sebastian martinez
/
01-04_Primer_Avance
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Fork of
01-04EntregaPrimerCorte
by 
ferney alberto beltran molina
Diff: mover.cpp
- Revision:
- 4:ba51736778e1
- Parent:
- 3:60722da62531
--- a/mover.cpp Fri Sep 07 03:42:26 2018 +0000
+++ b/mover.cpp Fri Sep 07 23:58:14 2018 +0000
@@ -40,7 +40,9 @@
void mover_ser(uint8_t motor, uint8_t pos){
int pulseX = coord2us(pos);
-
+ //int pulseX = 900;
+ //int pulseY = 1500;
+ // myServo1.pulsewidth_us(pulseX);
switch ( motor ) {
case 0x01:
@@ -72,7 +74,127 @@
}
}
-
+void mover_par(uint8_t pares, uint8_t dir){
+
+ switch ( pares ) {
+
+ case 0x01:
+ if(dir==0x01){
+ Servo1.pulsewidth_us(ARRIBA);
+ wait(0.5);
+ Servo2.pulsewidth_us(ADELANTE);
+ wait(0.5);
+ Servo1.pulsewidth_us(ABAJO);
+ wait(0.5);
+ Servo2.pulsewidth_us(ATRAS);
+ wait(0.5);
+ }else{
+ Servo1.pulsewidth_us(ARRIBA);
+ wait(0.5);
+ Servo2.pulsewidth_us(ATRAS);
+ wait(0.5);
+ Servo1.pulsewidth_us(ABAJO);
+ wait(0.5);
+ Servo2.pulsewidth_us(ADELANTE);
+ wait(0.5);
+ }
+ break;
+ case 0x02:
+ if(dir==0x01){
+ Servo1.pulsewidth_us(ARRIBA);
+ wait(0.5);
+ Servo2.pulsewidth_us(ADELANTE);
+ wait(0.5);
+ Servo1.pulsewidth_us(ABAJO);
+ wait(0.5);
+ Servo2.pulsewidth_us(ATRAS);
+ wait(0.5);
+ }else{
+ Servo1.pulsewidth_us(ARRIBA);
+ wait(0.5);
+ Servo2.pulsewidth_us(ATRAS);
+ wait(0.5);
+ Servo1.pulsewidth_us(ABAJO);
+ wait(0.5);
+ Servo2.pulsewidth_us(ADELANTE);
+ wait(0.5);
+ }
+ break;
+ case 0x03:
+ if(dir==0x01){
+ Servo1.pulsewidth_us(ARRIBA);
+ wait(0.5);
+ Servo2.pulsewidth_us(ADELANTE);
+ wait(0.5);
+ Servo1.pulsewidth_us(ABAJO);
+ wait(0.5);
+ Servo2.pulsewidth_us(ATRAS);
+ wait(0.5);
+ }else{
+ Servo1.pulsewidth_us(ARRIBA);
+ wait(0.5);
+ Servo2.pulsewidth_us(ATRAS);
+ wait(0.5);
+ Servo1.pulsewidth_us(ABAJO);
+ wait(0.5);
+ Servo2.pulsewidth_us(ADELANTE);
+ wait(0.5);
+ }
+ break;
+ case 0x04:
+ if(dir==0x01){
+ Servo1.pulsewidth_us(ARRIBA);
+ wait(0.5);
+ Servo2.pulsewidth_us(ADELANTE);
+ wait(0.5);
+ Servo1.pulsewidth_us(ABAJO);
+ wait(0.5);
+ Servo2.pulsewidth_us(ATRAS);
+ wait(0.5);
+ }else{
+ Servo1.pulsewidth_us(ARRIBA);
+ wait(0.5);
+ Servo2.pulsewidth_us(ATRAS);
+ wait(0.5);
+ Servo1.pulsewidth_us(ABAJO);
+ wait(0.5);
+ Servo2.pulsewidth_us(ADELANTE);
+ wait(0.5);
+ }
+ break;
+ default: break;
+}
+ }
+void centro(uint8_t pos_p){
+switch ( pos_p ) {
+
+ case 0x01:
+ Servo1.pulsewidth_us(CENTRO);
+ wait(1);
+ Servo2.pulsewidth_us(CENTRO);
+ wait(1);
+ break;
+ case 0x02:
+ Servo3.pulsewidth_us(CENTRO);
+ wait(1);
+ Servo4.pulsewidth_us(CENTRO);
+ wait(1);
+ break;
+ case 0x03:
+ Servo5.pulsewidth_us(CENTRO);
+ wait(1);
+ Servo6.pulsewidth_us(CENTRO);
+ wait(1);
+ break;
+ case 0x04:
+ Servo7.pulsewidth_us(CENTRO);
+ wait(1);
+ Servo8.pulsewidth_us(CENTRO);
+ wait(1);
+ break;
+ default: break;
+}
+ }
void init_servo()
{
Servo1.period_ms(20);