MARIO DERRANT / Mbed 2 deprecated MOTORES

H BRIDGE PARA MOTORES DC KL64Z

Dependencies:   Motor mbed Servo

main.cpp@2:d10dff926d9a, 2014-07-28 (annotated)

Committer:
mderrant
Date:
Mon Jul 28 23:17:54 2014 +0000
Revision:
2:d10dff926d9a
Parent:
1:6ee374b19aaf
Child:
3:858e483420a8
motores dc y sensor cy70

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mderrant 0:5f1b331ca523 1 #include "mbed.h"
mderrant 0:5f1b331ca523 2 #include "Motor.h"
mderrant 0:5f1b331ca523 3
mderrant 1:6ee374b19aaf 4 Motor motor1(PTA1, PTA2, PTD3); // pwm, fwd, rev
mderrant 1:6ee374b19aaf 5 Motor motor2(PTA12,PTA4,PTA5);
mderrant 1:6ee374b19aaf 6
mderrant 2:d10dff926d9a 7 AnalogIn sensorizq(PTB0);
mderrant 2:d10dff926d9a 8 AnalogIn sensorder(PTB2);
mderrant 2:d10dff926d9a 9 AnalogIn sensorcentro(PTB1);
mderrant 2:d10dff926d9a 10
mderrant 2:d10dff926d9a 11 PwmOut anout(LED_RED),anout2(LED_GREEN);
mderrant 2:d10dff926d9a 12
mderrant 2:d10dff926d9a 13
mderrant 2:d10dff926d9a 14 float valorizq,valorder,valorcentro;
mderrant 0:5f1b331ca523 15
mderrant 1:6ee374b19aaf 16 int main()
mderrant 1:6ee374b19aaf 17 {
mderrant 1:6ee374b19aaf 18 while(1)
mderrant 1:6ee374b19aaf 19 {
mderrant 2:d10dff926d9a 20 /* for (float s= -1.0; s < 1.0 ; s += 0.01) {
mderrant 1:6ee374b19aaf 21 motor1.speed(s);
mderrant 1:6ee374b19aaf 22 motor2.speed(s);
mderrant 0:5f1b331ca523 23 wait(0.02);
mderrant 0:5f1b331ca523 24 }
mderrant 2:d10dff926d9a 25 for (float s= 1.0; s >-1.0 ; s = s-0.01) {
mderrant 1:6ee374b19aaf 26 motor1.speed(s);
mderrant 1:6ee374b19aaf 27 motor2.speed(s);
mderrant 1:6ee374b19aaf 28 wait(0.02);
mderrant 1:6ee374b19aaf 29 }
mderrant 2:d10dff926d9a 30
mderrant 2:d10dff926d9a 31 */
mderrant 2:d10dff926d9a 32 valorder = 1.0-sensorder;
mderrant 2:d10dff926d9a 33 valorizq = 1.0-sensorizq;
mderrant 2:d10dff926d9a 34 valorcentro = 1.0-sensorcentro;
mderrant 2:d10dff926d9a 35
mderrant 2:d10dff926d9a 36 motor1.speed(valorizq/10);
mderrant 2:d10dff926d9a 37 motor2.speed(valorder/10);
mderrant 2:d10dff926d9a 38
mderrant 2:d10dff926d9a 39
mderrant 2:d10dff926d9a 40 anout = valorizq/200;
mderrant 2:d10dff926d9a 41 anout2 = valorder/200;
mderrant 2:d10dff926d9a 42 // wait(3.0);
mderrant 2:d10dff926d9a 43 // printf("%u \r",sensorizq.read_u16());
mderrant 1:6ee374b19aaf 44
mderrant 1:6ee374b19aaf 45 }
mderrant 0:5f1b331ca523 46 }