Jose Eduardo Laruta Espejo / Mbed 2 deprecated maple_multiservos

secuencia para control de 2 patas roboticas de 2 grados de libertad

Dependencies:   mbed

Files at this revision

API Documentation at this revision

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 
--- /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;
+    }
+}

--- /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