Rafael Caro / Mbed 2 deprecated RobotCompletoPublico

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed

Fork of RobotCompleto by Rafael Caro

mantieneVelocidad.cpp@0:bd4170087cf1, 2015-05-04 (annotated)

Committer:
Racafe
Date:
Mon May 04 08:39:07 2015 +0000
Revision:
0:bd4170087cf1
Todo a?adido;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Racafe 0:bd4170087cf1 1 #include "mbed.h"
Racafe 0:bd4170087cf1 2
Racafe 0:bd4170087cf1 3 Serial pc3(USBTX, USBRX);
Racafe 0:bd4170087cf1 4 void mantenerVelocidad(double velocidadDesead, double velocidadActua, double &potenciaMotoresFrameAnterior, double &potenciaMotores, PwmOut pinDAdelante, PwmOut pinIAdelante){
Racafe 0:bd4170087cf1 5
Racafe 0:bd4170087cf1 6 potenciaMotoresFrameAnterior = potenciaMotores;
Racafe 0:bd4170087cf1 7
Racafe 0:bd4170087cf1 8 //Para que nunca dividamos por 0
Racafe 0:bd4170087cf1 9 if(velocidadActua == 0.0){
Racafe 0:bd4170087cf1 10 velocidadActua=velocidadActua+0.1;
Racafe 0:bd4170087cf1 11 }
Racafe 0:bd4170087cf1 12 double indicePotencias = velocidadDesead/velocidadActua;
Racafe 0:bd4170087cf1 13 pc3.printf(" %f ", potenciaMotores);
Racafe 0:bd4170087cf1 14 if(indicePotencias>1.0){
Racafe 0:bd4170087cf1 15 //Quiere acelerar
Racafe 0:bd4170087cf1 16 potenciaMotores+= 0.01;
Racafe 0:bd4170087cf1 17
Racafe 0:bd4170087cf1 18 }
Racafe 0:bd4170087cf1 19 else if(indicePotencias<1.0&&indicePotencias>0.0){
Racafe 0:bd4170087cf1 20 potenciaMotores-= 0.01;
Racafe 0:bd4170087cf1 21 }
Racafe 0:bd4170087cf1 22 else if (indicePotencias < 0.0){
Racafe 0:bd4170087cf1 23 //Quiere ir marcha atras
Racafe 0:bd4170087cf1 24 }
Racafe 0:bd4170087cf1 25 //Limitamos la potencia del motor
Racafe 0:bd4170087cf1 26
Racafe 0:bd4170087cf1 27 pinDAdelante.write(potenciaMotores);
Racafe 0:bd4170087cf1 28 pinIAdelante.write(potenciaMotores);
Racafe 0:bd4170087cf1 29
Racafe 0:bd4170087cf1 30 }
Racafe 0:bd4170087cf1 31