From 75e795a0a01de7a0cb3c5a1febec59b4e976ee9b Mon Sep 17 00:00:00 2001
From: RicardoEA <ricardo@focus.uy>
Date: Wed, 2 Nov 2022 18:50:45 -0300
Subject: [PATCH] =?UTF-8?q?Implementaci=C3=B3n=20cuadrado=20usando=20omni?=
=?UTF-8?q?=5Fdrive?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
---
Robotito/src/main.c | 88 +++++++++++++++++++++++----------------------
1 file changed, 45 insertions(+), 43 deletions(-)
diff --git a/Robotito/src/main.c b/Robotito/src/main.c
index 3c7c29f..1e9ecd8 100644
--- a/Robotito/src/main.c
+++ b/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);
+ }
+ }
+}
\ No newline at end of file
--
GitLab