X-Git-Url: http://git.piffa.net/web?a=blobdiff_plain;f=libraries%2Frover%2Frover.cpp;h=58bbf2cbb082a1f3e2b2c685f8ff1e675df8e311;hb=cf5e92a6f4481506b8b360322d25b4be821cc741;hp=d95fe065190912808ab355e57e2843965a97bd73;hpb=a3f175c8785d2505c3da9d3e3386952ebc2cc018;p=rover

diff --git a/libraries/rover/rover.cpp b/libraries/rover/rover.cpp
index d95fe06..58bbf2c 100644
--- a/libraries/rover/rover.cpp
+++ b/libraries/rover/rover.cpp
@@ -1,5 +1,5 @@
 /*
-  Rover 
+  Rover
 
 Autore: Andrea Manni
 
@@ -26,10 +26,12 @@ const int in4 = 3;
 byte speedB = 255;
 
 // Servo vars
-int pos = 0;    // variable to store the servo position 
+int pos = 0;    // variable to store the servo position
 const byte servoPIN =9 ;
 const byte middle = 90; // Centratura servo
-const int spausa = 30; // Pausa movimenti servo
+const int spausa = 10; // Pausa movimenti servo
+const byte sx = 10;  // Min SX
+const byte dx = 170; // Maz DX
 Servo myservo; // Non c'e' bisogno di extern se e' dichiarato in questo scope
 
 ////////////////////////
@@ -118,18 +120,60 @@ void stopB() {
     digitalWrite(enB,LOW);
 }
 
+
+// Entrambi i motori
+void avanti() {
+    // Drive ahead: funzione composita
+    forwardA() ;
+    forwardB() ;
+}
+void indietro() {
+    // Drive backward: funzione composita
+    backwardA();
+    backwardB();
+}
+void giraSX() {
+    // Gira a DX
+    forwardB() ;
+    backwardA();
+}
+void giraDX()  {
+    // Gira a DX
+    forwardA() ;
+    backwardB();
+}
+void stop()  {
+    stopA();
+    stopB();
+}
+
+
+
 // Servo
-void turnDX() {
+void servoDX() {
     // TurnDX
-    myservo.write(170);
+    while (pos < dx) {
+        myservo.write(pos++);
+        delay(spausa);
+    }
 }
-    
-void turnSX() {
+
+void servoSX() {
     // TurnSX
-    myservo.write(10);
+    while (pos > sx) {
+        myservo.write(pos--);
+        delay(spausa);
+    }
 }
 
-void turnMiddle() { 
-    // TurnDX
-    myservo.write(middle);
+void servoMiddle() {
+    // Middle
+    while (pos > middle) {
+        myservo.write(pos--);
+        delay(spausa);
+    }
+    while (pos < middle) {
+        myservo.write(pos++);
+        delay(spausa);
+    }
 }