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Dependencies:   mbed

Fork of 01-04EntregaPrimerCorte by ferney alberto beltran molina

mover.cpp@1:526bdd5faa37, 2018-09-04 (annotated)

Committer:
fabeltranm
Date:
Tue Sep 04 02:15:49 2018 +0000
Revision:
1:526bdd5faa37
Parent:
draw.cpp@0:89b318e49395
Child:
2:0b07d055833d
entrega 1  sin comprobar

Who changed what in which revision?

UserRevisionLine numberNew contents of line
fabeltranm 0:89b318e49395 1
fabeltranm 1:526bdd5faa37 2 #include "mover.h"
fabeltranm 0:89b318e49395 3 #include "mbed.h"
fabeltranm 0:89b318e49395 4 #include "math.h"
fabeltranm 0:89b318e49395 5
fabeltranm 0:89b318e49395 6
fabeltranm 1:526bdd5faa37 7 PwmOut myServo1(PB_3);
fabeltranm 1:526bdd5faa37 8 PwmOut myServo2(PB_4);
fabeltranm 1:526bdd5faa37 9 PwmOut myServo3(PB_5);
fabeltranm 0:89b318e49395 10
fabeltranm 1:526bdd5faa37 11
fabeltranm 0:89b318e49395 12 uint8_t ss_time=50; // tiempo de espera para moverse 1 mm en microsegundos
fabeltranm 0:89b318e49395 13
fabeltranm 0:89b318e49395 14 void put_sstime(uint8_t vtime){
fabeltranm 0:89b318e49395 15 ss_time=vtime;
fabeltranm 0:89b318e49395 16
fabeltranm 0:89b318e49395 17 }
fabeltranm 0:89b318e49395 18
fabeltranm 0:89b318e49395 19 int coord2us(float coord)
fabeltranm 0:89b318e49395 20 {
fabeltranm 0:89b318e49395 21 if(0 <= coord <= MAXPOS)
fabeltranm 0:89b318e49395 22 return int(750+coord*1900/50);// u6
fabeltranm 0:89b318e49395 23 return 750;
fabeltranm 0:89b318e49395 24
fabeltranm 0:89b318e49395 25 }
fabeltranm 0:89b318e49395 26
fabeltranm 1:526bdd5faa37 27
fabeltranm 0:89b318e49395 28
fabeltranm 0:89b318e49395 29
fabeltranm 0:89b318e49395 30
fabeltranm 1:526bdd5faa37 31 void mover_ser(uint8_t motor, uint8_t pos){
fabeltranm 0:89b318e49395 32
fabeltranm 1:526bdd5faa37 33 int pulseX = coord2us(pos);
fabeltranm 0:89b318e49395 34
fabeltranm 1:526bdd5faa37 35 myServo1.pulsewidth_us(pulseX);
fabeltranm 1:526bdd5faa37 36
fabeltranm 0:89b318e49395 37
fabeltranm 0:89b318e49395 38 }
fabeltranm 0:89b318e49395 39
fabeltranm 0:89b318e49395 40 void init_servo()
fabeltranm 0:89b318e49395 41 {
fabeltranm 1:526bdd5faa37 42 myServo1.period_ms(20);
fabeltranm 1:526bdd5faa37 43 myServo2.period_ms(20);
fabeltranm 1:526bdd5faa37 44 myServo3.period_ms(20);
fabeltranm 0:89b318e49395 45
fabeltranm 0:89b318e49395 46
fabeltranm 0:89b318e49395 47 }