ferney alberto beltran molina / Mbed 2 deprecated 00_LAB_COMMAND_SERVO

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Dependencies:   mbed

Files at this revision

API Documentation at this revision

Revision 6:24f37d9e0c57, committed 2019-02-25

Comitter:
fabeltranm
Date:
Mon Feb 25 13:38:05 2019 +0000
Parent:
5:115f329c72ab
Commit message:
solucin con un motor

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Mon Feb 25 12:31:53 2019 +0000
+++ b/main.cpp	Mon Feb 25 13:38:05 2019 +0000
@@ -8,7 +8,7 @@
 |   INITCMD  |   N_motor  |   N_grados  |
 |     0xff   | 0x01- 0x04 | 0x00 - 0xb4 |
 
-para enviar los comandos usar el programa Coolterm
+para enviar los comandos usar el programa Coolterm http://freeware.the-meiers.org/
 
 # para el servo motor se debe modificar el ciclo util del PWM SEGUN:
 #     ________              ________
@@ -26,7 +26,7 @@
 
 Serial command(USBTX, USBRX);
 PwmOut myservo1(PB_4);
-/*INGRESE L A CONFIGURACION DE LOS MOTORES*/
+/*INGRESE LA CONFIGURACION DE LOS MOTORES*/
 
 #define INITCMD 0xFF
 #define DEGREES_MAX 180
@@ -42,7 +42,7 @@
 void setup_servo();
 
 void mover_servo(uint8_t motor, uint8_t gradss);
-uint32_t degrees2usec(uint8_t grados){
+uint32_t degrees2usec(uint8_t grados);
 
 void leer_datos();
 
@@ -67,7 +67,7 @@
 
 void setup_servo(){
     myservo1.period_ms(20);
-    myservo1.pulsewidth_us(1000);
+    myservo1.pulsewidth_us(2000);
 }
 
 void leer_datos(){
@@ -78,7 +78,16 @@
 }
 
 
+uint32_t degrees2usec(uint8_t grados){
+// Retorna el valor en microsegundos, donde
+//      y − y1 = m(x − x1 )
+//      y=  b + mx
 
+    if(grados <= DEGREES_MAX)
+        return int(750+grados*1900/180);// u6
+    return 750;
+    
+}
 
 void mover_servo(uint8_t motor, uint8_t grados){
 
@@ -88,17 +97,10 @@
    tip: deben pasar  grados a microsegundo */
 
 
-//      dpulse=degrees2usec(grados);
-//       myservo1.pulsewidth_us(dpulse);
+    dpulse=degrees2usec(grados);
+    if (motor==1)
+         myservo1.pulsewidth_us(dpulse);
 
 }
 
 
-uint32_t degrees2usec(uint8_t grados){
-// Retorno el valor en usegundos, donde
-//     y − y1 = m(x − x1 )
-    if(grados <= DEGREES_MAX)
-        return int(750+grados*1900/180);// u6
-    return 750;
-    
-}
\ No newline at end of file