Diff: Simplifier/Shape.cpp

Revision:

0:041c1089b6e5

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Simplifier/Shape.cpp	Thu Mar 10 08:40:14 2022 +0000
@@ -0,0 +1,38 @@
+#define Pin1 PB_0  
+#define Pin2 PB_0  
+#define Pin_GPIO PB_0  
+//DigitalOut myled(LED1);
+#include "mbed.h"
+#include "Shape.h"
+
+PwmOut Drive_pin_A2(PA_8);  //steering servo PWM output pin D7
+PwmOut Drive_pin_B2(PA_9);  //Not Used
+PwmOut Drive_pin_C2(PB_10); //Motor drive PWM output pin D6
+PwmOut Drive_pin_D2(PB_4);  //Motor drive PWM output pin D5    
+
+int Turn_right3=2;
+int Turn_left3=0;
+int Speed13=10;              //Half power
+int Speed23=20;              //Full power
+int PW_Period3=20; 
+
+ void Shape::oval(){
+    Turn_left3 = 1775; // half turn left - end point
+    Turn_left3 = 1770;
+    wait_us(1);
+    Drive_pin_A2.pulsewidth_us(Turn_left3); 
+    Turn_left3 = 1775; 
+    wait_us(1);
+    Turn_left3 = 1625;
+    Drive_pin_A2.pulsewidth_us(Turn_left3); 
+    Turn_left3 = 1770;
+    wait_us(1);
+    Drive_pin_A2.pulsewidth_us(Turn_left3);  
+    Turn_left3 = 1775; 
+    wait_us(1);
+    Turn_left3 = 1625;
+    Drive_pin_A2.pulsewidth_us(Turn_left3); 
+    Turn_left3 = 1770;
+    wait_us(1);
+    Drive_pin_A2.pulsewidth_us(Turn_left3);
+}
\ No newline at end of file