Daniel Garcia / Mbed 2 deprecated telecomando1

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Dependencies:   mbed

Fork of 01-04EntregaPrimerCorte by ferney alberto beltran molina

mover.cpp@2:dc3183a4bdf4, 2018-09-30 (annotated)

Committer:
danielgarciag
Date:
Sun Sep 30 21:17:00 2018 +0000
Revision:
2:dc3183a4bdf4
Parent:
1:526bdd5faa37 
proyecto ara?a

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
danielgarciag 2:dc3183a4bdf4 12 uint8_t ss_time=180; // 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)
danielgarciag 2:dc3183a4bdf4 22 return int(750+coord*1900/180);// 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);
danielgarciag 2:dc3183a4bdf4 34 switch (motor){
danielgarciag 2:dc3183a4bdf4 35 case 0x01:
fabeltranm 1:526bdd5faa37 36 myServo1.pulsewidth_us(pulseX);
danielgarciag 2:dc3183a4bdf4 37 break;
danielgarciag 2:dc3183a4bdf4 38 case 0x02:
danielgarciag 2:dc3183a4bdf4 39 myServo2.pulsewidth_us(pulseX);
danielgarciag 2:dc3183a4bdf4 40 break;
danielgarciag 2:dc3183a4bdf4 41 }
fabeltranm 0:89b318e49395 42
fabeltranm 0:89b318e49395 43 }
fabeltranm 0:89b318e49395 44
fabeltranm 0:89b318e49395 45 void init_servo()
fabeltranm 0:89b318e49395 46 {
fabeltranm 1:526bdd5faa37 47 myServo1.period_ms(20);
fabeltranm 1:526bdd5faa37 48 myServo2.period_ms(20);
fabeltranm 1:526bdd5faa37 49 myServo3.period_ms(20);
danielgarciag 2:dc3183a4bdf4 50 myServo4.period_ms(20);
danielgarciag 2:dc3183a4bdf4 51 myServo5.period_ms(20);
danielgarciag 2:dc3183a4bdf4 52 myServo6.period_ms(20);
danielgarciag 2:dc3183a4bdf4 53 myServo7.period_ms(20);
danielgarciag 2:dc3183a4bdf4 54 myServo8.period_ms(20);
fabeltranm 0:89b318e49395 55 }