Diff: mover.cpp

Revision:

1:526bdd5faa37

Parent:

0:89b318e49395

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mover.cpp	Tue Sep 04 02:15:49 2018 +0000
@@ -0,0 +1,47 @@
+
+#include "mover.h"
+#include "mbed.h"
+#include "math.h"
+
+
+PwmOut myServo1(PB_3);
+PwmOut myServo2(PB_4);
+PwmOut myServo3(PB_5);
+
+
+uint8_t  ss_time=50;     // tiempo  de espera para moverse 1 mm en microsegundos
+
+void put_sstime(uint8_t vtime){
+    ss_time=vtime;
+    
+}
+
+int coord2us(float coord)
+{
+    if(0 <= coord <= MAXPOS)
+        return int(750+coord*1900/50);// u6
+    return 750;
+
+}
+
+
+ 
+
+
+void mover_ser(uint8_t motor, uint8_t pos){
+
+    int pulseX = coord2us(pos);
+    
+    myServo1.pulsewidth_us(pulseX);
+ 
+
+}
+
+void init_servo()
+{
+   myServo1.period_ms(20);
+   myServo2.period_ms(20);
+   myServo3.period_ms(20);
+
+    
+}
\ No newline at end of file