mitsuo ozawa / Mbed 2 deprecated programa_carro

seguidor de linea

Dependencies:   mbed

main.cpp@0:3e68940a3405, 2014-12-03 (annotated)

Committer:
robert996
Date:
Wed Dec 03 23:35:13 2014 +0000
Revision:
0:3e68940a3405
carrito seguidor de linea;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
robert996 0:3e68940a3405 1 #include "mbed.h"
robert996 0:3e68940a3405 2 Serial pc (USBTX,USBRX);
robert996 0:3e68940a3405 3 DigitalOut myled1(LED1);
robert996 0:3e68940a3405 4 DigitalOut myled2(LED2);
robert996 0:3e68940a3405 5 DigitalOut myled3(LED3);
robert996 0:3e68940a3405 6 PwmOut motor1(PTD4); /* apagado - 0.0
robert996 0:3e68940a3405 7 prendido - 1.0 (porcentaje de potencia)*/
robert996 0:3e68940a3405 8 AnalogIn izquierda(PTB0);// 0 - 0 volts
robert996 0:3e68940a3405 9 AnalogIn derecha(PTB1); //1.0 - 3.3 volts
robert996 0:3e68940a3405 10
robert996 0:3e68940a3405 11 PwmOut servo(PTA1); //600 - izquierda
robert996 0:3e68940a3405 12 //1400 - recto
robert996 0:3e68940a3405 13 //2200 - derecha
robert996 0:3e68940a3405 14
robert996 0:3e68940a3405 15 int main(){
robert996 0:3e68940a3405 16 float foto1;
robert996 0:3e68940a3405 17 float foto2;
robert996 0:3e68940a3405 18 int ultima=0;
robert996 0:3e68940a3405 19 float rango_foto1= .15;
robert996 0:3e68940a3405 20 float rango_foto2=.2;
robert996 0:3e68940a3405 21 float sev=1400;
robert996 0:3e68940a3405 22 servo.period_ms(20);
robert996 0:3e68940a3405 23 float motor;
robert996 0:3e68940a3405 24 while(1){
robert996 0:3e68940a3405 25 motor=motor1;
robert996 0:3e68940a3405 26 foto1=izquierda;
robert996 0:3e68940a3405 27 foto2=derecha;
robert996 0:3e68940a3405 28 pc.printf("foto1 = %f\n\r",foto1 );
robert996 0:3e68940a3405 29 pc.printf("foto2 = %f\n\r", foto2);
robert996 0:3e68940a3405 30 pc.printf("motor = %f\n\r", motor);
robert996 0:3e68940a3405 31 pc.printf("servo = %f\n\r", sev);
robert996 0:3e68940a3405 32 if(foto1<rango_foto1 and foto2<rango_foto2 ){ //linea recta
robert996 0:3e68940a3405 33 motor1=.40;
robert996 0:3e68940a3405 34 pc.printf("recto \n\n");
robert996 0:3e68940a3405 35
robert996 0:3e68940a3405 36 }
robert996 0:3e68940a3405 37 else if(foto1>rango_foto1 and foto2<rango_foto2 ){//derecha
robert996 0:3e68940a3405 38 motor1=0.175;
robert996 0:3e68940a3405 39 if(sev<1900){
robert996 0:3e68940a3405 40 sev=sev+36;
robert996 0:3e68940a3405 41 }
robert996 0:3e68940a3405 42 else if (sev>=1900)
robert996 0:3e68940a3405 43 sev=1900;
robert996 0:3e68940a3405 44 servo.pulsewidth_us(sev);
robert996 0:3e68940a3405 45 ultima=1;
robert996 0:3e68940a3405 46 pc.printf("derecha \n");
robert996 0:3e68940a3405 47 }
robert996 0:3e68940a3405 48 else if(foto2>rango_foto2 and foto1<rango_foto1 ){//izquierda
robert996 0:3e68940a3405 49 motor1=0.175;
robert996 0:3e68940a3405 50 if(sev>900){
robert996 0:3e68940a3405 51 sev=sev-60;
robert996 0:3e68940a3405 52 }
robert996 0:3e68940a3405 53 else if (sev<=900)
robert996 0:3e68940a3405 54 sev=900;
robert996 0:3e68940a3405 55 servo.pulsewidth_us(sev);
robert996 0:3e68940a3405 56 ultima=2;
robert996 0:3e68940a3405 57 pc.printf("izquierda \n" );
robert996 0:3e68940a3405 58 }
robert996 0:3e68940a3405 59 else if(foto2>rango_foto2 and foto1>rango_foto1){
robert996 0:3e68940a3405 60 if(ultima==2){
robert996 0:3e68940a3405 61 if(sev>900)
robert996 0:3e68940a3405 62 sev=sev-70;
robert996 0:3e68940a3405 63 else if (sev<=900)
robert996 0:3e68940a3405 64 sev=900;
robert996 0:3e68940a3405 65 servo.pulsewidth_us(sev);}
robert996 0:3e68940a3405 66 else if(ultima==1){
robert996 0:3e68940a3405 67 if(sev<1900)
robert996 0:3e68940a3405 68 sev=sev+70;
robert996 0:3e68940a3405 69 else if (sev>=1900)
robert996 0:3e68940a3405 70 sev=1900;
robert996 0:3e68940a3405 71 servo.pulsewidth_us(sev);
robert996 0:3e68940a3405 72 }
robert996 0:3e68940a3405 73 wait(.0001);
robert996 0:3e68940a3405 74 }
robert996 0:3e68940a3405 75 }
robert996 0:3e68940a3405 76 }