Revision 2:d10dff926d9a, committed 2014-07-28

Comitter:

mderrant

Date:

Mon Jul 28 23:17:54 2014 +0000

Parent:

1:6ee374b19aaf

Child:

3:858e483420a8

Commit message:

motores dc y sensor cy70

Changed in this revision

--- a/main.cpp	Thu Jul 24 22:27:17 2014 +0000
+++ b/main.cpp	Mon Jul 28 23:17:54 2014 +0000
@@ -4,27 +4,43 @@
 Motor motor1(PTA1, PTA2, PTD3); // pwm, fwd, rev
 Motor motor2(PTA12,PTA4,PTA5);
 
+AnalogIn sensorizq(PTB0);
+AnalogIn sensorder(PTB2);
+AnalogIn sensorcentro(PTB1);
+
+PwmOut  anout(LED_RED),anout2(LED_GREEN);
+ 
+
+float valorizq,valorder,valorcentro;
 
 int main()
  {
     while(1)
     {
-    for (float s= -1.0; s < 1.0 ; s += 0.01) {
+ /*   for (float s= -1.0; s < 1.0 ; s += 0.01) {
        motor1.speed(s); 
        motor2.speed(s);
        wait(0.02);
     }
-    for (float s= 1.0; s >-1.0 ; s -= 0.01) {
+    for (float s= 1.0; s >-1.0 ; s = s-0.01) {
        motor1.speed(s); 
        motor2.speed(s);
        wait(0.02);
     }
-    motor1.speed(-0.2);
-    motor2.speed(-0.2);
-    wait(1.0);
-    motor1.speed(0.2);
-    motor2.speed(0.2);
-    wait(1.0);
+    
+ */
+     valorder = 1.0-sensorder;
+     valorizq = 1.0-sensorizq;
+     valorcentro = 1.0-sensorcentro;
+             
+    motor1.speed(valorizq/10);
+    motor2.speed(valorder/10);
+
+
+    anout = valorizq/200;
+    anout2 = valorder/200;
+ //   wait(3.0);
+ //   printf("%u \r",sensorizq.read_u16());
        
        }
 }