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Dependencies:   mbed

Fork of 01-04EntregaPrimerCorte by ferney alberto beltran molina

mover.cpp@2:10956b8ceffb, 2018-09-06 (annotated)

Committer:
sebasmartinez
Date:
Thu Sep 06 18:05:07 2018 +0000
Revision:
2:10956b8ceffb
Parent:
1:526bdd5faa37
Child:
3:60722da62531
Programa Avance uno

Who changed what in which revision?

UserRevisionLine numberNew contents of line
fabeltranm 0:89b318e49395 1
fabeltranm 1:526bdd5faa37 2 #include "mover.h"
fabeltranm 0:89b318e49395 3 #include "mbed.h"
fabeltranm 0:89b318e49395 4 #include "math.h"
fabeltranm 0:89b318e49395 5
fabeltranm 0:89b318e49395 6
sebasmartinez 2:10956b8ceffb 7 PwmOut Servo1(PA_11);
sebasmartinez 2:10956b8ceffb 8 PwmOut Servo2(PA_11);
sebasmartinez 2:10956b8ceffb 9 PwmOut Servo3(PA_11);
sebasmartinez 2:10956b8ceffb 10 PwmOut Servo4(PA_11);
sebasmartinez 2:10956b8ceffb 11 PwmOut Servo5(PA_11);
sebasmartinez 2:10956b8ceffb 12 PwmOut Servo6(PA_11);
sebasmartinez 2:10956b8ceffb 13 PwmOut Servo7(PA_11);
sebasmartinez 2:10956b8ceffb 14 PwmOut Servo8(PA_11);
fabeltranm 0:89b318e49395 15
fabeltranm 1:526bdd5faa37 16
fabeltranm 0:89b318e49395 17 uint8_t ss_time=50; // tiempo de espera para moverse 1 mm en microsegundos
fabeltranm 0:89b318e49395 18
fabeltranm 0:89b318e49395 19 void put_sstime(uint8_t vtime){
fabeltranm 0:89b318e49395 20 ss_time=vtime;
fabeltranm 0:89b318e49395 21
fabeltranm 0:89b318e49395 22 }
fabeltranm 0:89b318e49395 23
fabeltranm 0:89b318e49395 24 int coord2us(float coord)
fabeltranm 0:89b318e49395 25 {
fabeltranm 0:89b318e49395 26 if(0 <= coord <= MAXPOS)
fabeltranm 0:89b318e49395 27 return int(750+coord*1900/50);// u6
fabeltranm 0:89b318e49395 28 return 750;
fabeltranm 0:89b318e49395 29
fabeltranm 0:89b318e49395 30 }
fabeltranm 0:89b318e49395 31
fabeltranm 1:526bdd5faa37 32
fabeltranm 0:89b318e49395 33
fabeltranm 0:89b318e49395 34
fabeltranm 0:89b318e49395 35
fabeltranm 1:526bdd5faa37 36 void mover_ser(uint8_t motor, uint8_t pos){
fabeltranm 0:89b318e49395 37
sebasmartinez 2:10956b8ceffb 38 //int pulseX = coord2us(pos);
sebasmartinez 2:10956b8ceffb 39 int pulseX = 900;
sebasmartinez 2:10956b8ceffb 40 int pulseY = 1900;
sebasmartinez 2:10956b8ceffb 41 // myServo1.pulsewidth_us(pulseX);
sebasmartinez 2:10956b8ceffb 42 switch ( motor ) {
sebasmartinez 2:10956b8ceffb 43
sebasmartinez 2:10956b8ceffb 44 case 0x01:
sebasmartinez 2:10956b8ceffb 45 Servo1.pulsewidth_us(pulseX);
sebasmartinez 2:10956b8ceffb 46 break;
sebasmartinez 2:10956b8ceffb 47 case 0x02:
sebasmartinez 2:10956b8ceffb 48 Servo2.pulsewidth_us(pulseY);
sebasmartinez 2:10956b8ceffb 49 break;
sebasmartinez 2:10956b8ceffb 50 case 0x03:
sebasmartinez 2:10956b8ceffb 51 Servo3.pulsewidth_us(pulseX);
sebasmartinez 2:10956b8ceffb 52 break;
sebasmartinez 2:10956b8ceffb 53 case 0x04:
sebasmartinez 2:10956b8ceffb 54 Servo4.pulsewidth_us(pulseX);
sebasmartinez 2:10956b8ceffb 55 break;
sebasmartinez 2:10956b8ceffb 56 case 0x05:
sebasmartinez 2:10956b8ceffb 57 Servo5.pulsewidth_us(pulseX);
sebasmartinez 2:10956b8ceffb 58 break;
sebasmartinez 2:10956b8ceffb 59 case 0x06:
sebasmartinez 2:10956b8ceffb 60 Servo6.pulsewidth_us(pulseX);
sebasmartinez 2:10956b8ceffb 61 break;
sebasmartinez 2:10956b8ceffb 62 case 0x07:
sebasmartinez 2:10956b8ceffb 63 Servo7.pulsewidth_us(pulseX);
sebasmartinez 2:10956b8ceffb 64 break;
sebasmartinez 2:10956b8ceffb 65 case 0x08:
sebasmartinez 2:10956b8ceffb 66 Servo8.pulsewidth_us(pulseX);
sebasmartinez 2:10956b8ceffb 67 break;
sebasmartinez 2:10956b8ceffb 68
sebasmartinez 2:10956b8ceffb 69 default: break;
sebasmartinez 2:10956b8ceffb 70 }
fabeltranm 0:89b318e49395 71
fabeltranm 0:89b318e49395 72 }
fabeltranm 0:89b318e49395 73
fabeltranm 0:89b318e49395 74 void init_servo()
fabeltranm 0:89b318e49395 75 {
sebasmartinez 2:10956b8ceffb 76 Servo1.period_ms(20);
sebasmartinez 2:10956b8ceffb 77 Servo2.period_ms(20);
sebasmartinez 2:10956b8ceffb 78 Servo3.period_ms(20);
sebasmartinez 2:10956b8ceffb 79 Servo4.period_ms(20);
sebasmartinez 2:10956b8ceffb 80 Servo5.period_ms(20);
sebasmartinez 2:10956b8ceffb 81 Servo6.period_ms(20);
sebasmartinez 2:10956b8ceffb 82 Servo7.period_ms(20);
sebasmartinez 2:10956b8ceffb 83 Servo8.period_ms(20);
sebasmartinez 2:10956b8ceffb 84
sebasmartinez 2:10956b8ceffb 85 }
fabeltranm 0:89b318e49395 86