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Modificacion para usar Puente H L298N en vez del integrado L293D

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This commit is contained in:
Kevin Muñoz 2024-12-25 23:30:22 -05:00
parent 82327e4c29
commit e6dc731415
Signed by: mrhacker
GPG Key ID: E5616555DD4EDAAE
1 changed files with 32 additions and 32 deletions
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64
robot_arduino/Robot_Seguidor/Robot_Seguidor.h
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@ -2,37 +2,37 @@
#include "Sensor_TCRT5000.h" #include "Sensor_TCRT5000.h"
class Robot_Seguidor class Robot_Seguidor
{ {
private: private:
Base_Robot Robot; Base_Robot Robot;
Sensor Sensor_1; Sensor Sensor_1;
Sensor Sensor_2; Sensor Sensor_2;
Sensor Sensor_3; Sensor Sensor_3;
Sensor Sensor_4; Sensor Sensor_4;
Sensor Sensor_5; Sensor Sensor_5;
int sensor[5]; int sensor[5];
float Error=0, P=0, I=0, D=0, PID=0; float Error=0, P=0, I=0, D=0, PID=0;
float Error_Anterior=0, Anteriror_I=0; float Error_Anterior=0, Anteriror_I=0;
public: public:
Robot_Seguidor(int Pin_Motor_1A, Robot_Seguidor(int Pin_Motor_1A,
int IN1, int IN1,
int IN2, int IN2,
int ENA, int ENA,
int IN3, int IN3,
int IN4, int IN4,
int ENB, int ENB,
int PinS1, int PinS1,
int PinS2, int PinS2,
int PinS3, int PinS3,
int PinS4, int PinS4,
int PinS5) int PinS5)
:Robot(IN1, IN2, ENA, IN3, IN4, ENB), :Robot(IN1, IN2, ENA, IN3, IN4, ENB),
Sensor_1(PinS1), Sensor_1(PinS1),
Sensor_2(PinS2), Sensor_2(PinS2),
Sensor_3(PinS3), Sensor_3(PinS3),
Sensor_4(PinS4), Sensor_4(PinS4),
Sensor_5(PinS5){} Sensor_5(PinS5){}
void Inicializar(); void Inicializar();
void Lectura_de_sensores(); void Lectura_de_sensores();
void Modo_Seguidor(int kP,int KI,int KD,int Velocidad); void Modo_Seguidor(int kP,int KI,int KD,int Velocidad);
}; };