File content as of revision 0:22b33429aff5:

#include "mover.h"
#include "mbed.h"
#include "math.h"

PwmOut myServo1(PB_13);//DFA
PwmOut myServo2(PB_14);//DFB
PwmOut myServo3(PB_1);//DTA
PwmOut myServo4(PB_9);//DTB
PwmOut myServo5(PB_2);//IFA
PwmOut myServo6(PA_11);//IFB
PwmOut myServo7(PC_6);//ITA
PwmOut myServo8(PC_8);//ITB


  

uint8_t  ss_time= 255;     // tiempo  de espera para moverse 1 mm en microsegundos

void put_sstime(uint8_t vtime){
    ss_time=vtime;
    
}

int coord2us(float coord)
{
    if(0 <= coord <= MAXPOS)
        return int(750+coord*1900/180);// u6
    return 750;

}


 


void mover_ser(uint8_t motor, uint8_t pos){
     int pulseX = coord2us(pos);
     switch(motor){
         
    case 1:        
    
    myServo1.pulsewidth_us(pulseX) ; 
  
    
    break;
    
    case 2:        
    
    myServo2.pulsewidth_us(pulseX);
    
    break;
    
    case 3:        
    
    myServo3.pulsewidth_us(pulseX);
    
    break;
    
    case 4:        
    
    myServo4.pulsewidth_us(pulseX);
    
    break;
    
    case 5:        
    
    myServo5.pulsewidth_us(pulseX);
    
    break;
    
    case 6:  myServo6.pulsewidth_us(pulseX); break;
    
    case 7:        
    
    myServo7.pulsewidth_us(pulseX);
    
    break;
    
    case 8:        
    
    myServo8.pulsewidth_us(pulseX);
    
    break;
    }
         
     

}

void init_servo()
{
   myServo1.period_ms(20);
   myServo2.period_ms(20);
   myServo3.period_ms(20);
   myServo4.period_ms(20);
   myServo5.period_ms(20);
   myServo6.period_ms(20);
   myServo7.period_ms(20);
   myServo8.period_ms(20);

}
void mover_ser2(uint8_t nmotor, uint8_t pos){
     switch(nmotor){
    case 1:        
    if(pos==1){
    myServo1.pulsewidth_us(2650);
    }
    else if(pos==2){
    myServo1.pulsewidth_us(1500);
    }
    else if(pos==3){
    myServo2.pulsewidth_us(2650);
    }
    else if(pos==4){
    myServo2.pulsewidth_us(1600);
    }
    else{
        printf("comando fuera de las selecciones posibles");
        }
    
    
    break;
    
    case 2:        
    
    if(pos==1){
    myServo3.pulsewidth_us(2650);
    }
    else if(pos==2){
    myServo3.pulsewidth_us(908);
    }
    else if(pos==3){
    myServo4.pulsewidth_us(2650);
    }
    else if(pos==4){
    myServo4.pulsewidth_us(1600);
    }
    else{
        printf("comando fuera de las selecciones posibles");
        }
    
    
    break;
    
    case 3:        
    
   if(pos==1){
    myServo5.pulsewidth_us(2650);
    }
    else if(pos==2){
    myServo5.pulsewidth_us(1200);
    }
    else if(pos==3){
    myServo6.pulsewidth_us(908);
    }
    else if(pos==4){
    myServo6.pulsewidth_us(1600);
    }
    else{
        printf("comando fuera de las selecciones posibles");
        }
    
    
    break;
    
    case 4:        
    
    if(pos==1){
    myServo7.pulsewidth_us(2650);
    }
    else if(pos==2){
    myServo7.pulsewidth_us(908);
    }
    else if(pos==3){
    myServo8.pulsewidth_us(908);
    }
    else if(pos==4){
    myServo8.pulsewidth_us(1800);
    }
    else{
        printf("comando fuera de las selecciones posibles");
        }
    
    
    break;
    
    }
    }
     void mover_ser3(){
        myServo1.pulsewidth_us(600);
        myServo3.pulsewidth_us(2500);
        myServo5.pulsewidth_us(2500);
        myServo7.pulsewidth_us(700);
    

       
        myServo2.pulsewidth_us(1400);
        myServo4.pulsewidth_us(2400);
        myServo6.pulsewidth_us(1700);
        myServo8.pulsewidth_us(300);
        wait(1);
        myServo1.pulsewidth_us(1500);
        wait(1);        
        myServo2.pulsewidth_us(700);
        wait(1);  
        myServo1.pulsewidth_us(600);
        wait(1);
        myServo5.pulsewidth_us(1600);
        wait(1);
        myServo6.pulsewidth_us(2400);
        wait(1);
        myServo5.pulsewidth_us(2500);
        
        wait(1);
        myServo7.pulsewidth_us(1700);
        wait(1);
        myServo8.pulsewidth_us(1400);
        wait(1);
        myServo7.pulsewidth_us(700);
        
        wait(1);
        myServo3.pulsewidth_us(1600);
        wait(1);
        myServo4.pulsewidth_us(1700);
        wait(1);
        myServo3.pulsewidth_us(2500);
        wait(1);
        myServo2.pulsewidth_us(1400);
        myServo4.pulsewidth_us(2400);
        myServo6.pulsewidth_us(1700);
        myServo8.pulsewidth_us(300);
        
        wait(1);
     
       
   
               
        }