Daniel Garcia / Mbed 2 deprecated telecomando1

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Dependencies:   mbed

Fork of 01-04EntregaPrimerCorte by ferney alberto beltran molina

mover.cpp

Committer:
danielgarciag
Date:
2018-09-30
Revision:
2:dc3183a4bdf4
Parent:
1:526bdd5faa37

File content as of revision 2:dc3183a4bdf4:


#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=180;     // 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*1900/180);// u6
    return 750;

}


 


void mover_ser(uint8_t motor, uint8_t pos){

    int pulseX = coord2us(pos);
   switch (motor){
   case 0x01:
    myServo1.pulsewidth_us(pulseX);
    break;
    case 0x02:
    myServo2.pulsewidth_us(pulseX);
    break;
 }

}

void init_servo()
{
   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); 
}