Implementación cuadrado usando omni_drive

Robotito/src/main.c

@@ -23,50 +23,52 @@
 #define NMOTORS 3
 #define OMNI_NRO_TIMER 0
 
-
-
-static void timer_func() {
-    printf("ECHO TIMER \n");
-}
-
 void app_main(void)
 {
-
-    //1. mcpwm gpio initialization
-    motor_h_t *mot0;
-    motor_h_t *mot2;
-    
-    motor_install(26,27, MCPWM_UNIT_0, MCPWM0A, MCPWM0B, MCPWM_TIMER_0, &mot0);
-    motor_install(18,23, MCPWM_UNIT_1, MCPWM1A, MCPWM1B, MCPWM_TIMER_1, &mot2);
-    // pines de los motores 
-    //                      Motor 0: 26,27      Encoder 0: 37, 39
-    //                      Motor 1: 25,33      Encoder 1: 36, 38
-    //                      Motor 2: 18,23      Encoder 2: 34, 35
-    //2. initial mcpwm configuration
     printf("Configuring Initial Parameters of mcpwm...\n");
-    motor_start(mot0);    //Configure PWM0A & PWM0B with above settings
-    motor_start(mot2);
-
-    int inc = 10;
-    while (1) {        
-        
-        motor_set_speed(mot0, inc);
-        motor_set_speed(mot2, inc);
-        vTaskDelay(2000 / portTICK_RATE_MS);
-        motor_stop(mot0);
-        motor_stop(mot2);
-        vTaskDelay(2000 / portTICK_RATE_MS);
-        motor_set_speed(mot0, inc);
-        motor_set_speed(mot2, -inc);
-        vTaskDelay(2000 / portTICK_RATE_MS);
-        motor_stop(mot0);
-        motor_stop(mot2);
-        vTaskDelay(2000 / portTICK_RATE_MS);
-        
-        inc++;
-        if (inc == 30){
-            inc = 10;
+    omni_init();
+    omni_set_enable(true);
+    int vel;
+    while (1) {       
+        for (size_t i = 100; 98 < i; i--)
+        {
+            vel = i;
+            printf("---------------------------------------------------------------------\n");
+            printf("Busco vel=%d\n",vel);
+            printf("---------------------------------------------------------------------\n");
+            omni_drive(vel,0,0,0);
+            vTaskDelay( 1000/ portTICK_RATE_MS);
         }
-    }
-}
-
+        omni_drive(0,0,0,0);
+        vTaskDelay(1000/ portTICK_RATE_MS);
+        for (size_t i = 100; 98 < i; i--)
+        {
+            vel = i;
+            printf("---------------------------------------------------------------------\n");
+            printf("Busco vel=%d\n",vel);
+            printf("---------------------------------------------------------------------\n");
+            omni_drive(0,vel,0,0);
+            vTaskDelay( 1000/ portTICK_RATE_MS);
+        }
+        for (size_t i = 100; 98 < i; i--)
+        {
+            vel = i;
+            printf("---------------------------------------------------------------------\n");
+            printf("Busco vel=%d\n",vel);
+            printf("---------------------------------------------------------------------\n");
+            omni_drive(-vel,0,0,0);
+            vTaskDelay( 1000/ portTICK_RATE_MS);
+        }
+        omni_drive(0,0,0,0);
+        vTaskDelay(1000/ portTICK_RATE_MS);
+        for (size_t i = 100; 98 < i; i--)
+        {
+            vel = i;
+            printf("---------------------------------------------------------------------\n");
+            printf("Busco vel=%d\n",vel);
+            printf("---------------------------------------------------------------------\n");
+            omni_drive(0,-vel,0,0);
+            vTaskDelay( 1000/ portTICK_RATE_MS);
+        }
+    } 
+}
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