Diff: main.cpp

Revision:

4:cd5de3b14797

Parent:

3:a03ce2084ceb

--- a/main.cpp	Sat Dec 09 10:20:20 2017 +0000
+++ b/main.cpp	Tue Dec 12 07:48:20 2017 +0000
@@ -2,23 +2,31 @@
 #include "mbed.h"
 #include "TextLCD.h"
 #include "PS_PAD.h"
-#include "motordriver.h"
+#include "Motor.h"
+#include "encoderKRAI.h"
 
 #include <string>
 using namespace std;
 
+Thread thread2(osPriorityNormal, OS_STACK_SIZE, NULL);
+Thread thread1(osPriorityNormal, OS_STACK_SIZE, NULL);
+Thread thread3(osPriorityNormal, OS_STACK_SIZE, NULL);
 
-TextLCD lcd(PB_7, PA_15, PA_14, PB_8, PB_1, PA_13, TextLCD::LCD20x4); //rs,e,d4-d7
-
+TextLCD lcd(PA_9, PC_3, PC_2, PA_8, PB_0, PC_15, TextLCD::LCD20x4); //rs,e,d4-d7
+encoderKRAI enc1 (PC_14, PC_13, 11, encoderKRAI::X4_ENCODING);
+encoderKRAI enc2 (PC_0, PC_1, 11, encoderKRAI::X4_ENCODING);
+encoderKRAI enc3 (PB_10, PB_3, 11, encoderKRAI::X4_ENCODING);
 PS_PAD ps2(PB_15,PB_14,PB_13, PC_4); //(mosi, miso, sck, ss)
 
-/* motor
-    Motor motor3(PA_8, PB_0, PC_15, 1); //motor1
-    Motor motor1(PA_11, PA_6, PA_5, 1); //motor2
-    Motor motor4(PA_9, PC_2, PC_3, 1);   //motor_slider
-    Motor motor2(PA_10, PB_5, PB_4, 1);  //motor_griper
-*/
-
+    Motor motor3(PB_7, PA_14, PA_15); //motor4
+    Motor motor2(PA_11, PA_6, PA_5); //motor2
+    //Motor motor1(PA_10, PB_5, PB_4);  //motor_griper
+    Motor motor1(PB_6, PA_7, PB_12); //motor 3
+string a;
+    
+void dataJoystick();
+void lcdPrint();
+void motorP();
 
 Serial pc(USBTX,USBRX);
 
@@ -26,20 +34,21 @@
 {    
     pc.baud(115200);
     ps2.init();
-    
-    string a;
+    thread1.start(dataJoystick);
+    thread2.start(lcdPrint);
+    thread3.start(motorP);
     while (1)
     {      
         // baca input
+/*      
         ps2.poll();
-        
         if(ps2.read(PS_PAD::PAD_X)==1)                   a = "silang";
         else if(ps2.read(PS_PAD::PAD_CIRCLE)==1)         a = "lingkaran";
         else if(ps2.read(PS_PAD::PAD_TRIANGLE)==1)       a = "segitiga";
         else if(ps2.read(PS_PAD::PAD_SQUARE)==1)         a = "kotak";
         else                                             a = "NULL";
-    
-        
+ */   
+/*        
         //tampilkan LCD
         lcd.locate(0,0);
         lcd.printf("input joystik :");
@@ -48,6 +57,48 @@
     
         wait_ms(10);
         lcd.cls();
+*/
+    }
+}
+
+void dataJoystick(){
+    while(true){
+    ps2.poll();
+    if(ps2.read(PS_PAD::PAD_X)==1)                   a =  "silang";
+    else if(ps2.read(PS_PAD::PAD_CIRCLE)==1)         a = "lingkaran";
+    else if(ps2.read(PS_PAD::PAD_TRIANGLE)==1)       a = "segitiga";
+    else if(ps2.read(PS_PAD::PAD_SQUARE)==1)         a = "kotak";
+    else                                             a = "NULL";    
     }
 }
-        
\ No newline at end of file
+
+void lcdPrint(){
+    while (true){
+    lcd.cls(); 
+    int pulse1 = enc1.getPulses();
+    int pulse2 = enc2.getPulses();
+    int pulse3 = enc3.getPulses();
+    lcd.locate(0,0);
+    lcd.printf("input : %s", a);
+    lcd.locate(0,1);
+    lcd.printf("enc1 = %d", pulse1);
+    lcd.locate(0,2);
+    lcd.printf("enc2 = %d", pulse2);
+    lcd.locate(0,3);
+    lcd.printf("enc3 = %d", pulse3);
+    Thread::wait(20);
+    }
+}
+
+void motorP() {
+        while(true){
+            motor1.speed(0.5);
+            motor2.speed(0.5);
+            motor3.speed(0.5);
+            Thread::wait(2000);
+            motor1.speed(-0.5);
+            motor2.speed(-0.5);
+            motor3.speed(-0.5);
+            Thread::wait(2000);
+        }  
+}      
\ No newline at end of file