Revision 5:9d27f2f6b1dc, committed 2018-09-04

Comitter:

andrescas

Date:

Tue Sep 04 01:34:37 2018 +0000

Parent:

4:29a8b1df7fe2

Commit message:

servos

Changed in this revision

--- a/01-01Solucionfuncionservo.lib	Wed Mar 07 00:43:55 2018 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-https://os.mbed.com/users/fabeltranm/code/01-01SolucionFuncionXY/#fe8e265eaf6e

--- a/main.cpp	Wed Mar 07 00:43:55 2018 +0000
+++ b/main.cpp	Tue Sep 04 01:34:37 2018 +0000
@@ -1,63 +1,105 @@
 #include "mbed.h"
-#define MAXPOS 50       // en milimetros
+#define MAXPOS 180       // en milimetros
 #define SS_TIME 100     // en microsegundos
 #define POSDRAW 10      
 
-PwmOut myServoX(PB_3);
-PwmOut myServoY(PB_4);
-PwmOut myServoZ(PB_5);
-
+PwmOut myServo1(PB_3);
+PwmOut myServo2(PB_4);
+PwmOut myServo3(PB_5);
+PwmOut myServo4(PB_8);
+PwmOut myServo5(PB_8);
+PwmOut myServo6(PA_5);
+PwmOut myServo7(PA_6);
+PwmOut myServo8(PA_7);
 
 int coord2us(float coord)
 {
     if(0 <= coord <= MAXPOS)
-        return int(750+coord*1900/50);// u6
+        return int(750+coord*1900/180);// u6
     return 750;
 
 }
-
-void draw()
-{
-myServoZ.pulsewidth_us(POSDRAW);
-wait(1);
+void mov1(float A){
+    int pulseA = coord2us(A);      
+    myServo1.pulsewidth_us(pulseA);
+    wait_ms(SS_TIME);
+}
+void mov2(float b){
+    int pulseb = coord2us(b);      
+    myServo2.pulsewidth_us(pulseb);
+    wait_ms(SS_TIME);
 }
-void nodraw()
-{
-myServoZ.pulsewidth_us(MAXPOS);
-wait(1);
+void mov3(float c){
+    int pulsec = coord2us(c);      
+    myServo3.pulsewidth_us(pulsec);
+    wait_ms(SS_TIME);
+}
+void mov4(float d){
+    int pulsed = coord2us(d);      
+    myServo4.pulsewidth_us(pulsed);
+    wait_ms(SS_TIME);
 }
-void vertex2d(float x, float y){
-
-    int pulseX = coord2us(x);
-    int pulseY = coord2us(y);
-    
-    myServoX.pulsewidth_us(pulseX);
-    myServoY.pulsewidth_us(pulseY);
+void mov5(float e){
+    int pulsee = coord2us(e);      
+    myServo5.pulsewidth_us(pulsee);
+    wait_ms(SS_TIME);
+}
+void mov6(float f){
+    int pulsef = coord2us(f);      
+    myServo6.pulsewidth_us(pulsef);
     wait_ms(SS_TIME);
-
+}
+void mov7(float g){
+    int pulseg = coord2us(g);      
+    myServo7.pulsewidth_us(pulseg);
+    wait_ms(SS_TIME);
 }
-
-
+void mov8(float h){
+    int pulseh = coord2us(h);      
+    myServo8.pulsewidth_us(pulseh);
+    wait_ms(SS_TIME);
+}
 
 int main() {
      // configuracion de  periodo
-    myServoX.period_ms(20);
-    myServoY.period_ms(20);
-    myServoZ.period_ms(20);
-    int posx=0;
-    int posy=0;
-    draw();
+    myServo1.period_ms(20);
+    myServo2.period_ms(20);
+    myServo3.period_ms(20);
+    myServo4.period_ms(20);
+    myServo5.period_ms(20);
+    myServo6.period_ms(20);
+    myServo7.period_ms(20);
+    myServo8.period_ms(20);
+    int pos=0;
+    int servmot=0;   
     while(1)
-    {
+    {   //definir servo luego posicion
+        servmot=1;
+        pos=50;
         wait(2);
-        vertex2d(posx,posy);
-        posx+=10;
-        if (posx>50){
-            posx=0;
-            nodraw();
-        }
-        posy=posy;
+        if (servmot=1){
+        mov1(pos);}
+        
+        if (servmot=2){
+        mov2(pos);}
+        
+        if (servmot=3){
+        mov3(pos);}
+        
+        if (servmot=4){
+        mov4(pos);}
+        
+        if (servmot=5){
+        mov5(pos);}
+        
+        if (servmot=6){
+        mov6(pos);}
+        
+        if (servmot=7){
+        mov7(pos);}
+        
+        if (servmot=8){
+        mov8(pos);}
      }
 
-}
-
+}
\ No newline at end of file