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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"
class Robot_Seguidor
{
private:
Base_Robot Robot;
Sensor Sensor_1;
Sensor Sensor_2;
Sensor Sensor_3;
Sensor Sensor_4;
Sensor Sensor_5;
int sensor[5];
float Error=0, P=0, I=0, D=0, PID=0;
float Error_Anterior=0, Anteriror_I=0;
private:
Base_Robot Robot;
Sensor Sensor_1;
Sensor Sensor_2;
Sensor Sensor_3;
Sensor Sensor_4;
Sensor Sensor_5;
int sensor[5];
float Error=0, P=0, I=0, D=0, PID=0;
float Error_Anterior=0, Anteriror_I=0;
public:
Robot_Seguidor(int Pin_Motor_1A,
int IN1,
int IN2,
int ENA,
int IN3,
int IN4,
int ENB,
int PinS1,
int PinS2,
int PinS3,
int PinS4,
int PinS5)
:Robot(IN1, IN2, ENA, IN3, IN4, ENB),
Sensor_1(PinS1),
Sensor_2(PinS2),
Sensor_3(PinS3),
Sensor_4(PinS4),
Sensor_5(PinS5){}
void Inicializar();
void Lectura_de_sensores();
void Modo_Seguidor(int kP,int KI,int KD,int Velocidad);
public:
Robot_Seguidor(int Pin_Motor_1A,
int IN1,
int IN2,
int ENA,
int IN3,
int IN4,
int ENB,
int PinS1,
int PinS2,
int PinS3,
int PinS4,
int PinS5)
:Robot(IN1, IN2, ENA, IN3, IN4, ENB),
Sensor_1(PinS1),
Sensor_2(PinS2),
Sensor_3(PinS3),
Sensor_4(PinS4),
Sensor_5(PinS5){}
void Inicializar();
void Lectura_de_sensores();
void Modo_Seguidor(int kP,int KI,int KD,int Velocidad);
};