Diff: mover.cpp

Revision:

2:0b07d055833d

Parent:

1:526bdd5faa37

Child:

3:83d8f67303b8

diff -r 526bdd5faa37 -r 0b07d055833d mover.cpp
--- a/mover.cpp	Tue Sep 04 02:15:49 2018 +0000
+++ b/mover.cpp	Fri Sep 07 01:38:18 2018 +0000
@@ -7,6 +7,11 @@
 PwmOut myServo1(PB_3);
 PwmOut myServo2(PB_4);
 PwmOut myServo3(PB_5);
+PwmOut myServo4(PB_8);
+PwmOut myServo5(PB_9);
+PwmOut myServo6(PA_5);
+PwmOut myServo7(PA_6);
+PwmOut myServo8(PA_7);
 
 
 uint8_t  ss_time=50;     // tiempo  de espera para moverse 1 mm en microsegundos
@@ -24,24 +29,40 @@
 
 }
 
-
- 
-
-
-void mover_ser(uint8_t motor, uint8_t pos){
+void mover_ser(uint8_t nmotor, uint8_t grados){// PWM O CON CASE O IF
 
-    int pulseX = coord2us(pos);
-    
-    myServo1.pulsewidth_us(pulseX);
- 
-
+    int pulsea = coord2us(grados);
+    int pulseb = coord2us(grados);
+    int pulsec = coord2us(grados);
+    int pulsed = coord2us(grados);
+    int pulsee = coord2us(grados);
+    int pulsef = coord2us(grados);
+    int pulseg = coord2us(grados);
+    int pulseh = coord2us(grados);
+        switch (nmotor) {
+            case  0x01: myServo1.pulsewidth_us(pulsea);break;
+            case  0x02: myServo2.pulsewidth_us(pulseb);break;   
+            case  0x03: myServo2.pulsewidth_us(pulsec);break;   
+            case  0x04: myServo2.pulsewidth_us(pulsed);break;   
+            case  0x05: myServo2.pulsewidth_us(pulsee);break;   
+            case  0x06: myServo2.pulsewidth_us(pulsef);break;   
+            case  0x07: myServo2.pulsewidth_us(pulseg);break;   
+            case  0x08: myServo2.pulsewidth_us(pulseh);break;
+            //default: debug_m("numero de motor no valido");break ;
+            
+               
+}
 }
 
 void init_servo()
 {
-   myServo1.period_ms(20);
-   myServo2.period_ms(20);
-   myServo3.period_ms(20);
-
-    
-}
\ No newline at end of file
+    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);
+   
+}