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.
Dependents: maple_motores maple_heading_pid maple_chotobot_rf_motores motores ... more
Diff: motoresDC.cpp
- Revision:
- 2:b5d41b0442a7
- Parent:
- 0:b1e9ffb92a0a
--- a/motoresDC.cpp Fri Jun 10 22:14:35 2016 +0000
+++ b/motoresDC.cpp Mon Jun 13 23:09:28 2016 +0000
@@ -7,11 +7,28 @@
PinName MD_s1Pin,
PinName MD_s2Pin):_MI_vel(MI_velPin), _MI_s1(MI_s1Pin), _MI_s2(MI_s2Pin), _MD_vel(MD_velPin), _MD_s1(MD_s1Pin), _MD_s2(MD_s2Pin)
{
+ _R = 3.25;
+ _L = 9.0;
_MI_vel.period_ms(1);
_MI_vel.write(0);
_MD_vel.period_ms(1);
_MD_vel.write(0);
}
+
+ void MotoresDC::setParams(float R, float L)
+ {
+ this->_R = R;
+ this->_L = L;
+ }
+
+ void MotoresDC::conducirUniciclo(float v, float w)
+ {
+ float v_r = (2 * v + this->_L * w)/(2 * this->_R);
+ float v_l = (2 * v - this->_L * w)/(2 * this->_R);
+
+ this->motorIzq(v_l);
+ this->motorDer(v_r);
+ }
/* funciones base para conducir */
void MotoresDC::_izqAdelante(float velocidad)
{