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Código Utilizado para Controlar Los 4 Motores y Mandar Los Datos Obtenidos Por Medio Del Puerto Serial

This code controls 4 motors and sends the obtained data through the serial port. It defines variables to control the pulse width modulation (PWM) for each motor from a minimum to maximum value over time. It uses for loops to gradually increase and decrease the PWM value for each motor from the minimum to maximum, pausing to display the speed as a percentage on the serial port.

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rabt1
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19 views2 pages

Código Utilizado para Controlar Los 4 Motores y Mandar Los Datos Obtenidos Por Medio Del Puerto Serial

This code controls 4 motors and sends the obtained data through the serial port. It defines variables to control the pulse width modulation (PWM) for each motor from a minimum to maximum value over time. It uses for loops to gradually increase and decrease the PWM value for each motor from the minimum to maximum, pausing to display the speed as a percentage on the serial port.

Uploaded by

rabt1
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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ApndiceC

Cdigoutilizadoparacontrolarlos4motoresymandarlosdatosobtenidospormedio
delpuertoserial.

int
int
int
int
int

pulso
act1 =
act2 =
act3 =
act4 =

= 4;
3;
5;
6;
9;

// valores de PWM
int e = 250;
int v= 0;
int vin=130;
// 4 motores a controlar
int a = 0;
int b = 0;
int c = 0;
int d = 0;
//Inclinacin acelermetro
int x1 = 0;
int x2 = 0;
int y1 = 0;
int y2 = 0;

void setup()
{
pinMode(13, OUTPUT); //utilizaremos el LED para saber que el
programa funciona
beginSerial (19200);
Serial.print ("Finished setup\n");
pinMode(pulso, OUTPUT);
}
void loop()
{
digitalWrite(13, LOW); //encendemos el LED (luego lo apagaremos)
digitalWrite(pulso,HIGH);
// For de subida de velocidad
for(v = vin; v <= e; v+=15) // fade in (from min to max)

{
a=v;
b=v;

c=v;
d=v;
analogWrite(act1,
analogWrite(act2,
analogWrite(act3,
analogWrite(act4,
delay(1000);
dimming effect

a);
b);
c);
d);

// sets the value (range from 0 to 255)

// waits for 1 seconds to see the

char buf2[4];
Serial.print ("M.1: ");
Serial.print (itoa(((a*100)/255),
Serial.print ("\t M.2: ");
Serial.print (itoa(((b*100)/255),
Serial.print ("\t M.3: ");
Serial.print (itoa(((c*100)/255),
Serial.print ("\t M.4: ");
Serial.print (itoa(((d*100)/255),
Serial.println ("");
///

buf2, 10));
buf2, 10));
buf2, 10));
buf2, 10));

delay(700);
}
digitalWrite(13, HIGH); //apagar LED
delay(5000);
digitalWrite(13, LOW); //apagar LED

// For de bajada de velocidad


for(v = e; v >=vin; v-=15)
// fade out (from max to min)
{
a=v;
b=v;
c=v;
d=v;
analogWrite(act1,
analogWrite(act2,
analogWrite(act3,
analogWrite(act4,
delay(1000);

a);
b);
c);
d);

char buf2[4];
Serial.print ("M.1: ");
Serial.print (itoa(((a*100)/255),
Serial.print ("\t M.2: ");
Serial.print (itoa(((b*100)/255),
Serial.print ("\t M.3: ");
Serial.print (itoa(((c*100)/255),
Serial.print ("\t M.4: ");
Serial.print (itoa(((d*100)/255),
Serial.println ("");

buf2, 10));
buf2, 10));
buf2, 10));
buf2, 10));

delay(700);
}
}

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