Brazo Robotico Recta

/*  * BRAZO_ROBOTIOCO_2_GRADOS.c  *  * Created: 12/10/2018 11:06:31  * Authr : !ea"#au$  */ %de&'"e (_C#) 16000000 %'"c$ude a+r/'.h, %'"c$ude -td$.h, %'"c$ude ath.h, %'"c$ude a+r/'"terrut.h, %'"c$ude ut'$/de$a.h, %de&'"e #I 3.11426 &$at araetr-5719209209090091;

$ read7&a$-e; //*************************
+'d '"'c'ar_u-art?@; +'d -etu_TI>R1?@; +'d recta?@;

'"t a'"?+'d@  DDRC70((; DDRA70((; '"'c'ar_u-art?@; -etu_TI>R1?@; h'$e ?1@  &$at c'"7araetr-50; h'$e ?c'"771@  recta?@;  h'$e ?c'"772@   h'$e ?c'"773@     +'d recta?@  read7araetr-5; '&?read77true@

 &$at A7araetr-51; &$at A7araetr-52; &$at B7araetr-53; &$at B7araetr-5; //****************************COORD>=ADAS A D>Z#?C@********* &$at E; &$at ; &$at e"d'e"te; '"t16_t u"t70; '& ?A77B@  e"d'e"te70;  '&?AB@  e"d'e"te7?BFA@/?BFA@;  e$-e  e"d'e"te7?AFB@/?AFB@;  //*************#RI>R CASO #>=DI>=T> CR>CI>=T> >=OR A 1  AOR 0 ************ '& ?e"d'e"te71@  #ORTC70((; E7A; u"t7BFA; '& ?u"t0@  u"t7?F1@*u"t;  &r?u'"t16_t '70;'7u"t;'@ 

7e"d'e"te*?EFA@A; a$ha27ac-???E92@?92@F?<192@F?<292@@/ ?2*<1*<2@@* 180.0 / #I; a$ha17ata"?/E@*180 / #I Fata"??<2*-'"?a$ha2*#I/180@@/ ?<1<2*c-?a$ha2*#I/180@@@*180/ #I; '& ?E0@  a$ha17180a$ha1;  OCR1A721*a$ha11000; OCR1B71000a$ha2*21;  _de$a_-?10@; '& ?AB@  E;

 e$-e  EFF;  #ORTC7000; 

 //*************S>G)=DO CASO #>=DI>=T> CR>CI>=T> AOR A 1  AOR 0 ************ '& ?e"d'e"te,1 HH e"d'e"teF1@  #ORTA70((; 7A; u"t7BFA; '& ?u"t0@  u"t7F1*u"t;  &r?u'"t16_t '70;'7u"t;'@  E7?FA@/e"d'e"teA; a$ha27ac-???E92@?92@F?<192@F?<292@@/ ?2*<1*<2@@* 180/ #I; a$ha17ata"?/E@*180 / #I Fata"??<2*-'"?a$ha2*#I/180@@/ ?<1<2*c-?a$ha2*#I/180@@@*180/ #I; '& ?E0@  a$ha17180a$ha1;  OCR1A721*a$ha11000; OCR1B71000a$ha2*21;  _de$a_-?10@; '& ?AB@  ;  e$-e  FF;   #ORTA70E00;   _de$a_-?2000@; 

read7&a$-e; araetr-570;  +'d -etu_TI>R1?@  TCCR1A7?1CO1A1@H?0CO1A0@H?1CO1B1@H?0CO1B1@H?1G11@H?0G10@; TCCR1B7?1G13@H?1G12@H?0CS12@H?1CS11@H?0CS10@; TC=T171000; OCR1A71000; OCR1B71000; ICR170000; TISJ70; TI(R70; DDRDH7?1#D@; DDRDH7?1#D@;  ISR?)SART_RC_+ect@  &r ?'"t '70;'6;'@  araetr-5'7)DR;  _de$a_-?200@;  

+'d '"'c'ar_u-art?@ )CSRB7010011000; )CSRC7000000110; )BRRK70; )BRR<7103; 