Josimar Hernandez
/
CUADRUPEDO
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Diff: main.cpp
- Revision:
- 2:ee9eb5f76979
- Parent:
- 1:7d7dabfcd7ae
- Child:
- 3:8bc95fb7c59c
--- a/main.cpp Mon Oct 08 23:25:59 2018 +0000
+++ b/main.cpp Tue Nov 20 01:56:56 2018 +0000
@@ -1,15 +1,20 @@
#include "mbed.h"
#include "main.h"
+
int Conf_Servos();
int ConfTransmi();
-int RutColor();
+void RutColor();
+void Joy();
void MoverMotor (uint8_t motor, uint8_t grados);
void MoverConjunto(uint8_t motores, uint8_t posicion);
+
DigitalIn entrada (PE_15);
DigitalOut S3 (PB_0);
DigitalOut S2 (PE_0);
+AnalogIn analog_1(A0);
+DigitalOut led(LED1);
PwmOut Servo1(PB_11);
PwmOut Servo2(PB_10);
@@ -70,11 +75,17 @@
break;
}
case 0x03:{
-while (funcion==0x03){
+
RutColor();
- }
+break;
+ }
+
+case 0x04:{
+ Joy();
}
-
+
+
+
default:{
Transmi.printf("Funcion no definida. \n");
}
@@ -352,7 +363,7 @@
return(0);
}
-int RutColor(){
+void RutColor(){
S2=0;
S3=0;
@@ -366,20 +377,102 @@
S3=1;
verde=Detectar();
- if (rojo<azul & azul<verde){
- color=rojo;
- RutRojo();
+ if ((rojo>2)&(rojo<25) & (azul>35)&(azul<54) & (verde>53)&(verde<73)){
+ Transmi.printf("rojo. \n");
+ Servo1.pulsewidth_us(1025);
+ wait (0.5);
+ Servo2.pulsewidth_us(1319);
+ wait (0.5);
+ Servo1.pulsewidth_us(1412);
+ wait (0.5);
+ Servo7.pulsewidth_us(1025);
+ wait (0.5);
+ Servo8.pulsewidth_us(1809);
+ wait (0.5);
+ Servo7.pulsewidth_us(1417);
+ wait (0.5);
+ Servo2.pulsewidth_us(1515);
+ Servo8.pulsewidth_us(1515);
+ wait (0.5);
+ Servo3.pulsewidth_us(1221);
+ wait (0.5);
+ Servo4.pulsewidth_us(1613);
+ wait (0.5);
+ Servo3.pulsewidth_us(1613);
+ wait (0.5);
+ Servo5.pulsewidth_us(731);
+ wait (0.5);
+ Servo6.pulsewidth_us(1025);
+ wait (0.5);
+ Servo5.pulsewidth_us(1025);
+ wait (0.5);
+ Servo4.pulsewidth_us(1417);
+ Servo6.pulsewidth_us(1417);
+ wait (0.5);
}
else{
- if (azul<rojo & rojo<verde){
- color=azul;
- RutAzul();
- }
+ if ((rojo>130)&(rojo<152) & (azul>35)&(azul<56) & (verde>91)&(verde<114)){
+ Transmi.printf("azul. \n");
+ Servo1.pulsewidth_us(1025);
+ wait (0.5);
+ Servo2.pulsewidth_us(1711);
+ wait (0.5);
+ Servo1.pulsewidth_us(1412);
+ wait (0.5);
+ Servo7.pulsewidth_us(1025);
+ wait (0.5);
+ Servo8.pulsewidth_us(1319);
+ wait (0.5);
+ Servo7.pulsewidth_us(1417);
+ wait (0.5);
+ Servo2.pulsewidth_us(1515);
+ Servo8.pulsewidth_us(1515);
+ wait (0.5);
+ Servo3.pulsewidth_us(1221);
+ wait (0.5);
+ Servo4.pulsewidth_us(1025);
+ wait (0.5);
+ Servo3.pulsewidth_us(1613);
+ wait (0.5);
+ Servo5.pulsewidth_us(731);
+ wait (0.5);
+ Servo6.pulsewidth_us(1613);
+ wait (0.5);
+ Servo5.pulsewidth_us(1025);
+ wait (0.5);
+ Servo4.pulsewidth_us(1417);
+ Servo6.pulsewidth_us(1417);
+ wait (0.5);
+ }
else{
- RutVerde();
- color=verde;
+
+ if ((rojo>10)&(rojo<24) & (azul>25)&(azul<36) & (verde>23)&(verde<34)){
+ Transmi.printf("verde. \n");
+ Servo1.pulsewidth_us(700);
+ wait (1);
+ Servo3.pulsewidth_us(700);
+ wait (1);
+ Servo5.pulsewidth_us(700);
+ wait (1);
+ Servo7.pulsewidth_us(700);
+ wait (1);
+ Servo3.pulsewidth_us(700);
+ wait (1);
+ Servo1.pulsewidth_us(1500);
+ wait (1);
+ Servo3.pulsewidth_us(1500);
+ wait (1);
+ Servo5.pulsewidth_us(1500);
+ wait (1);
+ Servo7.pulsewidth_us(1500);
+ wait (1);
+
+
+ }
+ else{
+ Transmi.printf("color no valido. \n");}
}
}
}
@@ -400,61 +493,105 @@
tiempo.reset();
return(tme);
+}
+
+void Joy(){
- }
+
-int RutRojo(){
- MoverConjunto(1,0x1A);
- MoverConjunto(3,0x1A);
- wait (2);
-
- MoverConjunto(2,0xDD);
- MoverConjunto(4,0xDD);
- wait (2);
-
- MoverConjunto(1,0xDD);
- MoverConjunto(3,0xDD);
- wait (2);
-
- MoverConjunto(2,0x1A);
- MoverConjunto(4,0x1A);
- wait (2);
- }
-
-int RutAzul(){
-
- MoverConjunto(1,0x1A);
- MoverConjunto(3,0x1A);
- wait (2);
+ float medir_r;
+ float medir_v;
+
- MoverConjunto(2,0x1A);
- MoverConjunto(4,0x1A);
- wait (2);
-
- MoverConjunto(1,0xDD);
- MoverConjunto(3,0xDD);
- wait (2);
-
- MoverConjunto(2,0xDD);
- MoverConjunto(4,0xDD);
- wait (2);
- }
+ printf("MANDO\n");
+
+ while(funcion==4) {
+
+ medir_r = analog_1.read(); // Lee el valor de entrada analógica (valor de 0.0 a 1.0 = rango de conversión de ADC completo)
+
+ medir_v = medir_r * 3300; // Convierte valor en el rango 0V-3.3V.
+
+
+ // Display values
+ // printf("medida = %f = %.0f mV\n", medir_r, medir_v);
+
+
+// El LED está encendido si el valor está por debajo de 1 V
+ if (medir_v < 1000) {
+
+ Servo1.pulsewidth_us(1025);
+ Servo2.pulsewidth_us(1319);
+ wait (0.5);
+ Servo1.pulsewidth_us(1412);
+ wait (0.5);
+
+ Servo7.pulsewidth_us(1025);
+ Servo8.pulsewidth_us(1809);
+ wait (0.5);
+ Servo7.pulsewidth_us(1417);
+ wait (0.5);
+
+ Servo2.pulsewidth_us(1515);
+ Servo8.pulsewidth_us(1515);
+ wait (0.5);
+ Servo3.pulsewidth_us(1221);
+ Servo4.pulsewidth_us(1613);
+ wait (0.5);
+ Servo3.pulsewidth_us(1613);
+ wait (0.5);
+
+ Servo5.pulsewidth_us(731);
+ Servo6.pulsewidth_us(1025);
+ wait (0.5);
+ Servo5.pulsewidth_us(1025);
+ wait (0.5);
+
+ Servo4.pulsewidth_us(1417);
+ Servo6.pulsewidth_us(1417);
+ wait (0.5);
+
+
+
+ // LED ON
+
+ } else {
+ if (medir_v > 2000){
+ wait (0.5);
+ Servo2.pulsewidth_us(1711);
+ wait (0.5);
+ Servo1.pulsewidth_us(1412);
+ wait (0.5);
+ Servo7.pulsewidth_us(1025);
+ wait (0.5);
+ Servo8.pulsewidth_us(1319);
+ wait (0.5);
+ Servo7.pulsewidth_us(1417);
+ wait (0.5);
+ Servo2.pulsewidth_us(1515);
+ Servo8.pulsewidth_us(1515);
+ wait (0.5);
+ Servo3.pulsewidth_us(1221);
+ wait (0.5);
+ Servo4.pulsewidth_us(1025);
+ wait (0.5);
+ Servo3.pulsewidth_us(1613);
+ wait (0.5);
+ Servo5.pulsewidth_us(731);
+ wait (0.5);
+ Servo6.pulsewidth_us(1613);
+ wait (0.5);
+ Servo5.pulsewidth_us(1025);
+ wait (0.5);
+ Servo4.pulsewidth_us(1417);
+ Servo6.pulsewidth_us(1417);
+ wait (0.5);
+
+ }
-int RutVerde(){
- MoverConjunto(1,0x1A);
- MoverConjunto(3,0xDD);
- wait (2);
-
- MoverConjunto(2,0xDD);
- MoverConjunto(4,0x1A);
- wait (2);
-
- MoverConjunto(1,0x1A);
- MoverConjunto(3,0xDD);
- wait (2);
-
- MoverConjunto(2,0xDD);
- MoverConjunto(4,0x1A);
- wait (2);
- }
\ No newline at end of file
+ wait (1.0);
+ }
+ }
+ }
+
+
\ No newline at end of file