Jose Eduardo Laruta Espejo
secuencia para control de 2 patas roboticas de 2 grados de libertad
Revision 0:3fdd6444be32, committed 2016-04-24
- Comitter:
- tabris2015
- Date:
- Sun Apr 24 14:33:19 2016 +0000
- Commit message:
- secuencia inicial
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
| mbed.bld | Show annotated file Show diff for this revision Revisions of this file |
diff -r 000000000000 -r 3fdd6444be32 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Sun Apr 24 14:33:19 2016 +0000
@@ -0,0 +1,75 @@
+#include "mbed.h"
+#define pulse(theta) (700 + 10 * theta)
+/* aaa */
+PwmOut caderaRight(PA_3);
+PwmOut piernaRight(PA_2);
+PwmOut caderaLeft(PA_1);
+PwmOut piernaLeft(PB_0);
+
+
+DigitalOut myled(PB_1);
+
+int main() {
+ /* */
+ caderaRight.period(0.020);
+ piernaRight.period(0.020);
+ caderaLeft.pulsewidth(pulse(0));
+ piernaLeft.pulsewidth(pulse(90));
+ wait(2);
+ int init = pulse(45);
+ int backRight = pulse(45);
+ int frontRight = pulse(135);
+ int backLeft = pulse(135);
+ int frontLeft = pulse(45);
+ int upRight = pulse(90);
+ int upLeft = pulse(90);
+ int downRight = pulse(20);
+ int downLeft = pulse(160);
+
+ int fin = pulse(135);
+ float tDelay = 0.2;
+
+ while(1) {
+
+ // (1) Left: D - B ; Right: U - F
+ piernaLeft.pulsewidth_us(downLeft);
+ caderaLeft.pulsewidth_us(backLeft);
+ piernaRight.pulsewidth_us(upRight);
+ caderaRight.pulsewidth_us(frontRight);
+ wait(tDelay);
+ // (2) Left: D - B ; Right: D - F
+ piernaLeft.pulsewidth_us(downLeft);
+ caderaLeft.pulsewidth_us(backLeft);
+ piernaRight.pulsewidth_us(downRight);
+ caderaRight.pulsewidth_us(frontRight);
+ wait(tDelay);
+ // (3) Left: U - B ; Right: D - F
+ piernaLeft.pulsewidth_us(upLeft);
+ caderaLeft.pulsewidth_us(backLeft);
+ piernaRight.pulsewidth_us(downRight);
+ caderaRight.pulsewidth_us(frontRight);
+ wait(tDelay);
+ // (4) Left: U - F ; Right: D - B
+ piernaLeft.pulsewidth_us(upLeft);
+ caderaLeft.pulsewidth_us(frontLeft);
+ piernaRight.pulsewidth_us(downRight);
+ caderaRight.pulsewidth_us(backRight);
+ wait(tDelay);
+
+ // (5) Left: D - F ; Right: D - B
+ piernaLeft.pulsewidth_us(downLeft);
+ caderaLeft.pulsewidth_us(frontLeft);
+ piernaRight.pulsewidth_us(downRight);
+ caderaRight.pulsewidth_us(backRight);
+ wait(tDelay);
+
+ // (6) Left: D - F ; Right: U - B
+ piernaLeft.pulsewidth_us(downLeft);
+ caderaLeft.pulsewidth_us(frontLeft);
+ piernaRight.pulsewidth_us(upRight);
+ caderaRight.pulsewidth_us(backRight);
+ wait(tDelay);
+
+ myled = 1;
+ }
+}
diff -r 000000000000 -r 3fdd6444be32 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Sun Apr 24 14:33:19 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/082adc85693f \ No newline at end of file