Diff: mover.cpp

Revision:

2:3007b3c06d2c

Parent:

1:526bdd5faa37

Child:

6:8d7f6fe73ed1

--- a/mover.cpp	Tue Sep 04 02:15:49 2018 +0000
+++ b/mover.cpp	Tue Sep 11 01:27:25 2018 +0000
@@ -4,12 +4,18 @@
 #include "math.h"
 
 
-PwmOut myServo1(PB_3);
-PwmOut myServo2(PB_4);
+PwmOut myServo1(PA_10);
+PwmOut myServo2(PB_3);
 PwmOut myServo3(PB_5);
+PwmOut myServo4(PB_4);
+PwmOut myServo5(PB_10);
+PwmOut myServo6(PA_8);
+PwmOut myServo7(PA_9);
+PwmOut myServo8(PC_7);
 
 
-uint8_t  ss_time=50;     // tiempo  de espera para moverse 1 mm en microsegundos
+
+uint8_t  ss_time=180;     // tiempo  de espera para moverse 1 mm en microsegundos
 
 void put_sstime(uint8_t vtime){
     ss_time=vtime;
@@ -19,7 +25,7 @@
 int coord2us(float coord)
 {
     if(0 <= coord <= MAXPOS)
-        return int(750+coord*1900/50);// u6
+        return int(750+coord*1900/180);// u6
     return 750;
 
 }
@@ -32,16 +38,42 @@
 
     int pulseX = coord2us(pos);
     
-    myServo1.pulsewidth_us(pulseX);
- 
-
+    switch (motor)
+    {
+        case 0x01:  myServo1.pulsewidth_us(pulseX);
+                    break;
+                    
+        case 0x02:  myServo2.pulsewidth_us(pulseX);
+                    break;            
+    
+        case 0x03:  myServo3.pulsewidth_us(pulseX);
+                    break;
+                    
+        case 0x04:  myServo4.pulsewidth_us(pulseX);
+                    break;
+                    
+        case 0x05:  myServo5.pulsewidth_us(pulseX);
+                    break;
+                    
+        case 0x06:  myServo6.pulsewidth_us(pulseX);
+                    break;                    
+                    
+        case 0x07:  myServo7.pulsewidth_us(pulseX);
+                    break;
+                    
+        case 0x08:  myServo8.pulsewidth_us(pulseX);
+                    break;                    
+    }
 }
 
 void init_servo()
 {
-   myServo1.period_ms(20);
-   myServo2.period_ms(20);
-   myServo3.period_ms(20);
-
-    
+    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); 
 }
\ No newline at end of file