POS 4| POS 5|
Paxtel 1:908a41a33553 14 // | < | #M | , | #°G | > |
Paxtel 1:908a41a33553 15 //
Paxtel 1:908a41a33553 16 // #M -> indica el motor que se va a mover
Paxtel 1:908a41a33553 17 // #°G -> indica los grados a mover del servomotor
Paxtel 1:908a41a33553 18 // <,> -> inicio, separdor y fin de comando
Paxtel 1:908a41a33553 19 // el inicio de comando no se almacena en el buffer
Paxtel 1:908a41a33553 20 //*****************************************************************************
Paxtel 1:908a41a33553 21
Paxtel 1:908a41a33553 22 // VARIABLES PARA DEFINIR EL COMMANDO
Paxtel 1:908a41a33553 23 #define BUFF_SIZE 4
Paxtel 1:908a41a33553 24 #define COMM_NUM_MOTOR 0
Paxtel 1:908a41a33553 25 #define COMM_SEPARADOR 1
Paxtel 1:908a41a33553 26 #define COMM_GRADOS_MOTOR 2
Paxtel 1:908a41a33553 27
Paxtel 1:908a41a33553 28
Paxtel 1:908a41a33553 29 uint8_t buffer_command[BUFF_SIZE]={0,0,0,0};
Paxtel 1:908a41a33553 30
Paxtel 1:908a41a33553 31
Paxtel 1:908a41a33553 32 void print_num(uint8_t val)
Paxtel 1:908a41a33553 33
Paxtel 1:908a41a33553 34 {
Paxtel 1:908a41a33553 35 if (val <10)
Paxtel 1:908a41a33553 36 command.putc(val+0x30);
Paxtel 1:908a41a33553 37 else
Paxtel 1:908a41a33553 38 command.putc(val-9+0x40);
Paxtel 1:908a41a33553 39
Paxtel 1:908a41a33553 40 }
Paxtel 1:908a41a33553 41 void print_bin2hex (uint8_t val)
Paxtel 1:908a41a33553 42 {
Paxtel 1:908a41a33553 43 command.printf(" 0x");
Paxtel 1:908a41a33553 44 print_num(val>>4);
Paxtel 1:908a41a33553 45 print_num(val&0x0f);
Paxtel 1:908a41a33553 46
Paxtel 1:908a41a33553 47
Paxtel 1:908a41a33553 48 }
Paxtel 1:908a41a33553 49
Paxtel 1:908a41a33553 50 // TODO : TIMEOUT UART SERIAL
Paxtel 1:908a41a33553 51 void Read_command()
Paxtel 1:908a41a33553 52 {
Paxtel 1:908a41a33553 53 for (uint8_t i=0; i<BUFF_SIZE;i++)
Paxtel 1:908a41a33553 54 buffer_command[i]=command.getc();
Paxtel 1:908a41a33553 55
Paxtel 1:908a41a33553 56 }
Paxtel 1:908a41a33553 57
Paxtel 1:908a41a33553 58 void echo_command()
Paxtel 1:908a41a33553 59 {
Paxtel 1:908a41a33553 60 for (uint8_t i=0; i<BUFF_SIZE;i++)
Paxtel 1:908a41a33553 61 print_bin2hex(buffer_command[i]);
Paxtel 1:908a41a33553 62
Paxtel 1:908a41a33553 63 }
Paxtel 1:908a41a33553 64
Paxtel 1:908a41a33553 65
Paxtel 1:908a41a33553 66 uint8_t check_command()
Paxtel 1:908a41a33553 67 { if(buffer_command[BUFF_SIZE-1]== '>' && buffer_command[COMM_NUM_MOTOR]==03){ // seleccion del motor paso a paso
Paxtel 1:908a41a33553 68 #if DEBUG
Paxtel 1:908a41a33553 69 command.printf("\nMover Motor:");
Paxtel 1:908a41a33553 70 print_bin2hex(buffer_command[COMM_NUM_MOTOR]);
Paxtel 1:908a41a33553 71 command.printf(" -> ");
Paxtel 1:908a41a33553 72 print_bin2hex(buffer_command[COMM_GRADOS_MOTOR]);
Paxtel 1:908a41a33553 73 command.printf(" pasos ");
Paxtel 1:908a41a33553 74 if(buffer_command[COMM_SEPARADOR]==00){ // seleccion direccion del motor paso a paso (derecha)
Paxtel 1:908a41a33553 75 buffer_command[COMM_SEPARADOR]=0;
Paxtel 1:908a41a33553 76 command.printf(" a la derecha \n");
Paxtel 1:908a41a33553 77 Print_pantalla_tabla(m4right);
Paxtel 1:908a41a33553 78 stepper(buffer_command[COMM_GRADOS_MOTOR],buffer_command[COMM_SEPARADOR]);
Paxtel 1:908a41a33553 79
Paxtel 1:908a41a33553 80 #endif
Paxtel 1:908a41a33553 81 return 0;
Paxtel 1:908a41a33553 82 }
Paxtel 1:908a41a33553 83 else if(buffer_command[COMM_SEPARADOR]==01){// seleccion direccion del motor paso a paso (izquierda)
Paxtel 1:908a41a33553 84 #if DEBUG
Paxtel 1:908a41a33553 85 buffer_command[COMM_SEPARADOR]=1;
Paxtel 1:908a41a33553 86 command.printf(" a la izquierda \n");
Paxtel 1:908a41a33553 87 Print_pantalla_tabla(m4left);
Paxtel 1:908a41a33553 88 stepper(buffer_command[COMM_GRADOS_MOTOR],buffer_command[COMM_SEPARADOR]);
Paxtel 1:908a41a33553 89
Paxtel 1:908a41a33553 90
Paxtel 1:908a41a33553 91 #endif
Paxtel 1:908a41a33553 92 return 0;
Paxtel 1:908a41a33553 93 }
Paxtel 1:908a41a33553 94 #if DEBUG
Paxtel 1:908a41a33553 95 command.printf("\n ERROR COMANDO -> "); // error si la direccion de entrada no es ni derecha ni izquierda
Paxtel 1:908a41a33553 96 echo_command();
Paxtel 1:908a41a33553 97 #endif
Paxtel 1:908a41a33553 98 return 0;
Paxtel 1:908a41a33553 99
Paxtel 1:908a41a33553 100 }
Paxtel 1:908a41a33553 101
Paxtel 1:908a41a33553 102 else if (buffer_command[BUFF_SIZE-1]== '>' && buffer_command[COMM_SEPARADOR]==','){ // seleccion solo servo motores, verifica que la entrada sea correcta
Paxtel 1:908a41a33553 103
Paxtel 1:908a41a33553 104 #if DEBUG
Paxtel 1:908a41a33553 105 command.printf("\nMover Motor:");
Paxtel 1:908a41a33553 106 print_bin2hex(buffer_command[COMM_NUM_MOTOR]);
Paxtel 1:908a41a33553 107 command.printf(" -> ");
Paxtel 1:908a41a33553 108 print_bin2hex(buffer_command[COMM_GRADOS_MOTOR]);
Paxtel 1:908a41a33553 109 command.printf(" grados \n");
Paxtel 1:908a41a33553 110 #endif
Paxtel 1:908a41a33553 111 return 1;
Paxtel 1:908a41a33553 112 }
Paxtel 1:908a41a33553 113 #if DEBUG
Paxtel 1:908a41a33553 114 command.printf("\n ERROR COMANDO -> "); // error si los simbolos de entrada son incorrectos
Paxtel 1:908a41a33553 115 echo_command();
Paxtel 1:908a41a33553 116 #endif
Paxtel 1:908a41a33553 117 return 0;
Paxtel 1:908a41a33553 118
Paxtel 1:908a41a33553 119
Paxtel 1:908a41a33553 120 }
Paxtel 0:65caec68ab34 121
Paxtel 0:65caec68ab34 122
Paxtel 0:65caec68ab34 123
Paxtel 1:908a41a33553 124
Paxtel 1:908a41a33553 125
Paxtel 1:908a41a33553 126
Paxtel 1:908a41a33553 127
Paxtel 1:908a41a33553 128 void command_motor(uint8_t nm,uint8_t grados)
Paxtel 1:908a41a33553 129 {
Paxtel 1:908a41a33553 130
Paxtel 1:908a41a33553 131 led=1;
Paxtel 1:908a41a33553 132 wait(1);
Paxtel 1:908a41a33553 133 led=0;
Paxtel 1:908a41a33553 134 unsigned int k;
Paxtel 1:908a41a33553 135
Paxtel 1:908a41a33553 136 k=((grados*9)+550); // formula para los grados de los servomotores
Paxtel 1:908a41a33553 137
Paxtel 1:908a41a33553 138
Paxtel 1:908a41a33553 139
Paxtel 1:908a41a33553 140
Paxtel 1:908a41a33553 141 switch(nm){ // seleccion del servo a mover
Paxtel 1:908a41a33553 142 case 00:
Paxtel 1:908a41a33553 143 if(grados==0x5a){ //90 grados
Paxtel 1:908a41a33553 144
Paxtel 1:908a41a33553 145 Print_pantalla_tabla(m1up);
Paxtel 1:908a41a33553 146 wait(1);
Paxtel 1:908a41a33553 147
Paxtel 1:908a41a33553 148 mipwm.pulsewidth_us(k);
Paxtel 1:908a41a33553 149 wait(1);
Paxtel 1:908a41a33553 150 }
Paxtel 1:908a41a33553 151 else if (grados<0x5a){ // visualizacion cuando es menor que 90
Paxtel 1:908a41a33553 152 Print_pantalla_tabla(m1right);
Paxtel 1:908a41a33553 153 wait(1);
Paxtel 1:908a41a33553 154 mipwm.pulsewidth_us(k);
Paxtel 1:908a41a33553 155 wait(1);
Paxtel 1:908a41a33553 156 }
Paxtel 1:908a41a33553 157 else{ // visualizacion cuando es mayor que 90
Paxtel 1:908a41a33553 158 Print_pantalla_tabla(m1left);
Paxtel 1:908a41a33553 159 wait(1);
Paxtel 1:908a41a33553 160 mipwm.pulsewidth_us(k);
Paxtel 1:908a41a33553 161 wait(1);
Paxtel 1:908a41a33553 162 }
Paxtel 1:908a41a33553 163
Paxtel 1:908a41a33553 164 mipwm.pulsewidth_us(k);
Paxtel 1:908a41a33553 165 wait(1);
Paxtel 1:908a41a33553 166 break;
Paxtel 1:908a41a33553 167 case 01:if(grados==0x5a){ //90 grados
Paxtel 0:65caec68ab34 168
Paxtel 1:908a41a33553 169 Print_pantalla_tabla(m2up);
Paxtel 1:908a41a33553 170 wait(1);
Paxtel 1:908a41a33553 171 }
Paxtel 1:908a41a33553 172 else if (grados<0x5a){ // visualizacion cuando es menor que 90
Paxtel 1:908a41a33553 173 Print_pantalla_tabla(m2right);
Paxtel 1:908a41a33553 174 wait(1);
Paxtel 1:908a41a33553 175 }
Paxtel 1:908a41a33553 176 else{// visualizacion cuando es mayor que 90
Paxtel 1:908a41a33553 177 Print_pantalla_tabla(m2left);
Paxtel 1:908a41a33553 178 wait(1);
Paxtel 1:908a41a33553 179 }
Paxtel 1:908a41a33553 180 mipwm2.pulsewidth_us(k);
Paxtel 1:908a41a33553 181 wait(1);
Paxtel 1:908a41a33553 182 break;
Paxtel 1:908a41a33553 183 case 02:
Paxtel 1:908a41a33553 184 if(grados==0x5a){ //90 grados
Paxtel 1:908a41a33553 185
Paxtel 1:908a41a33553 186 Print_pantalla_tabla(m3up);
Paxtel 1:908a41a33553 187 wait(1);
Paxtel 1:908a41a33553 188 }
Paxtel 1:908a41a33553 189 else if (grados<0x5a){ // visualizacion cuando es menor que 90
Paxtel 1:908a41a33553 190 Print_pantalla_tabla(m3right);
Paxtel 1:908a41a33553 191 wait(1);
Paxtel 1:908a41a33553 192 }
Paxtel 1:908a41a33553 193 else{ // visualizacion cuando es mayor que 90
Paxtel 1:908a41a33553 194 Print_pantalla_tabla(m3left);
Paxtel 1:908a41a33553 195 wait(1);
Paxtel 1:908a41a33553 196 }
Paxtel 1:908a41a33553 197 mipwm3.pulsewidth_us(k);
Paxtel 1:908a41a33553 198 wait(1);
Paxtel 1:908a41a33553 199 break;
Paxtel 1:908a41a33553 200 default:
Paxtel 1:908a41a33553 201 break;
Paxtel 1:908a41a33553 202 }
Paxtel 1:908a41a33553 203
Paxtel 1:908a41a33553 204
Paxtel 1:908a41a33553 205
Paxtel 1:908a41a33553 206 }
Paxtel 1:908a41a33553 207
Paxtel 1:908a41a33553 208
Paxtel 1:908a41a33553 209
Paxtel 1:908a41a33553 210 int main() {
Paxtel 1:908a41a33553 211 Print_pantalla_tabla(clear); // limpiar matriz
Paxtel 1:908a41a33553 212 #if DEBUG
Paxtel 1:908a41a33553 213 command.printf("inicio con debug\n");
Paxtel 1:908a41a33553 214 #else
Paxtel 1:908a41a33553 215 command.printf("inicio sin debug\n");
Paxtel 1:908a41a33553 216 #endif
Paxtel 1:908a41a33553 217 uint8_t val;
Paxtel 1:908a41a33553 218 while(1){
Paxtel 1:908a41a33553 219 val=command.getc();
Paxtel 1:908a41a33553 220 if (val== '<'){
Paxtel 1:908a41a33553 221 Read_command();
Paxtel 1:908a41a33553 222 if (check_command()){
Paxtel 1:908a41a33553 223 command_motor(buffer_command[COMM_NUM_MOTOR],buffer_command[COMM_GRADOS_MOTOR]);
Paxtel 1:908a41a33553 224 }
Paxtel 1:908a41a33553 225 }
Paxtel 1:908a41a33553 226
Paxtel 1:908a41a33553 227 }
Paxtel 1:908a41a33553 228 }
Paxtel 1:908a41a33553 229
Paxtel 1:908a41a33553 230
Paxtel 1:908a41a33553 231
Paxtel 1:908a41a33553 232
Paxtel 1:908a41a33553 233 void Print_pantalla_tabla(unsigned char *pValor){
Paxtel 1:908a41a33553 234 int i; //funcion de puntero, impresión de pantalla
Paxtel 1:908a41a33553 235 for (i =0;i<8;i++)
Paxtel 1:908a41a33553 236 pantalla.write_digit(1,i+1,pValor[i]);
Paxtel 1:908a41a33553 237
Paxtel 1:908a41a33553 238 }
Paxtel 0:65caec68ab34 239
Paxtel 0:65caec68ab34 240
Paxtel 0:65caec68ab34 241
Paxtel 0:65caec68ab34 242
Paxtel 0:65caec68ab34 243
Paxtel 1:908a41a33553 244
Paxtel 1:908a41a33553 245 void anticlockwise() { // rotacion del motor paso a paso sentido antihorario
Paxtel 1:908a41a33553 246 for (int i = 0; i < 8; i++) {
Paxtel 1:908a41a33553 247
Paxtel 1:908a41a33553 248 switch (i) { // activar(1) o desactivar(0) las bobinas
Paxtel 1:908a41a33553 249 case 0: {
Paxtel 1:908a41a33553 250 _A0=0;
Paxtel 1:908a41a33553 251 _A1=0;
Paxtel 1:908a41a33553 252 _A2=0;
Paxtel 1:908a41a33553 253 _A3=1;
Paxtel 1:908a41a33553 254 }
Paxtel 1:908a41a33553 255 break;
Paxtel 1:908a41a33553 256 case 1: {
Paxtel 1:908a41a33553 257 _A0=0;
Paxtel 1:908a41a33553 258 _A1=0;
Paxtel 1:908a41a33553 259 _A2=1;
Paxtel 1:908a41a33553 260 _A3=1;
Paxtel 1:908a41a33553 261 }
Paxtel 1:908a41a33553 262 break;
Paxtel 1:908a41a33553 263 case 2: {
Paxtel 1:908a41a33553 264 _A0=0;
Paxtel 1:908a41a33553 265 _A1=0;
Paxtel 1:908a41a33553 266 _A2=1;
Paxtel 1:908a41a33553 267 _A3=0;
Paxtel 1:908a41a33553 268 }
Paxtel 1:908a41a33553 269 break;
Paxtel 1:908a41a33553 270 case 3: {
Paxtel 1:908a41a33553 271 _A0=0;
Paxtel 1:908a41a33553 272 _A1=1;
Paxtel 1:908a41a33553 273 _A2=1;
Paxtel 1:908a41a33553 274 _A3=0;
Paxtel 1:908a41a33553 275 }
Paxtel 1:908a41a33553 276 break;
Paxtel 1:908a41a33553 277 case 4: {
Paxtel 1:908a41a33553 278 _A0=0;
Paxtel 1:908a41a33553 279 _A1=1;
Paxtel 1:908a41a33553 280 _A2=0;
Paxtel 1:908a41a33553 281 _A3=0;
Paxtel 1:908a41a33553 282 }
Paxtel 1:908a41a33553 283 break;
Paxtel 1:908a41a33553 284 case 5: {
Paxtel 1:908a41a33553 285 _A0=1;
Paxtel 1:908a41a33553 286 _A1=1;
Paxtel 1:908a41a33553 287 _A2=0;
Paxtel 1:908a41a33553 288 _A3=0;
Paxtel 1:908a41a33553 289 }
Paxtel 1:908a41a33553 290 break;
Paxtel 1:908a41a33553 291 case 6: {
Paxtel 1:908a41a33553 292 _A0=1;
Paxtel 1:908a41a33553 293 _A1=0;
Paxtel 1:908a41a33553 294 _A2=0;
Paxtel 1:908a41a33553 295 _A3=0;
Paxtel 1:908a41a33553 296 }
Paxtel 1:908a41a33553 297 break;
Paxtel 1:908a41a33553 298 case 7: {
Paxtel 1:908a41a33553 299 _A0=1;
Paxtel 1:908a41a33553 300 _A1=0;
Paxtel 1:908a41a33553 301 _A2=0;
Paxtel 1:908a41a33553 302 _A3=1;
Paxtel 1:908a41a33553 303 }
Paxtel 1:908a41a33553 304 break;
Paxtel 1:908a41a33553 305 }
Paxtel 1:908a41a33553 306
Paxtel 0:65caec68ab34 307
Paxtel 1:908a41a33553 308 wait_us(motorSpeed); // velocidad
Paxtel 1:908a41a33553 309 }
Paxtel 1:908a41a33553 310 }
Paxtel 1:908a41a33553 311
Paxtel 1:908a41a33553 312 void clockwise() { // rotacion del motor paso a paso sentido horario
Paxtel 1:908a41a33553 313 for (int i = 7; i >= 0; i--) {
Paxtel 0:65caec68ab34 314
Paxtel 1:908a41a33553 315 switch (i) { // activar(1) o desactivar(0) las bobinas
Paxtel 1:908a41a33553 316 case 0: {
Paxtel 1:908a41a33553 317 _A0=0;
Paxtel 1:908a41a33553 318 _A1=0;
Paxtel 1:908a41a33553 319 _A2=0;
Paxtel 1:908a41a33553 320 _A3=1;
Paxtel 1:908a41a33553 321 }
Paxtel 1:908a41a33553 322 break;
Paxtel 1:908a41a33553 323 case 1: {
Paxtel 1:908a41a33553 324 _A0=0;
Paxtel 1:908a41a33553 325 _A1=0;
Paxtel 1:908a41a33553 326 _A2=1;
Paxtel 1:908a41a33553 327 _A3=1;
Paxtel 1:908a41a33553 328 }
Paxtel 1:908a41a33553 329 break;
Paxtel 1:908a41a33553 330 case 2: {
Paxtel 1:908a41a33553 331 _A0=0;
Paxtel 1:908a41a33553 332 _A1=0;
Paxtel 1:908a41a33553 333 _A2=1;
Paxtel 1:908a41a33553 334 _A3=0;
Paxtel 1:908a41a33553 335 }
Paxtel 1:908a41a33553 336 break;
Paxtel 1:908a41a33553 337 case 3: {
Paxtel 1:908a41a33553 338 _A0=0;
Paxtel 1:908a41a33553 339 _A1=1;
Paxtel 1:908a41a33553 340 _A2=1;
Paxtel 1:908a41a33553 341 _A3=0;
Paxtel 1:908a41a33553 342 }
Paxtel 1:908a41a33553 343 break;
Paxtel 1:908a41a33553 344 case 4: {
Paxtel 1:908a41a33553 345 _A0=0;
Paxtel 1:908a41a33553 346 _A1=1;
Paxtel 1:908a41a33553 347 _A2=0;
Paxtel 1:908a41a33553 348 _A3=0;
Paxtel 1:908a41a33553 349 }
Paxtel 1:908a41a33553 350 break;
Paxtel 1:908a41a33553 351 case 5: {
Paxtel 1:908a41a33553 352 _A0=1;
Paxtel 1:908a41a33553 353 _A1=1;
Paxtel 1:908a41a33553 354 _A2=0;
Paxtel 1:908a41a33553 355 _A3=0;
Paxtel 1:908a41a33553 356 }
Paxtel 1:908a41a33553 357 break;
Paxtel 1:908a41a33553 358 case 6: {
Paxtel 1:908a41a33553 359 _A0=1;
Paxtel 1:908a41a33553 360 _A1=0;
Paxtel 1:908a41a33553 361 _A2=0;
Paxtel 1:908a41a33553 362 _A3=0;
Paxtel 1:908a41a33553 363 }
Paxtel 1:908a41a33553 364 break;
Paxtel 1:908a41a33553 365 case 7: {
Paxtel 1:908a41a33553 366 _A0=1;
Paxtel 1:908a41a33553 367 _A1=0;
Paxtel 1:908a41a33553 368 _A2=0;
Paxtel 1:908a41a33553 369 _A3=1;
Paxtel 1:908a41a33553 370 }
Paxtel 1:908a41a33553 371 break;
Paxtel 1:908a41a33553 372 }
Paxtel 1:908a41a33553 373
Paxtel 1:908a41a33553 374
Paxtel 1:908a41a33553 375 wait_us(motorSpeed); // velocidad de giro
Paxtel 1:908a41a33553 376 }
Paxtel 0:65caec68ab34 377 }
Paxtel 0:65caec68ab34 378
Paxtel 0:65caec68ab34 379
Paxtel 0:65caec68ab34 380
Paxtel 1:908a41a33553 381 void stepper(uint8_t num_steps, uint8_t direction) {// funcion para el numero de pasos direccion(0-derecha, 1-izquierda)
Paxtel 1:908a41a33553 382 int count=0; //inicializar conteo
Paxtel 1:908a41a33553 383 motorSpeed=1200; //velocidad de giro
Paxtel 1:908a41a33553 384 if (direction==0) // giro hacia la derecha
Paxtel 1:908a41a33553 385 do {
Paxtel 1:908a41a33553 386 clockwise();
Paxtel 1:908a41a33553 387 count++;
Paxtel 1:908a41a33553 388 } while (count<num_steps); // definicion de pasos
Paxtel 1:908a41a33553 389 else if (direction==1)// giro antihorario
Paxtel 1:908a41a33553 390 do {
Paxtel 1:908a41a33553 391 anticlockwise();
Paxtel 1:908a41a33553 392 count++;
Paxtel 1:908a41a33553 393 } while (count<num_steps);// definicion de pasos
Paxtel 1:908a41a33553 394
Paxtel 1:908a41a33553 395 }