sebastian martinez / Mbed 2 deprecated Movimiento_8Servos

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed

Fork of 01-04_Primer_Avance by sebastian martinez

Diff: mover.cpp

Revision:
3:60722da62531
Parent:
2:10956b8ceffb
Child:
4:ba51736778e1
--- a/mover.cpp	Thu Sep 06 18:05:07 2018 +0000
+++ b/mover.cpp	Fri Sep 07 03:42:26 2018 +0000
@@ -4,14 +4,14 @@
 #include "math.h"
 
 
-PwmOut Servo1(PA_11);
-PwmOut Servo2(PA_11);
-PwmOut Servo3(PA_11);
-PwmOut Servo4(PA_11);
-PwmOut Servo5(PA_11);
-PwmOut Servo6(PA_11);
-PwmOut Servo7(PA_11);
-PwmOut Servo8(PA_11);
+PwmOut Servo1(PA_1);
+PwmOut Servo2(PB_8);
+PwmOut Servo3(PB_14);
+PwmOut Servo4(PB_15);
+PwmOut Servo5(PA_8);
+PwmOut Servo6(PB_6);
+PwmOut Servo7(PA_9);
+PwmOut Servo8(PA_10);
 
 
 uint8_t  ss_time=50;     // tiempo  de espera para moverse 1 mm en microsegundos
@@ -24,9 +24,13 @@
 int coord2us(float coord)
 {
     if(0 <= coord <= MAXPOS)
-        return int(750+coord*1900/50);// u6
-    return 750;
-
+        return int(500+coord*2000/180);// u6
+    return 500;
+/*
+Secuencia 0, 180, 135, 90, 45, 0.
+FF 01 01 00 FE FF 01 01 B4 FE FF 01 01 87 FE FF 01 01 5A FE FF 01 01 2D FE FF 01 01 00 FE
+Grados: 180-B4, 135-87, 90-5A, 45-2D, 0-00;
+*/
 }
 
 
@@ -35,17 +39,15 @@
 
 void mover_ser(uint8_t motor, uint8_t pos){
 
-    //int pulseX = coord2us(pos);
-    int pulseX = 900;
-    int pulseY = 1900;
-   // myServo1.pulsewidth_us(pulseX);
+    int pulseX = coord2us(pos);
+
  switch ( motor ) {
   
   case 0x01: 
      Servo1.pulsewidth_us(pulseX);
     break;
   case 0x02: 
-     Servo2.pulsewidth_us(pulseY);
+     Servo2.pulsewidth_us(pulseX);
     break;    
   case 0x03: 
      Servo3.pulsewidth_us(pulseX);