sebastian martinez / Mbed 2 deprecated Movimiento_8Servos

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Dependencies:   mbed

Fork of 01-04_Primer_Avance by sebastian martinez

mover.cpp

Committer:
sebasmartinez
Date:
2018-09-07
Revision:
4:ba51736778e1
Parent:
3:60722da62531
Child:
5:6ca97bfe9406

File content as of revision 4:ba51736778e1:


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


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

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

int coord2us(float coord)
{
    if(0 <= coord <= MAXPOS)
        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;
*/
}


 


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: 
     Servo1.pulsewidth_us(pulseX);
    break;
  case 0x02: 
     Servo2.pulsewidth_us(pulseX);
    break;    
  case 0x03: 
     Servo3.pulsewidth_us(pulseX);
    break;
  case 0x04: 
     Servo4.pulsewidth_us(pulseX);
    break;
  case 0x05: 
     Servo5.pulsewidth_us(pulseX);
    break;
  case 0x06: 
     Servo6.pulsewidth_us(pulseX);
    break;
  case 0x07: 
     Servo7.pulsewidth_us(pulseX);
    break;   
  case 0x08: 
     Servo8.pulsewidth_us(pulseX);
    break;
            
  default: break;
}

}
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);
   Servo2.period_ms(20);
   Servo3.period_ms(20);
   Servo4.period_ms(20);
   Servo5.period_ms(20);
   Servo6.period_ms(20);
   Servo7.period_ms(20);
   Servo8.period_ms(20);
    
}