Diff: main.cpp

Revision:

1:b473a0ad2b83

Parent:

0:a9181441db9b

Child:

2:fda902bed8c6

diff -r a9181441db9b -r b473a0ad2b83 main.cpp
--- a/main.cpp	Fri Feb 22 12:53:42 2019 +0000
+++ b/main.cpp	Fri Feb 22 13:10:24 2019 +0000
@@ -18,35 +18,55 @@
 
 
 
-// definicion de las variables globales 
+// definición de las variables globales 
 
 uint8_t nm;    // almacena el número de motor
 uint8_t ng;    // almacena los grados que se mueve el motor
 
 
 void setup_uart();
-void setup_motor();
-void mover_servo();
-
+void setup_servo();
+void mover_servo(uint8_t motor, uint8_t gradss);
+void leer_datos();
 
 int main() {
-    
+
+    setup_uart();
+    setup_servo();
+    while(1){    
+        leer_datos();
+        mover_servo(nm, ng);
+}    
+}
+
+
+
+void setup_uart(){
+    command.baud(115200);
+}
+
+void setup_servo(){
     myservo1.period_ms(20);
-    int cw=1;
-    int dpulse=1000;
-    myservo1.pulsewidth_us(dpulse);
+    myservo1.pulsewidth_us(1000);
+}
+
+void leer_datos(){
+    while(command.getc()!= 0xff);
+    nm=command.getc();
+    ng=command.getc();
     
-    while(1) {
+}
+
+
+
+void mover_servo(uint8_t motor, uint8_t grados){
+
+/*
+complementar el códogo necesarios
+tip: deben pasar  grados a microsegundo
+
+*/
+        uint32_t dpulse=0;
         myservo1.pulsewidth_us(dpulse);
-        wait(0.5);
-        if (cw){
-            dpulse+=100;
-            if (dpulse==2500)
-                cw=0;
-        }else{
-            dpulse-=100;
-            if (dpulse==100)
-             cw=1;
-        }
+
     }
-}