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Dependencies:   mbed encoder

main.cpp@0:fcd0b627a867, 2018-11-30 (annotated)

Committer:
alienbernamaihsan
Date:
Fri Nov 30 13:58:10 2018 +0000
Revision:
0:fcd0b627a867
-

Who changed what in which revision?

UserRevisionLine numberNew contents of line
alienbernamaihsan 0:fcd0b627a867 1 #include "mbed.h"
alienbernamaihsan 0:fcd0b627a867 2 #include "motor.h"
alienbernamaihsan 0:fcd0b627a867 3 #include "encoderKRAI.h"
alienbernamaihsan 0:fcd0b627a867 4
alienbernamaihsan 0:fcd0b627a867 5 //PIN ENC2 dituker PC_9 karena layout di PCBnya salah (bentrok)
alienbernamaihsan 0:fcd0b627a867 6
alienbernamaihsan 0:fcd0b627a867 7 //motor motor1 (PA_9, PB_10, PA_8);
alienbernamaihsan 0:fcd0b627a867 8 //motor motor2 (PA_7, PB_6, PC_7);
alienbernamaihsan 0:fcd0b627a867 9 //motor motor3 (PA_5, PA_6, PC_8);
alienbernamaihsan 0:fcd0b627a867 10
alienbernamaihsan 0:fcd0b627a867 11 //konfigurasi baru untuk robot G
alienbernamaihsan 0:fcd0b627a867 12 // Variabel encoder
alienbernamaihsan 0:fcd0b627a867 13 // PPR PG45 dan PG36 yang digunakan sama = 537.6
alienbernamaihsan 0:fcd0b627a867 14 encoderKRAI enc1(PC_0, PC_3, 1440 , encoderKRAI::X4_ENCODING); // M1 PPR Total = PPR Encoder * Mode Encoding * Gear Reduction
alienbernamaihsan 0:fcd0b627a867 15 encoderKRAI enc2(PC_10, PC_4, 1440 , encoderKRAI::X4_ENCODING); // M2 PPR Total = PPR Encoder * Mode Encoding * Gear Reduction
alienbernamaihsan 0:fcd0b627a867 16 encoderKRAI enc3(PB_15 , PB_1, 1440 , encoderKRAI::X4_ENCODING); // M3 PPR Total = PPR Encoder * Mode Encoding * Gear Reduction
alienbernamaihsan 0:fcd0b627a867 17
alienbernamaihsan 0:fcd0b627a867 18 //konfigurasi untuk kiper//
alienbernamaihsan 0:fcd0b627a867 19 //encoderKRAI enc1(PB_2, PC_9, 1440 , encoderKRAI::X4_ENCODING); // M1 PPR Total = PPR Encoder * Mode Encoding * Gear Reduction
alienbernamaihsan 0:fcd0b627a867 20 //encoderKRAI enc2(PA_12, PA_11, 537.6 , encoderKRAI::X4_ENCODING); // M2 PPR Total = PPR Encoder * Mode Encoding * Gear Reduction
alienbernamaihsan 0:fcd0b627a867 21 //encoderKRAI enc3(PC_6 , PC_5, 537.6 , encoderKRAI::X4_ENCODING); // M3 PPR Total = PPR Encoder * Mode Encoding * Gear Reduction
alienbernamaihsan 0:fcd0b627a867 22
alienbernamaihsan 0:fcd0b627a867 23 //Penggiring
alienbernamaihsan 0:fcd0b627a867 24 //motor peng_l (PB_0, PA_4, PA_10);
alienbernamaihsan 0:fcd0b627a867 25 //motor peng_r (PA_1, PA_0, PB_4);
alienbernamaihsan 0:fcd0b627a867 26 //encoderKRAI enc_peng_l(PB_13, PC_4, 537.6 , encoderKRAI::X4_ENCODING);
alienbernamaihsan 0:fcd0b627a867 27 //encoderKRAI enc_peng_r(PB_14, PB_15, 537.6 , encoderKRAI::X4_ENCODING);
alienbernamaihsan 0:fcd0b627a867 28
alienbernamaihsan 0:fcd0b627a867 29 float buffer ;
alienbernamaihsan 0:fcd0b627a867 30
alienbernamaihsan 0:fcd0b627a867 31 // Serial
alienbernamaihsan 0:fcd0b627a867 32 Serial pc(USBTX,USBRX,115200);
alienbernamaihsan 0:fcd0b627a867 33
alienbernamaihsan 0:fcd0b627a867 34 int main()
alienbernamaihsan 0:fcd0b627a867 35 {
alienbernamaihsan 0:fcd0b627a867 36
alienbernamaihsan 0:fcd0b627a867 37 float rot1 = 0.0 ;
alienbernamaihsan 0:fcd0b627a867 38 float rot2 = 0.0 ;
alienbernamaihsan 0:fcd0b627a867 39 float rot3 = 0.0 ;
alienbernamaihsan 0:fcd0b627a867 40 // float rot4 = 0.0 ;
alienbernamaihsan 0:fcd0b627a867 41 // float rot5 = 0.0 ;
alienbernamaihsan 0:fcd0b627a867 42 while(1)
alienbernamaihsan 0:fcd0b627a867 43 {
alienbernamaihsan 0:fcd0b627a867 44 //motor3.setpwm(0.5);
alienbernamaihsan 0:fcd0b627a867 45
alienbernamaihsan 0:fcd0b627a867 46 /*
alienbernamaihsan 0:fcd0b627a867 47
alienbernamaihsan 0:fcd0b627a867 48 motor1.setpwm(0.3);
alienbernamaihsan 0:fcd0b627a867 49 motor2.setpwm(0.5);
alienbernamaihsan 0:fcd0b627a867 50 motor3.setpwm(0.3);
alienbernamaihsan 0:fcd0b627a867 51 peng_l.setpwm(0.7);
alienbernamaihsan 0:fcd0b627a867 52 peng_r.setpwm(0.7);
alienbernamaihsan 0:fcd0b627a867 53 wait(3);
alienbernamaihsan 0:fcd0b627a867 54 motor1.setpwm(-0.3);
alienbernamaihsan 0:fcd0b627a867 55 motor2.setpwm(-0.5);
alienbernamaihsan 0:fcd0b627a867 56 motor3.setpwm(-0.3);
alienbernamaihsan 0:fcd0b627a867 57 peng_l.setpwm(-0.7);
alienbernamaihsan 0:fcd0b627a867 58 peng_r.setpwm(-0.7);
alienbernamaihsan 0:fcd0b627a867 59 wait(3);
alienbernamaihsan 0:fcd0b627a867 60 */
alienbernamaihsan 0:fcd0b627a867 61 //
alienbernamaihsan 0:fcd0b627a867 62 //
alienbernamaihsan 0:fcd0b627a867 63 // if (pc.getc()=='a')
alienbernamaihsan 0:fcd0b627a867 64 // {
alienbernamaihsan 0:fcd0b627a867 65 // buffer = 0.3;
alienbernamaihsan 0:fcd0b627a867 66 // motor1.setpwm(buffer);
alienbernamaihsan 0:fcd0b627a867 67 // motor2.setpwm(buffer);
alienbernamaihsan 0:fcd0b627a867 68 // motor3.setpwm(buffer);
alienbernamaihsan 0:fcd0b627a867 69 // }
alienbernamaihsan 0:fcd0b627a867 70 // else if (pc.getc()=='b')
alienbernamaihsan 0:fcd0b627a867 71 // {
alienbernamaihsan 0:fcd0b627a867 72 // buffer = -0.3;
alienbernamaihsan 0:fcd0b627a867 73 // motor1.setpwm(buffer);
alienbernamaihsan 0:fcd0b627a867 74 // motor2.setpwm(buffer);
alienbernamaihsan 0:fcd0b627a867 75 // motor3.setpwm(buffer);
alienbernamaihsan 0:fcd0b627a867 76 //
alienbernamaihsan 0:fcd0b627a867 77 // }
alienbernamaihsan 0:fcd0b627a867 78 //else if (pc.getc()=='s')
alienbernamaihsan 0:fcd0b627a867 79 // {
alienbernamaihsan 0:fcd0b627a867 80 // motor1.setpwm(buffer);
alienbernamaihsan 0:fcd0b627a867 81 // motor2.setpwm(buffer);// motor3.setpwm(buffer);
alienbernamaihsan 0:fcd0b627a867 82 // }
alienbernamaihsan 0:fcd0b627a867 83
alienbernamaihsan 0:fcd0b627a867 84 rot1 = rot1 + enc1.getRevolutions() * 2 * 3.14 ;
alienbernamaihsan 0:fcd0b627a867 85 rot2 = rot2 + enc2.getRevolutions() * 2 * 3.14 ;
alienbernamaihsan 0:fcd0b627a867 86 rot3 = rot3 + enc3.getRevolutions() * 2 * 3.14 ;
alienbernamaihsan 0:fcd0b627a867 87 // rot4 = rot4 + enc_peng_l.getRevolutions() * 2 * 3.14 ;
alienbernamaihsan 0:fcd0b627a867 88 // rot5 = rot5 + enc_peng_r.getRevolutions() * 2 * 3.14 ;
alienbernamaihsan 0:fcd0b627a867 89 pc.printf("%.2f, %.2f, %.2f\n", rot1, rot2, rot3);
alienbernamaihsan 0:fcd0b627a867 90 wait_ms(50);
alienbernamaihsan 0:fcd0b627a867 91
alienbernamaihsan 0:fcd0b627a867 92 }
alienbernamaihsan 0:fcd0b627a867 93 }