H BRIDGE PARA MOTORES DC KL64Z
Dependencies: Motor mbed Servo
main.cpp@2:d10dff926d9a, 2014-07-28 (annotated)
- Committer:
- mderrant
- Date:
- Mon Jul 28 23:17:54 2014 +0000
- Revision:
- 2:d10dff926d9a
- Parent:
- 1:6ee374b19aaf
- Child:
- 3:858e483420a8
motores dc y sensor cy70
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 | 0:5f1b331ca523 | 3 | |
mderrant | 1:6ee374b19aaf | 4 | Motor motor1(PTA1, PTA2, PTD3); // pwm, fwd, rev |
mderrant | 1:6ee374b19aaf | 5 | Motor motor2(PTA12,PTA4,PTA5); |
mderrant | 1:6ee374b19aaf | 6 | |
mderrant | 2:d10dff926d9a | 7 | AnalogIn sensorizq(PTB0); |
mderrant | 2:d10dff926d9a | 8 | AnalogIn sensorder(PTB2); |
mderrant | 2:d10dff926d9a | 9 | AnalogIn sensorcentro(PTB1); |
mderrant | 2:d10dff926d9a | 10 | |
mderrant | 2:d10dff926d9a | 11 | PwmOut anout(LED_RED),anout2(LED_GREEN); |
mderrant | 2:d10dff926d9a | 12 | |
mderrant | 2:d10dff926d9a | 13 | |
mderrant | 2:d10dff926d9a | 14 | float valorizq,valorder,valorcentro; |
mderrant | 0:5f1b331ca523 | 15 | |
mderrant | 1:6ee374b19aaf | 16 | int main() |
mderrant | 1:6ee374b19aaf | 17 | { |
mderrant | 1:6ee374b19aaf | 18 | while(1) |
mderrant | 1:6ee374b19aaf | 19 | { |
mderrant | 2:d10dff926d9a | 20 | /* for (float s= -1.0; s < 1.0 ; s += 0.01) { |
mderrant | 1:6ee374b19aaf | 21 | motor1.speed(s); |
mderrant | 1:6ee374b19aaf | 22 | motor2.speed(s); |
mderrant | 0:5f1b331ca523 | 23 | wait(0.02); |
mderrant | 0:5f1b331ca523 | 24 | } |
mderrant | 2:d10dff926d9a | 25 | for (float s= 1.0; s >-1.0 ; s = s-0.01) { |
mderrant | 1:6ee374b19aaf | 26 | motor1.speed(s); |
mderrant | 1:6ee374b19aaf | 27 | motor2.speed(s); |
mderrant | 1:6ee374b19aaf | 28 | wait(0.02); |
mderrant | 1:6ee374b19aaf | 29 | } |
mderrant | 2:d10dff926d9a | 30 | |
mderrant | 2:d10dff926d9a | 31 | */ |
mderrant | 2:d10dff926d9a | 32 | valorder = 1.0-sensorder; |
mderrant | 2:d10dff926d9a | 33 | valorizq = 1.0-sensorizq; |
mderrant | 2:d10dff926d9a | 34 | valorcentro = 1.0-sensorcentro; |
mderrant | 2:d10dff926d9a | 35 | |
mderrant | 2:d10dff926d9a | 36 | motor1.speed(valorizq/10); |
mderrant | 2:d10dff926d9a | 37 | motor2.speed(valorder/10); |
mderrant | 2:d10dff926d9a | 38 | |
mderrant | 2:d10dff926d9a | 39 | |
mderrant | 2:d10dff926d9a | 40 | anout = valorizq/200; |
mderrant | 2:d10dff926d9a | 41 | anout2 = valorder/200; |
mderrant | 2:d10dff926d9a | 42 | // wait(3.0); |
mderrant | 2:d10dff926d9a | 43 | // printf("%u \r",sensorizq.read_u16()); |
mderrant | 1:6ee374b19aaf | 44 | |
mderrant | 1:6ee374b19aaf | 45 | } |
mderrant | 0:5f1b331ca523 | 46 | } |