Jose Eduardo Laruta Espejo
/
maple_motores
test program for my motoresDC library
main.cpp@0:2084e78fe93f, 2015-12-22 (annotated)
- Committer:
- tabris2015
- Date:
- Tue Dec 22 20:55:17 2015 +0000
- Revision:
- 0:2084e78fe93f
first commit
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
tabris2015 | 0:2084e78fe93f | 1 | /* |
tabris2015 | 0:2084e78fe93f | 2 | maple_motores.cpp |
tabris2015 | 0:2084e78fe93f | 3 | este programa usa el driver tb6612 para controlar 2 motores DC |
tabris2015 | 0:2084e78fe93f | 4 | se puede usar cualquier driver similar, como el l293D o el l298n |
tabris2015 | 0:2084e78fe93f | 5 | inicializar la clase MotoresDC de la siguiente manera: |
tabris2015 | 0:2084e78fe93f | 6 | |
tabris2015 | 0:2084e78fe93f | 7 | MotoresDC motores(vel_izq, s_izq1, s_izq2, vel_der, s_der1, s_der2); |
tabris2015 | 0:2084e78fe93f | 8 | |
tabris2015 | 0:2084e78fe93f | 9 | */ |
tabris2015 | 0:2084e78fe93f | 10 | #include "mbed.h" |
tabris2015 | 0:2084e78fe93f | 11 | #include "motoresDC.h" |
tabris2015 | 0:2084e78fe93f | 12 | |
tabris2015 | 0:2084e78fe93f | 13 | //(Maple Mini) |
tabris2015 | 0:2084e78fe93f | 14 | //motores D27 D31 D30 D26 D29 D28 |
tabris2015 | 0:2084e78fe93f | 15 | MotoresDC carro(PA_8, PB_12, PB_13, PA_9, PB_14, PB_15); |
tabris2015 | 0:2084e78fe93f | 16 | // D32 |
tabris2015 | 0:2084e78fe93f | 17 | InterruptIn my_button(PB_8); |
tabris2015 | 0:2084e78fe93f | 18 | // D33 |
tabris2015 | 0:2084e78fe93f | 19 | PwmOut led(PB_1); |
tabris2015 | 0:2084e78fe93f | 20 | |
tabris2015 | 0:2084e78fe93f | 21 | //----------------- |
tabris2015 | 0:2084e78fe93f | 22 | float velocidad = 0; |
tabris2015 | 0:2084e78fe93f | 23 | int estado= 0; |
tabris2015 | 0:2084e78fe93f | 24 | //----------------- |
tabris2015 | 0:2084e78fe93f | 25 | void pressed() { |
tabris2015 | 0:2084e78fe93f | 26 | estado++; |
tabris2015 | 0:2084e78fe93f | 27 | if(estado > 9) estado = 0; |
tabris2015 | 0:2084e78fe93f | 28 | } |
tabris2015 | 0:2084e78fe93f | 29 | |
tabris2015 | 0:2084e78fe93f | 30 | int main() |
tabris2015 | 0:2084e78fe93f | 31 | { |
tabris2015 | 0:2084e78fe93f | 32 | // Set button |
tabris2015 | 0:2084e78fe93f | 33 | //my_button.fall(&pressed); |
tabris2015 | 0:2084e78fe93f | 34 | |
tabris2015 | 0:2084e78fe93f | 35 | while (1) { |
tabris2015 | 0:2084e78fe93f | 36 | carro.conducir(0.5,1000); |
tabris2015 | 0:2084e78fe93f | 37 | carro.conducir(-0.5,1000); |
tabris2015 | 0:2084e78fe93f | 38 | carro.pivotar(0.5,1000); |
tabris2015 | 0:2084e78fe93f | 39 | carro.pivotar(-0.5,1000); |
tabris2015 | 0:2084e78fe93f | 40 | carro.motorIzq(0.5,1000); |
tabris2015 | 0:2084e78fe93f | 41 | carro.motorDer(0.5,1000); |
tabris2015 | 0:2084e78fe93f | 42 | carro.motorIzq(-0.5,1000); |
tabris2015 | 0:2084e78fe93f | 43 | carro.motorDer(-0.5,1000); |
tabris2015 | 0:2084e78fe93f | 44 | carro.detener(); |
tabris2015 | 0:2084e78fe93f | 45 | wait(1); |
tabris2015 | 0:2084e78fe93f | 46 | } |
tabris2015 | 0:2084e78fe93f | 47 | } |