Rafael Caro
/
RobotCompletoPublico
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Fork of
RobotCompleto
by 
Rafael Caro
Diff: mantieneVelocidad.cpp
- Revision:
- 0:bd4170087cf1
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/mantieneVelocidad.cpp Mon May 04 08:39:07 2015 +0000
@@ -0,0 +1,31 @@
+#include "mbed.h"
+
+Serial pc3(USBTX, USBRX);
+void mantenerVelocidad(double velocidadDesead, double velocidadActua, double &potenciaMotoresFrameAnterior, double &potenciaMotores, PwmOut pinDAdelante, PwmOut pinIAdelante){
+
+ potenciaMotoresFrameAnterior = potenciaMotores;
+
+ //Para que nunca dividamos por 0
+ if(velocidadActua == 0.0){
+ velocidadActua=velocidadActua+0.1;
+ }
+ double indicePotencias = velocidadDesead/velocidadActua;
+ pc3.printf(" %f ", potenciaMotores);
+ if(indicePotencias>1.0){
+ //Quiere acelerar
+ potenciaMotores+= 0.01;
+
+ }
+ else if(indicePotencias<1.0&&indicePotencias>0.0){
+ potenciaMotores-= 0.01;
+ }
+ else if (indicePotencias < 0.0){
+ //Quiere ir marcha atras
+ }
+ //Limitamos la potencia del motor
+
+ pinDAdelante.write(potenciaMotores);
+ pinIAdelante.write(potenciaMotores);
+
+ }
+