H BRIDGE PARA MOTORES DC KL64Z
Dependencies: Motor mbed Servo
main.cpp@3:858e483420a8, 2014-07-30 (annotated)
- Committer:
- mderrant
- Date:
- Wed Jul 30 22:13:54 2014 +0000
- Revision:
- 3:858e483420a8
- Parent:
- 2:d10dff926d9a
MOTOR DC
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
mderrant | 0:5f1b331ca523 | 1 | #include "mbed.h" |
mderrant | 0:5f1b331ca523 | 2 | #include "Motor.h" |
mderrant | 3:858e483420a8 | 3 | #include "Servo.h" |
mderrant | 3:858e483420a8 | 4 | |
mderrant | 3:858e483420a8 | 5 | |
mderrant | 3:858e483420a8 | 6 | Servo s1(PTA13); |
mderrant | 0:5f1b331ca523 | 7 | |
mderrant | 1:6ee374b19aaf | 8 | Motor motor1(PTA1, PTA2, PTD3); // pwm, fwd, rev |
mderrant | 1:6ee374b19aaf | 9 | Motor motor2(PTA12,PTA4,PTA5); |
mderrant | 1:6ee374b19aaf | 10 | |
mderrant | 2:d10dff926d9a | 11 | AnalogIn sensorizq(PTB0); |
mderrant | 2:d10dff926d9a | 12 | AnalogIn sensorder(PTB2); |
mderrant | 2:d10dff926d9a | 13 | |
mderrant | 2:d10dff926d9a | 14 | PwmOut anout(LED_RED),anout2(LED_GREEN); |
mderrant | 2:d10dff926d9a | 15 | |
mderrant | 2:d10dff926d9a | 16 | |
mderrant | 3:858e483420a8 | 17 | float valorizq,valorder; |
mderrant | 0:5f1b331ca523 | 18 | |
mderrant | 1:6ee374b19aaf | 19 | int main() |
mderrant | 1:6ee374b19aaf | 20 | { |
mderrant | 1:6ee374b19aaf | 21 | while(1) |
mderrant | 1:6ee374b19aaf | 22 | { |
mderrant | 2:d10dff926d9a | 23 | /* for (float s= -1.0; s < 1.0 ; s += 0.01) { |
mderrant | 1:6ee374b19aaf | 24 | motor1.speed(s); |
mderrant | 1:6ee374b19aaf | 25 | motor2.speed(s); |
mderrant | 0:5f1b331ca523 | 26 | wait(0.02); |
mderrant | 0:5f1b331ca523 | 27 | } |
mderrant | 2:d10dff926d9a | 28 | for (float s= 1.0; s >-1.0 ; s = s-0.01) { |
mderrant | 1:6ee374b19aaf | 29 | motor1.speed(s); |
mderrant | 1:6ee374b19aaf | 30 | motor2.speed(s); |
mderrant | 1:6ee374b19aaf | 31 | wait(0.02); |
mderrant | 1:6ee374b19aaf | 32 | } |
mderrant | 2:d10dff926d9a | 33 | |
mderrant | 2:d10dff926d9a | 34 | */ |
mderrant | 2:d10dff926d9a | 35 | valorder = 1.0-sensorder; |
mderrant | 2:d10dff926d9a | 36 | valorizq = 1.0-sensorizq; |
mderrant | 2:d10dff926d9a | 37 | |
mderrant | 2:d10dff926d9a | 38 | motor1.speed(valorizq/10); |
mderrant | 2:d10dff926d9a | 39 | motor2.speed(valorder/10); |
mderrant | 3:858e483420a8 | 40 | |
mderrant | 3:858e483420a8 | 41 | s1 = sensorizq.read(); |
mderrant | 2:d10dff926d9a | 42 | |
mderrant | 2:d10dff926d9a | 43 | |
mderrant | 2:d10dff926d9a | 44 | anout = valorizq/200; |
mderrant | 2:d10dff926d9a | 45 | anout2 = valorder/200; |
mderrant | 3:858e483420a8 | 46 | |
mderrant | 3:858e483420a8 | 47 | |
mderrant | 2:d10dff926d9a | 48 | // wait(3.0); |
mderrant | 2:d10dff926d9a | 49 | // printf("%u \r",sensorizq.read_u16()); |
mderrant | 1:6ee374b19aaf | 50 | |
mderrant | 1:6ee374b19aaf | 51 | } |
mderrant | 0:5f1b331ca523 | 52 | } |