sebastian martinez
/
01-04_Primer_Avance
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01-04EntregaPrimerCorte
by 
ferney alberto beltran molina
Revision 4:ba51736778e1, committed 2018-09-07
- Comitter:
- sebasmartinez
- Date:
- Fri Sep 07 23:58:14 2018 +0000
- Parent:
- 3:60722da62531
- Commit message:
- V3
Changed in this revision
diff -r 60722da62531 -r ba51736778e1 main.cpp
--- a/main.cpp Fri Sep 07 03:42:26 2018 +0000
+++ b/main.cpp Fri Sep 07 23:58:14 2018 +0000
@@ -8,7 +8,7 @@
Serial command(USBTX, USBRX);
-
+DigitalIn button(USER_BUTTON);
int main() {
@@ -26,16 +26,16 @@
switch (read_cc) {
case 0x01:
- debug_m("Tc1\n");
+ debug_m("Tc 1 Iniciado..\n");
moving();
- debug_m("FTc1\n");
+ debug_m("Tc 1 Finalizado\n");
break;
case 0x02:
- debug_m("Tc2 :) \n");
- //moving();
- debug_m("FTc2\n");
+ debug_m("Tc 2 Iniciado.. \n");
+ pares();
+ debug_m("Tc 2 Finalizado\n");
break;
- default: debug_m("error de comando. \nSe espera 0x01 - 0x08 \n");break ;
+ default: debug_m("Error de comando. \nSe espera entre 0x01 - 0x08 \n");break ;
}
}
}
@@ -49,20 +49,47 @@
// Datos | Inicio | Tele-comando | Numero Motor | Grados | Cierre
//char intc=command.getc();
buffer[0] = command.getc();
- buffer[1] = command.getc();
- buffer[2] = command.getc();
- buffer[3] = command.getc();
- buffer[4] = command.getc();
+
+ inicio:
+
+ while(buffer[0] != 0xFF ){
- char intc = buffer[0];
- while(intc != 0xFF){
-
- intc=command.getc();
+ buffer[0] = command.getc();
debug_m("comando inicio invalido \n");
}
- printf("encontrado: %c \n", buffer[0] );
+ printf("inicio encontrado: %c \n", buffer[0] );
+
+ buffer[1] = command.getc();
+ if (buffer[1] != 0xFF && buffer[1] != 0xFD){
+ buffer[2] = command.getc();
+ }else{
+ buffer[0] = buffer[1];
+ goto inicio;
+ }
+ if (buffer[2] != 0xFF && buffer[2] != 0xFD){
+ buffer[3] = command.getc();
+ }else{
+ buffer[0] = buffer[2];
+ goto inicio;
+ }
+ if (buffer[3] != 0xFF && buffer[3] != 0xFD){
+ buffer[4] = command.getc();
+ }else{
+ buffer[0] = buffer[3];
+ goto inicio;
+ }
+ //para que evalue el cierre
+ if (buffer[4] != 0xFF && buffer[4] == 0xFD){
+ debug_m("comando Cierre valido \n");
+ }else{
+ buffer[0] = buffer[4];
+ goto inicio;
+ }
+
+
+
//intc=command.getc();
int tele = buffer[1];
printf("Tele siguente: %c \n", tele );
@@ -87,14 +114,28 @@
printf("Motor: %c \n", nmotor );
char grados = buffer[3];
printf("Grados: %c \n", grados );
- char endc = buffer[4];
- printf("Cierre: %c \n", endc );
+ //char endc = buffer[4];
+ //printf("Cierre: %c \n", endc );
mover_ser(nmotor,grados);
debug_m("fin del comado mover..\n");
}
-
+void pares(){
+ debug_m("se inicia el comado pares..\n");
+
+ char par = buffer[2];
+ printf("Par: %c \n", par );
+ char dire = buffer[3];
+ printf("Dir: %c \n", dire );
+ char endcc = buffer[4];
+ printf("Cierre: %c \n", endcc );
+ while(button == 0) {
+ mover_par(par,dire);
+ }
+ centro(par);
+ debug_m("fin del comado pares..\n");
+ }
void debug_m(char *s , ... ){
#if DEBUG
command.printf(s);
diff -r 60722da62531 -r ba51736778e1 main.h --- a/main.h Fri Sep 07 03:42:26 2018 +0000 +++ b/main.h Fri Sep 07 23:58:14 2018 +0000 @@ -14,6 +14,6 @@ void init_serial(); void moving(); - +void pares(); #endif // MAIN_H \ No newline at end of file
diff -r 60722da62531 -r ba51736778e1 mover.cpp
--- 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);
diff -r 60722da62531 -r ba51736778e1 mover.h --- a/mover.h Fri Sep 07 03:42:26 2018 +0000 +++ b/mover.h Fri Sep 07 23:58:14 2018 +0000 @@ -6,13 +6,17 @@ #define MAXPOS 180 // en milimetros #define POSDRAW 50 #define POSNODRAW 10 - +#define ARRIBA 1700 +#define CENTRO 1300 +#define ABAJO 900 +#define ADELANTE 500 +#define ATRAS 2500 void init_servo(); void draw(); void nodraw(); void mover_ser(uint8_t motor, uint8_t pos); - - +void mover_par(uint8_t pares, uint8_t dir); +void centro(uint8_t pos_p); #endif // DRAW_H \ No newline at end of file