Diff: main.cpp

Revision:

0:fcd0b627a867

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Nov 30 13:58:10 2018 +0000
@@ -0,0 +1,93 @@
+#include "mbed.h"
+#include "motor.h"
+#include "encoderKRAI.h"
+
+//PIN ENC2 dituker PC_9 karena layout di PCBnya salah (bentrok)
+
+//motor motor1 (PA_9, PB_10, PA_8);
+//motor motor2 (PA_7, PB_6, PC_7);
+//motor motor3 (PA_5, PA_6, PC_8);
+
+//konfigurasi baru untuk robot G
+// Variabel encoder 
+// PPR PG45 dan PG36 yang digunakan sama = 537.6
+encoderKRAI enc1(PC_0, PC_3, 1440  , encoderKRAI::X4_ENCODING); // M1 PPR Total = PPR Encoder * Mode Encoding * Gear Reduction 
+encoderKRAI enc2(PC_10, PC_4, 1440  , encoderKRAI::X4_ENCODING); // M2 PPR Total = PPR Encoder * Mode Encoding * Gear Reduction 
+encoderKRAI enc3(PB_15 , PB_1, 1440  , encoderKRAI::X4_ENCODING); // M3 PPR Total = PPR Encoder * Mode Encoding * Gear Reduction 
+
+//konfigurasi untuk kiper//
+//encoderKRAI enc1(PB_2, PC_9, 1440  , encoderKRAI::X4_ENCODING); // M1 PPR Total = PPR Encoder * Mode Encoding * Gear Reduction 
+//encoderKRAI enc2(PA_12, PA_11, 537.6  , encoderKRAI::X4_ENCODING); // M2 PPR Total = PPR Encoder * Mode Encoding * Gear Reduction 
+//encoderKRAI enc3(PC_6 , PC_5, 537.6  , encoderKRAI::X4_ENCODING); // M3 PPR Total = PPR Encoder * Mode Encoding * Gear Reduction 
+
+//Penggiring 
+//motor peng_l (PB_0, PA_4, PA_10); 
+//motor peng_r (PA_1, PA_0, PB_4);
+//encoderKRAI enc_peng_l(PB_13, PC_4, 537.6 , encoderKRAI::X4_ENCODING); 
+//encoderKRAI enc_peng_r(PB_14, PB_15, 537.6 , encoderKRAI::X4_ENCODING);
+
+float buffer ;
+
+// Serial
+Serial pc(USBTX,USBRX,115200);
+ 
+int main() 
+{
+    
+    float rot1 = 0.0 ;
+    float rot2 = 0.0 ;
+    float rot3 = 0.0 ;
+//    float rot4 = 0.0 ;
+//    float rot5 = 0.0 ;  
+    while(1) 
+    { 
+            //motor3.setpwm(0.5);
+       
+           /*
+
+            motor1.setpwm(0.3);
+            motor2.setpwm(0.5);
+            motor3.setpwm(0.3);
+            peng_l.setpwm(0.7);
+            peng_r.setpwm(0.7);
+            wait(3);
+            motor1.setpwm(-0.3);
+            motor2.setpwm(-0.5);
+            motor3.setpwm(-0.3);
+            peng_l.setpwm(-0.7);
+            peng_r.setpwm(-0.7);
+            wait(3);
+       */
+//     
+//       
+//        if (pc.getc()=='a')
+//        {
+//            buffer = 0.3;
+//            motor1.setpwm(buffer);
+//            motor2.setpwm(buffer);
+//            motor3.setpwm(buffer);
+//        } 
+//        else if (pc.getc()=='b')
+//        {
+//            buffer = -0.3;           
+//            motor1.setpwm(buffer);
+//            motor2.setpwm(buffer);
+//            motor3.setpwm(buffer);
+//
+//        } 
+        //else if (pc.getc()=='s')
+//        {
+//            motor1.setpwm(buffer);
+//            motor2.setpwm(buffer);//            motor3.setpwm(buffer);
+//        }
+              
+        rot1 = rot1 + enc1.getRevolutions() * 2 * 3.14  ;  
+        rot2 = rot2 + enc2.getRevolutions() * 2 * 3.14  ;  
+        rot3 = rot3 + enc3.getRevolutions() * 2 * 3.14  ;  
+//        rot4 = rot4 + enc_peng_l.getRevolutions() * 2 * 3.14  ;  
+//        rot5 = rot5 + enc_peng_r.getRevolutions() * 2 * 3.14  ;  
+        pc.printf("%.2f, %.2f, %.2f\n", rot1, rot2, rot3);  
+        wait_ms(50);
+
+    }
+}