Diff: main.cpp

Revision:

0:b9f21a1a1fac

diff -r 000000000000 -r b9f21a1a1fac main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Oct 26 06:28:16 2020 +0000
@@ -0,0 +1,148 @@
+#include "string"
+#include "mbed.h"
+#include "sstream"
+Serial pc(USBTX,USBRX);
+DigitalIn pulso(PTC5);
+DigitalOut right(PTC7);
+DigitalOut left(PTC0);
+int rea,ns;
+string cadena;
+using namespace std;
+void velocidad(int a,float ad);
+PwmOut l1(PTB3),l2(PTC2);
+int selec;
+float cambio;
+float rpm;
+int i=0;
+int f=0;
+int m=0;
+
+//using namespace boost;
+float h;
+
+int main(){
+    
+    while(1){
+        if(pc.readable()){
+        cadena=pc.getc();
+        }
+        if(cadena=="0"){
+            h=0.0;
+            pc.printf("  pwm al 0 %.2f",h);
+            }
+       if (cadena=="1"){
+           
+            h=0.1;
+             pc.printf("   pwm al 10 %.2f",h);
+            }
+        if (cadena=="2"){
+            h=0.2;
+             pc.printf("    pwm al 20 %.2f",h);
+            }
+        if (cadena=="3"){
+            h=0.3;
+             pc.printf("    pwm al 30 %.2f",h);
+            }
+        if (cadena=="4"){
+            h=0.4;
+            //if(m!=2){
+          //  m=1;
+            //}
+             pc.printf("    pwm al 40 %.2f",h);
+            //if(m==0){
+                for(int j=0;j<=5;j++){
+                    if(pulso==1){
+                        i=i+1;
+                        
+                        
+                        }
+                        if(j==5){
+                            rpm=((i*60)/5)/6;
+                        }
+                 }
+               i=0;
+                     
+            }
+        if (cadena=="5"){
+            h=0.5;
+             pc.printf("    pwm al 50 %.2f",h);
+            }
+        if (cadena=="6"){
+            h=0.6;
+             pc.printf("    pwm al 60 %.2f",h);
+            }
+        if (cadena=="7"){
+            h=0.7;
+             pc.printf("    pwm al 70 %.2f",h);
+            }
+        if (cadena=="8"){
+            h=0.8;
+             pc.printf("    pwm al 80 %.2f",h);
+            }
+        if (cadena=="9"){
+            h=0.9;
+             pc.printf("   pwm al 90 %.2f",h);
+            }
+        if (cadena=="10"){
+            h=1;
+             pc.printf("    pwm al 100 %.2f",h);
+            }
+            if(cadena=="d"){
+                selec=1;
+                pc.printf("   derecha");
+            }
+            if(cadena=="i"){
+                selec=2;
+                pc.printf("   izquierda");
+                }
+                if(cadena=="n"){
+                selec=0;
+                pc.printf("  sin sentido");
+                }
+        wait(0.5);
+           // selec=1;
+          cambio=h;
+          
+        velocidad(selec,cambio);
+        /*if(
+        if(pulso==1){
+            i=i+1;
+            wait(0.2);
+            }*/
+            
+        /*if(i>=6){
+            f=f+1;
+            i=0;
+            }*/
+            //rpm=(6.2831*f)*(60/6.2831);
+            pc.printf("rpm=  %.2f",rpm);
+        //h=rea-50000;
+       // pc.printf("%s",);
+       // std::string Convert(float rea);
+        //cadena=float.toString("%f",rea);
+        //pc.printf("%s",cadena);
+        }
+      
+}
+
+void velocidad(int a,float ad){
+    switch (a){
+        case 0:
+            l1=0;
+            l2=0;
+            break;
+        case 1:
+            l1.write(ad);
+            l2=0;
+            break;
+        case 2:
+            l2.write(ad);
+            l1=0;
+            break;
+        
+  }  
+  
+  
+        
+}
+