Jose Eduardo Laruta Espejo / Mbed 2 deprecated maple_multiservos

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

Dependencies:   mbed

main.cpp@0:3fdd6444be32, 2016-04-24 (annotated)

Committer:
tabris2015
Date:
Sun Apr 24 14:33:19 2016 +0000
Revision:
0:3fdd6444be32
secuencia inicial

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tabris2015 0:3fdd6444be32 1 #include "mbed.h"
tabris2015 0:3fdd6444be32 2 #define pulse(theta) (700 + 10 * theta)
tabris2015 0:3fdd6444be32 3 /* aaa */
tabris2015 0:3fdd6444be32 4 PwmOut caderaRight(PA_3);
tabris2015 0:3fdd6444be32 5 PwmOut piernaRight(PA_2);
tabris2015 0:3fdd6444be32 6 PwmOut caderaLeft(PA_1);
tabris2015 0:3fdd6444be32 7 PwmOut piernaLeft(PB_0);
tabris2015 0:3fdd6444be32 8
tabris2015 0:3fdd6444be32 9
tabris2015 0:3fdd6444be32 10 DigitalOut myled(PB_1);
tabris2015 0:3fdd6444be32 11
tabris2015 0:3fdd6444be32 12 int main() {
tabris2015 0:3fdd6444be32 13 /* */
tabris2015 0:3fdd6444be32 14 caderaRight.period(0.020);
tabris2015 0:3fdd6444be32 15 piernaRight.period(0.020);
tabris2015 0:3fdd6444be32 16 caderaLeft.pulsewidth(pulse(0));
tabris2015 0:3fdd6444be32 17 piernaLeft.pulsewidth(pulse(90));
tabris2015 0:3fdd6444be32 18 wait(2);
tabris2015 0:3fdd6444be32 19 int init = pulse(45);
tabris2015 0:3fdd6444be32 20 int backRight = pulse(45);
tabris2015 0:3fdd6444be32 21 int frontRight = pulse(135);
tabris2015 0:3fdd6444be32 22 int backLeft = pulse(135);
tabris2015 0:3fdd6444be32 23 int frontLeft = pulse(45);
tabris2015 0:3fdd6444be32 24 int upRight = pulse(90);
tabris2015 0:3fdd6444be32 25 int upLeft = pulse(90);
tabris2015 0:3fdd6444be32 26 int downRight = pulse(20);
tabris2015 0:3fdd6444be32 27 int downLeft = pulse(160);
tabris2015 0:3fdd6444be32 28
tabris2015 0:3fdd6444be32 29 int fin = pulse(135);
tabris2015 0:3fdd6444be32 30 float tDelay = 0.2;
tabris2015 0:3fdd6444be32 31
tabris2015 0:3fdd6444be32 32 while(1) {
tabris2015 0:3fdd6444be32 33
tabris2015 0:3fdd6444be32 34 // (1) Left: D - B ; Right: U - F
tabris2015 0:3fdd6444be32 35 piernaLeft.pulsewidth_us(downLeft);
tabris2015 0:3fdd6444be32 36 caderaLeft.pulsewidth_us(backLeft);
tabris2015 0:3fdd6444be32 37 piernaRight.pulsewidth_us(upRight);
tabris2015 0:3fdd6444be32 38 caderaRight.pulsewidth_us(frontRight);
tabris2015 0:3fdd6444be32 39 wait(tDelay);
tabris2015 0:3fdd6444be32 40 // (2) Left: D - B ; Right: D - F
tabris2015 0:3fdd6444be32 41 piernaLeft.pulsewidth_us(downLeft);
tabris2015 0:3fdd6444be32 42 caderaLeft.pulsewidth_us(backLeft);
tabris2015 0:3fdd6444be32 43 piernaRight.pulsewidth_us(downRight);
tabris2015 0:3fdd6444be32 44 caderaRight.pulsewidth_us(frontRight);
tabris2015 0:3fdd6444be32 45 wait(tDelay);
tabris2015 0:3fdd6444be32 46 // (3) Left: U - B ; Right: D - F
tabris2015 0:3fdd6444be32 47 piernaLeft.pulsewidth_us(upLeft);
tabris2015 0:3fdd6444be32 48 caderaLeft.pulsewidth_us(backLeft);
tabris2015 0:3fdd6444be32 49 piernaRight.pulsewidth_us(downRight);
tabris2015 0:3fdd6444be32 50 caderaRight.pulsewidth_us(frontRight);
tabris2015 0:3fdd6444be32 51 wait(tDelay);
tabris2015 0:3fdd6444be32 52 // (4) Left: U - F ; Right: D - B
tabris2015 0:3fdd6444be32 53 piernaLeft.pulsewidth_us(upLeft);
tabris2015 0:3fdd6444be32 54 caderaLeft.pulsewidth_us(frontLeft);
tabris2015 0:3fdd6444be32 55 piernaRight.pulsewidth_us(downRight);
tabris2015 0:3fdd6444be32 56 caderaRight.pulsewidth_us(backRight);
tabris2015 0:3fdd6444be32 57 wait(tDelay);
tabris2015 0:3fdd6444be32 58
tabris2015 0:3fdd6444be32 59 // (5) Left: D - F ; Right: D - B
tabris2015 0:3fdd6444be32 60 piernaLeft.pulsewidth_us(downLeft);
tabris2015 0:3fdd6444be32 61 caderaLeft.pulsewidth_us(frontLeft);
tabris2015 0:3fdd6444be32 62 piernaRight.pulsewidth_us(downRight);
tabris2015 0:3fdd6444be32 63 caderaRight.pulsewidth_us(backRight);
tabris2015 0:3fdd6444be32 64 wait(tDelay);
tabris2015 0:3fdd6444be32 65
tabris2015 0:3fdd6444be32 66 // (6) Left: D - F ; Right: U - B
tabris2015 0:3fdd6444be32 67 piernaLeft.pulsewidth_us(downLeft);
tabris2015 0:3fdd6444be32 68 caderaLeft.pulsewidth_us(frontLeft);
tabris2015 0:3fdd6444be32 69 piernaRight.pulsewidth_us(upRight);
tabris2015 0:3fdd6444be32 70 caderaRight.pulsewidth_us(backRight);
tabris2015 0:3fdd6444be32 71 wait(tDelay);
tabris2015 0:3fdd6444be32 72
tabris2015 0:3fdd6444be32 73 myled = 1;
tabris2015 0:3fdd6444be32 74 }
tabris2015 0:3fdd6444be32 75 }