main.cpp

00001 
00002 #include "mbed.h"
00003 #include "TextLCD.h"
00004 #include "PS_PAD.h"
00005 #include "Motor.h"
00006 #include "encoderKRAI.h"
00007 
00008 #include <string>
00009 using namespace std;
00010 
00011 Thread thread2(osPriorityNormal, OS_STACK_SIZE, NULL);
00012 Thread thread1(osPriorityNormal, OS_STACK_SIZE, NULL);
00013 Thread thread3(osPriorityNormal, OS_STACK_SIZE, NULL);
00014 
00015 TextLCD lcd(PA_9, PC_3, PC_2, PA_8, PB_0, PC_15, TextLCD::LCD20x4); //rs,e,d4-d7
00016 encoderKRAI enc1 (PC_14, PC_13, 11, encoderKRAI::X4_ENCODING);
00017 encoderKRAI enc2 (PC_0, PC_1, 11, encoderKRAI::X4_ENCODING);
00018 encoderKRAI enc3 (PB_10, PB_3, 11, encoderKRAI::X4_ENCODING);
00019 PS_PAD ps2(PB_15,PB_14,PB_13, PC_4); //(mosi, miso, sck, ss)
00020 
00021     Motor motor3(PB_7, PA_14, PA_15); //motor4
00022     Motor motor2(PA_11, PA_6, PA_5); //motor2
00023     //Motor motor1(PA_10, PB_5, PB_4);  //motor_griper
00024     Motor motor1(PB_6, PA_7, PB_12); //motor 3
00025 string a;
00026     
00027 void dataJoystick();
00028 void lcdPrint();
00029 void motorP();
00030 
00031 Serial pc(USBTX,USBRX);
00032 
00033 int main()
00034 {    
00035     pc.baud(115200);
00036     ps2.init();
00037     thread1.start(dataJoystick);
00038     thread2.start(lcdPrint);
00039     thread3.start(motorP);
00040     while (1)
00041     {      
00042         // baca input
00043 /*      
00044         ps2.poll();
00045         if(ps2.read(PS_PAD::PAD_X)==1)                   a = "silang";
00046         else if(ps2.read(PS_PAD::PAD_CIRCLE)==1)         a = "lingkaran";
00047         else if(ps2.read(PS_PAD::PAD_TRIANGLE)==1)       a = "segitiga";
00048         else if(ps2.read(PS_PAD::PAD_SQUARE)==1)         a = "kotak";
00049         else                                             a = "NULL";
00050  */   
00051 /*        
00052         //tampilkan LCD
00053         lcd.locate(0,0);
00054         lcd.printf("input joystik :");
00055         lcd.locate(0,1);
00056         lcd.printf("%s",a); 
00057     
00058         wait_ms(10);
00059         lcd.cls();
00060 */
00061     }
00062 }
00063 
00064 void dataJoystick(){
00065     while(true){
00066     ps2.poll();
00067     if(ps2.read(PS_PAD::PAD_X)==1)                   a =  "silang";
00068     else if(ps2.read(PS_PAD::PAD_CIRCLE)==1)         a = "lingkaran";
00069     else if(ps2.read(PS_PAD::PAD_TRIANGLE)==1)       a = "segitiga";
00070     else if(ps2.read(PS_PAD::PAD_SQUARE)==1)         a = "kotak";
00071     else                                             a = "NULL";    
00072     }
00073 }
00074 
00075 void lcdPrint(){
00076     while (true){
00077     lcd.cls(); 
00078     int pulse1 = enc1.getPulses();
00079     int pulse2 = enc2.getPulses();
00080     int pulse3 = enc3.getPulses();
00081     lcd.locate(0,0);
00082     lcd.printf("input : %s", a);
00083     lcd.locate(0,1);
00084     lcd.printf("enc1 = %d", pulse1);
00085     lcd.locate(0,2);
00086     lcd.printf("enc2 = %d", pulse2);
00087     lcd.locate(0,3);
00088     lcd.printf("enc3 = %d", pulse3);
00089     Thread::wait(20);
00090     }
00091 }
00092 
00093 void motorP() {
00094         while(true){
00095             motor1.speed(0.5);
00096             motor2.speed(0.5);
00097             motor3.speed(0.5);
00098             Thread::wait(2000);
00099             motor1.speed(-0.5);
00100             motor2.speed(-0.5);
00101             motor3.speed(-0.5);
00102             Thread::wait(2000);
00103         }  
00104 }