abrayan

Dependencies:   mbed

mover.cpp

Committer:
fabeltranm
Date:
10 months ago
Revision:
1:526bdd5faa37
Parent:
draw.cpp@ 0:89b318e49395
Child:
2:3007b3c06d2c

File content as of revision 1:526bdd5faa37:


#include "mover.h"
#include "mbed.h"
#include "math.h"


PwmOut myServo1(PB_3);
PwmOut myServo2(PB_4);
PwmOut myServo3(PB_5);


uint8_t  ss_time=50;     // tiempo  de espera para moverse 1 mm en microsegundos

void put_sstime(uint8_t vtime){
    ss_time=vtime;
    
}

int coord2us(float coord)
{
    if(0 <= coord <= MAXPOS)
        return int(750+coord*1900/50);// u6
    return 750;

}


 


void mover_ser(uint8_t motor, uint8_t pos){

    int pulseX = coord2us(pos);
    
    myServo1.pulsewidth_us(pulseX);
 

}

void init_servo()
{
   myServo1.period_ms(20);
   myServo2.period_ms(20);
   myServo3.period_ms(20);

    
}