Andres Castañeda / Mbed 2 deprecated 01-01servos

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Dependencies:   mbed

Fork of 01-01SolucionFuncionXY by ferney alberto beltran molina

main.cpp@5:9d27f2f6b1dc, 2018-09-04 (annotated)

Committer:
andrescas
Date:
Tue Sep 04 01:34:37 2018 +0000
Revision:
5:9d27f2f6b1dc
Parent:
4:29a8b1df7fe2 
servos

Who changed what in which revision?

UserRevisionLine numberNew contents of line
fabeltranm 0:7ba873404776 1 #include "mbed.h"
andrescas 5:9d27f2f6b1dc 2 #define MAXPOS 180 // en milimetros
fabeltranm 0:7ba873404776 3 #define SS_TIME 100 // en microsegundos
fabeltranm 3:fe8e265eaf6e 4 #define POSDRAW 10
fabeltranm 0:7ba873404776 5
andrescas 5:9d27f2f6b1dc 6 PwmOut myServo1(PB_3);
andrescas 5:9d27f2f6b1dc 7 PwmOut myServo2(PB_4);
andrescas 5:9d27f2f6b1dc 8 PwmOut myServo3(PB_5);
andrescas 5:9d27f2f6b1dc 9 PwmOut myServo4(PB_8);
andrescas 5:9d27f2f6b1dc 10 PwmOut myServo5(PB_8);
andrescas 5:9d27f2f6b1dc 11 PwmOut myServo6(PA_5);
andrescas 5:9d27f2f6b1dc 12 PwmOut myServo7(PA_6);
andrescas 5:9d27f2f6b1dc 13 PwmOut myServo8(PA_7);
fabeltranm 0:7ba873404776 14
fabeltranm 3:fe8e265eaf6e 15 int coord2us(float coord)
fabeltranm 3:fe8e265eaf6e 16 {
fabeltranm 3:fe8e265eaf6e 17 if(0 <= coord <= MAXPOS)
andrescas 5:9d27f2f6b1dc 18 return int(750+coord*1900/180);// u6
fabeltranm 3:fe8e265eaf6e 19 return 750;
fabeltranm 3:fe8e265eaf6e 20
fabeltranm 3:fe8e265eaf6e 21 }
andrescas 5:9d27f2f6b1dc 22 void mov1(float A){
andrescas 5:9d27f2f6b1dc 23 int pulseA = coord2us(A);
andrescas 5:9d27f2f6b1dc 24 myServo1.pulsewidth_us(pulseA);
andrescas 5:9d27f2f6b1dc 25 wait_ms(SS_TIME);
andrescas 5:9d27f2f6b1dc 26 }
andrescas 5:9d27f2f6b1dc 27 void mov2(float b){
andrescas 5:9d27f2f6b1dc 28 int pulseb = coord2us(b);
andrescas 5:9d27f2f6b1dc 29 myServo2.pulsewidth_us(pulseb);
andrescas 5:9d27f2f6b1dc 30 wait_ms(SS_TIME);
fabeltranm 2:878cb2697ab1 31 }
andrescas 5:9d27f2f6b1dc 32 void mov3(float c){
andrescas 5:9d27f2f6b1dc 33 int pulsec = coord2us(c);
andrescas 5:9d27f2f6b1dc 34 myServo3.pulsewidth_us(pulsec);
andrescas 5:9d27f2f6b1dc 35 wait_ms(SS_TIME);
andrescas 5:9d27f2f6b1dc 36 }
andrescas 5:9d27f2f6b1dc 37 void mov4(float d){
andrescas 5:9d27f2f6b1dc 38 int pulsed = coord2us(d);
andrescas 5:9d27f2f6b1dc 39 myServo4.pulsewidth_us(pulsed);
andrescas 5:9d27f2f6b1dc 40 wait_ms(SS_TIME);
fabeltranm 2:878cb2697ab1 41 }
andrescas 5:9d27f2f6b1dc 42 void mov5(float e){
andrescas 5:9d27f2f6b1dc 43 int pulsee = coord2us(e);
andrescas 5:9d27f2f6b1dc 44 myServo5.pulsewidth_us(pulsee);
andrescas 5:9d27f2f6b1dc 45 wait_ms(SS_TIME);
andrescas 5:9d27f2f6b1dc 46 }
andrescas 5:9d27f2f6b1dc 47 void mov6(float f){
andrescas 5:9d27f2f6b1dc 48 int pulsef = coord2us(f);
andrescas 5:9d27f2f6b1dc 49 myServo6.pulsewidth_us(pulsef);
fabeltranm 0:7ba873404776 50 wait_ms(SS_TIME);
andrescas 5:9d27f2f6b1dc 51 }
andrescas 5:9d27f2f6b1dc 52 void mov7(float g){
andrescas 5:9d27f2f6b1dc 53 int pulseg = coord2us(g);
andrescas 5:9d27f2f6b1dc 54 myServo7.pulsewidth_us(pulseg);
andrescas 5:9d27f2f6b1dc 55 wait_ms(SS_TIME);
fabeltranm 0:7ba873404776 56 }
andrescas 5:9d27f2f6b1dc 57 void mov8(float h){
andrescas 5:9d27f2f6b1dc 58 int pulseh = coord2us(h);
andrescas 5:9d27f2f6b1dc 59 myServo8.pulsewidth_us(pulseh);
andrescas 5:9d27f2f6b1dc 60 wait_ms(SS_TIME);
andrescas 5:9d27f2f6b1dc 61 }
fabeltranm 3:fe8e265eaf6e 62
fabeltranm 0:7ba873404776 63 int main() {
fabeltranm 0:7ba873404776 64 // configuracion de periodo
andrescas 5:9d27f2f6b1dc 65 myServo1.period_ms(20);
andrescas 5:9d27f2f6b1dc 66 myServo2.period_ms(20);
andrescas 5:9d27f2f6b1dc 67 myServo3.period_ms(20);
andrescas 5:9d27f2f6b1dc 68 myServo4.period_ms(20);
andrescas 5:9d27f2f6b1dc 69 myServo5.period_ms(20);
andrescas 5:9d27f2f6b1dc 70 myServo6.period_ms(20);
andrescas 5:9d27f2f6b1dc 71 myServo7.period_ms(20);
andrescas 5:9d27f2f6b1dc 72 myServo8.period_ms(20);
andrescas 5:9d27f2f6b1dc 73 int pos=0;
andrescas 5:9d27f2f6b1dc 74 int servmot=0;
fabeltranm 0:7ba873404776 75 while(1)
andrescas 5:9d27f2f6b1dc 76 { //definir servo luego posicion
andrescas 5:9d27f2f6b1dc 77 servmot=1;
andrescas 5:9d27f2f6b1dc 78 pos=50;
fabeltranm 0:7ba873404776 79 wait(2);
andrescas 5:9d27f2f6b1dc 80 if (servmot=1){
andrescas 5:9d27f2f6b1dc 81 mov1(pos);}
andrescas 5:9d27f2f6b1dc 82
andrescas 5:9d27f2f6b1dc 83 if (servmot=2){
andrescas 5:9d27f2f6b1dc 84 mov2(pos);}
andrescas 5:9d27f2f6b1dc 85
andrescas 5:9d27f2f6b1dc 86 if (servmot=3){
andrescas 5:9d27f2f6b1dc 87 mov3(pos);}
andrescas 5:9d27f2f6b1dc 88
andrescas 5:9d27f2f6b1dc 89 if (servmot=4){
andrescas 5:9d27f2f6b1dc 90 mov4(pos);}
andrescas 5:9d27f2f6b1dc 91
andrescas 5:9d27f2f6b1dc 92 if (servmot=5){
andrescas 5:9d27f2f6b1dc 93 mov5(pos);}
andrescas 5:9d27f2f6b1dc 94
andrescas 5:9d27f2f6b1dc 95 if (servmot=6){
andrescas 5:9d27f2f6b1dc 96 mov6(pos);}
andrescas 5:9d27f2f6b1dc 97
andrescas 5:9d27f2f6b1dc 98 if (servmot=7){
andrescas 5:9d27f2f6b1dc 99 mov7(pos);}
andrescas 5:9d27f2f6b1dc 100
andrescas 5:9d27f2f6b1dc 101 if (servmot=8){
andrescas 5:9d27f2f6b1dc 102 mov8(pos);}
fabeltranm 0:7ba873404776 103 }
fabeltranm 0:7ba873404776 104
andrescas 5:9d27f2f6b1dc 105 }