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init
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Revision 9:238780dda8af, committed 2018-05-17
- Comitter:
- glintligo
- Date:
- Thu May 17 08:29:35 2018 +0000
- Parent:
- 8:d5e340a59c71
- Commit message:
- fasdf;
Changed in this revision
main.cpp | Show annotated file Show diff for this revision Revisions of this file |
diff -r d5e340a59c71 -r 238780dda8af main.cpp --- a/main.cpp Mon Mar 19 03:32:21 2018 +0000 +++ b/main.cpp Thu May 17 08:29:35 2018 +0000 @@ -14,11 +14,25 @@ DigitalIn ref(PA_12); DigitalOut LED(PC_13); + +// PA_6 P3 从下往上第二个舵机 1ms 往后倒90度 1.5ms 往后倒45度 2ms 笔直 +// PB_1 P6 从下往上第四个舵机 2ms 张开 1.5ms 中间 1ms 完全合上 +// PA_7 P4 从下往上第一个舵机 1.5ms 从正前方看往右偏45度 1ms 正中间 2ms 右偏度 +// PB_0 P5 从下往上第三个舵机 1.5 中间 1 往后45度 2 往前45 + + +PwmOut mypwm1(PA_7); +PwmOut mypwm2(PA_6); +PwmOut mypwm3(PB_0); +PwmOut mypwm4(PB_1); + + + int main(void) { ser2usb.printf("starting\r\n"); // 选定与 esp8266 相连接的串口,WiFi 名称和密码 - Esp8266 client(PA_9, PA_10, "iot_b827eb91bf24", "b827ebc4ea71");// 参数分别为 TX pin / RX pin / SSID / Password + Esp8266 client(PA_9, PA_10, "iot_b827ebd838be", "ab087c9e");// 参数分别为 TX pin / RX pin / SSID / Password //声明所有的传感器,每行一个,每个由名字、单位两部分组成,最后一行必须为空指针作为结尾 const char* sensors[][2] = { @@ -51,8 +65,38 @@ ser2usb.printf("Received CMD %s %s\r\n", actuator_name, control_value); //判断哪个执行器收到命令 if(strcmp(actuator_name, "led")==0){ - LED = atoi(control_value); - } + mypwm1.period_ms(20); + mypwm2.period_ms(20); + mypwm3.period_ms(20); + mypwm4.period_ms(20); + + + mypwm1.pulsewidth(0.001); + wait(0.5); + mypwm1.pulsewidth(0.0015); + wait(0.5); + mypwm1.pulsewidth(0.002); + wait(0.5); + mypwm1.pulsewidth(0.0015); + wait(0.5); + mypwm1.pulsewidth(0.001); + wait(0.5); + + mypwm3.pulsewidth(0.001); + wait(0.5); + mypwm3.pulsewidth(0.0015); + wait(0.5); + + mypwm4.pulsewidth(0.001); + wait(0.5); + mypwm4.pulsewidth(0.0015); + wait(0.5); + mypwm4.pulsewidth(0.002); + wait(0.5); + + mypwm3.pulsewidth(0.0015); + wait(0.5); + } } bool reflection = ref;