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PID omniwheel 3 roda
Dependencies: Motor PS_PAD TextLCD mbed-os
Fork of cobaLCDJoyMotor_Thread by
main.cpp@1:2bf3dac65b08, 2015-11-24 (annotated)
- Committer:
- rizqicahyo
- Date:
- Tue Nov 24 14:39:59 2015 +0000
- Revision:
- 1:2bf3dac65b08
- Parent:
- 0:837acb06c892
- Child:
- 2:907766ac29a2
tugas hybrid LCD
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
rizqicahyo | 1:2bf3dac65b08 | 1 | /*********************************************************************/ |
rizqicahyo | 1:2bf3dac65b08 | 2 | /** **/ |
rizqicahyo | 1:2bf3dac65b08 | 3 | /** PROGRAM TAMPIL LCD **/ |
rizqicahyo | 1:2bf3dac65b08 | 4 | /** **/ |
rizqicahyo | 1:2bf3dac65b08 | 5 | /** 24 November, Selasa, 2015 **/ |
rizqicahyo | 1:2bf3dac65b08 | 6 | /** **/ |
rizqicahyo | 1:2bf3dac65b08 | 7 | /** Dibuat oleh : **/ |
rizqicahyo | 1:2bf3dac65b08 | 8 | /** Rizqi Cahyo Yuwono **/ |
rizqicahyo | 1:2bf3dac65b08 | 9 | /** 13214090 **/ |
rizqicahyo | 1:2bf3dac65b08 | 10 | /** **/ |
rizqicahyo | 1:2bf3dac65b08 | 11 | /*********************************************************************/ |
rizqicahyo | 1:2bf3dac65b08 | 12 | |
rizqicahyo | 0:837acb06c892 | 13 | #include "mbed.h" |
rizqicahyo | 0:837acb06c892 | 14 | #include "TextLCD.h" |
rizqicahyo | 0:837acb06c892 | 15 | |
rizqicahyo | 0:837acb06c892 | 16 | TextLCD lcd(PA_8, PB_10, PB_4, PB_5, PB_3, PA_10, TextLCD::LCD20x4); //rs,e,d4-d7, |
rizqicahyo | 0:837acb06c892 | 17 | |
rizqicahyo | 0:837acb06c892 | 18 | Serial pc(USBTX,USBRX); |
rizqicahyo | 0:837acb06c892 | 19 | |
rizqicahyo | 0:837acb06c892 | 20 | DigitalOut selector_a (PA_4); |
rizqicahyo | 0:837acb06c892 | 21 | DigitalOut selector_b (PB_0); |
rizqicahyo | 0:837acb06c892 | 22 | DigitalOut selector_c (PC_1); |
rizqicahyo | 0:837acb06c892 | 23 | |
rizqicahyo | 0:837acb06c892 | 24 | DigitalIn but0(PC_8); |
rizqicahyo | 0:837acb06c892 | 25 | |
rizqicahyo | 0:837acb06c892 | 26 | AnalogIn sensorkanan (PA_1); |
rizqicahyo | 0:837acb06c892 | 27 | AnalogIn sensorkiri(PA_0); |
rizqicahyo | 0:837acb06c892 | 28 | |
rizqicahyo | 0:837acb06c892 | 29 | void Selektor (int output) |
rizqicahyo | 0:837acb06c892 | 30 | { |
rizqicahyo | 0:837acb06c892 | 31 | if (output == 0) |
rizqicahyo | 0:837acb06c892 | 32 | { |
rizqicahyo | 0:837acb06c892 | 33 | selector_a = 0; |
rizqicahyo | 0:837acb06c892 | 34 | selector_b = 0; |
rizqicahyo | 0:837acb06c892 | 35 | selector_c = 0; |
rizqicahyo | 0:837acb06c892 | 36 | } |
rizqicahyo | 0:837acb06c892 | 37 | else if (output ==1) |
rizqicahyo | 0:837acb06c892 | 38 | { |
rizqicahyo | 0:837acb06c892 | 39 | selector_a = 1; |
rizqicahyo | 0:837acb06c892 | 40 | selector_b = 0; |
rizqicahyo | 0:837acb06c892 | 41 | selector_c = 0; |
rizqicahyo | 0:837acb06c892 | 42 | } |
rizqicahyo | 0:837acb06c892 | 43 | else if (output ==2) |
rizqicahyo | 0:837acb06c892 | 44 | { |
rizqicahyo | 0:837acb06c892 | 45 | selector_a = 0; |
rizqicahyo | 0:837acb06c892 | 46 | selector_b = 1; |
rizqicahyo | 0:837acb06c892 | 47 | selector_c = 0; |
rizqicahyo | 0:837acb06c892 | 48 | } |
rizqicahyo | 0:837acb06c892 | 49 | else if (output ==3) |
rizqicahyo | 0:837acb06c892 | 50 | { |
rizqicahyo | 0:837acb06c892 | 51 | selector_a = 1; |
rizqicahyo | 0:837acb06c892 | 52 | selector_b = 1; |
rizqicahyo | 0:837acb06c892 | 53 | selector_c = 0; |
rizqicahyo | 0:837acb06c892 | 54 | } |
rizqicahyo | 0:837acb06c892 | 55 | else if (output ==4) |
rizqicahyo | 0:837acb06c892 | 56 | { |
rizqicahyo | 0:837acb06c892 | 57 | selector_a = 0; |
rizqicahyo | 0:837acb06c892 | 58 | selector_b = 0; |
rizqicahyo | 0:837acb06c892 | 59 | selector_c = 1; |
rizqicahyo | 0:837acb06c892 | 60 | } |
rizqicahyo | 0:837acb06c892 | 61 | else if (output ==5) |
rizqicahyo | 0:837acb06c892 | 62 | { |
rizqicahyo | 0:837acb06c892 | 63 | selector_a = 1; |
rizqicahyo | 0:837acb06c892 | 64 | selector_b = 0; |
rizqicahyo | 0:837acb06c892 | 65 | selector_c = 1; |
rizqicahyo | 0:837acb06c892 | 66 | } |
rizqicahyo | 0:837acb06c892 | 67 | else if (output ==6) |
rizqicahyo | 0:837acb06c892 | 68 | { |
rizqicahyo | 0:837acb06c892 | 69 | selector_a = 0; |
rizqicahyo | 0:837acb06c892 | 70 | selector_b = 1; |
rizqicahyo | 0:837acb06c892 | 71 | selector_c = 1; |
rizqicahyo | 0:837acb06c892 | 72 | } |
rizqicahyo | 0:837acb06c892 | 73 | else if (output ==7) |
rizqicahyo | 0:837acb06c892 | 74 | { |
rizqicahyo | 0:837acb06c892 | 75 | selector_a = 1; |
rizqicahyo | 0:837acb06c892 | 76 | selector_b = 1; |
rizqicahyo | 0:837acb06c892 | 77 | selector_c = 1; |
rizqicahyo | 0:837acb06c892 | 78 | } |
rizqicahyo | 0:837acb06c892 | 79 | } |
rizqicahyo | 0:837acb06c892 | 80 | char sensor_ki (int urutan) |
rizqicahyo | 0:837acb06c892 | 81 | { |
rizqicahyo | 0:837acb06c892 | 82 | char x; |
rizqicahyo | 0:837acb06c892 | 83 | //int hasil; |
rizqicahyo | 0:837acb06c892 | 84 | Selektor(urutan); |
rizqicahyo | 0:837acb06c892 | 85 | wait_ms(1); |
rizqicahyo | 0:837acb06c892 | 86 | if (sensorkiri.read() >= 1) |
rizqicahyo | 0:837acb06c892 | 87 | { |
rizqicahyo | 0:837acb06c892 | 88 | |
rizqicahyo | 0:837acb06c892 | 89 | x='1'; |
rizqicahyo | 0:837acb06c892 | 90 | } |
rizqicahyo | 0:837acb06c892 | 91 | else |
rizqicahyo | 0:837acb06c892 | 92 | { |
rizqicahyo | 0:837acb06c892 | 93 | x='0'; |
rizqicahyo | 0:837acb06c892 | 94 | } |
rizqicahyo | 0:837acb06c892 | 95 | |
rizqicahyo | 0:837acb06c892 | 96 | return x; |
rizqicahyo | 0:837acb06c892 | 97 | } |
rizqicahyo | 0:837acb06c892 | 98 | char sensor_ka (int urutan ) |
rizqicahyo | 0:837acb06c892 | 99 | { |
rizqicahyo | 0:837acb06c892 | 100 | char x; |
rizqicahyo | 0:837acb06c892 | 101 | //int hasil ; |
rizqicahyo | 0:837acb06c892 | 102 | Selektor(urutan); |
rizqicahyo | 0:837acb06c892 | 103 | wait_ms(1); |
rizqicahyo | 0:837acb06c892 | 104 | if (sensorkanan.read() >= 1) |
rizqicahyo | 0:837acb06c892 | 105 | { |
rizqicahyo | 0:837acb06c892 | 106 | x='1'; |
rizqicahyo | 0:837acb06c892 | 107 | } |
rizqicahyo | 0:837acb06c892 | 108 | else |
rizqicahyo | 0:837acb06c892 | 109 | { |
rizqicahyo | 0:837acb06c892 | 110 | x='0'; |
rizqicahyo | 0:837acb06c892 | 111 | } |
rizqicahyo | 0:837acb06c892 | 112 | |
rizqicahyo | 0:837acb06c892 | 113 | return x; |
rizqicahyo | 0:837acb06c892 | 114 | } |
rizqicahyo | 0:837acb06c892 | 115 | |
rizqicahyo | 0:837acb06c892 | 116 | float sensor_ki_adc (int urutan) |
rizqicahyo | 0:837acb06c892 | 117 | { |
rizqicahyo | 0:837acb06c892 | 118 | //int hasil; |
rizqicahyo | 0:837acb06c892 | 119 | Selektor(urutan); |
rizqicahyo | 0:837acb06c892 | 120 | wait_ms(1); |
rizqicahyo | 0:837acb06c892 | 121 | |
rizqicahyo | 0:837acb06c892 | 122 | return sensorkiri.read(); |
rizqicahyo | 0:837acb06c892 | 123 | } |
rizqicahyo | 0:837acb06c892 | 124 | float sensor_ka_adc (int urutan ) |
rizqicahyo | 0:837acb06c892 | 125 | { |
rizqicahyo | 0:837acb06c892 | 126 | //int hasil ; |
rizqicahyo | 0:837acb06c892 | 127 | Selektor(urutan); |
rizqicahyo | 0:837acb06c892 | 128 | wait_ms(1); |
rizqicahyo | 0:837acb06c892 | 129 | |
rizqicahyo | 0:837acb06c892 | 130 | return sensorkanan.read(); |
rizqicahyo | 0:837acb06c892 | 131 | } |
rizqicahyo | 0:837acb06c892 | 132 | |
rizqicahyo | 0:837acb06c892 | 133 | void tampil_lcd_bin() |
rizqicahyo | 0:837acb06c892 | 134 | { |
rizqicahyo | 0:837acb06c892 | 135 | lcd.locate(2,3); |
rizqicahyo | 0:837acb06c892 | 136 | lcd.putc(sensor_ki(7)); |
rizqicahyo | 0:837acb06c892 | 137 | lcd.locate(3,3); |
rizqicahyo | 0:837acb06c892 | 138 | //pc.printf (" "); |
rizqicahyo | 0:837acb06c892 | 139 | lcd.putc(sensor_ki(6)); |
rizqicahyo | 0:837acb06c892 | 140 | lcd.locate(4,3); |
rizqicahyo | 0:837acb06c892 | 141 | //pc.printf (" "); |
rizqicahyo | 0:837acb06c892 | 142 | lcd.putc(sensor_ki(5)); |
rizqicahyo | 0:837acb06c892 | 143 | lcd.locate(5,3); |
rizqicahyo | 0:837acb06c892 | 144 | lcd.putc(sensor_ki(4)); |
rizqicahyo | 0:837acb06c892 | 145 | lcd.locate(6,3); |
rizqicahyo | 0:837acb06c892 | 146 | lcd.putc(sensor_ki(3)); |
rizqicahyo | 0:837acb06c892 | 147 | lcd.locate(7,3); |
rizqicahyo | 0:837acb06c892 | 148 | lcd.putc(sensor_ki(2)); |
rizqicahyo | 0:837acb06c892 | 149 | lcd.locate(8,3); |
rizqicahyo | 0:837acb06c892 | 150 | lcd.putc(sensor_ki(1)); |
rizqicahyo | 0:837acb06c892 | 151 | lcd.locate(9,3); |
rizqicahyo | 0:837acb06c892 | 152 | lcd.putc(sensor_ki(0)); |
rizqicahyo | 0:837acb06c892 | 153 | lcd.locate(10,3); |
rizqicahyo | 0:837acb06c892 | 154 | lcd.putc(sensor_ka(7)); |
rizqicahyo | 0:837acb06c892 | 155 | lcd.locate(11,3); |
rizqicahyo | 0:837acb06c892 | 156 | lcd.putc(sensor_ka(6)); |
rizqicahyo | 0:837acb06c892 | 157 | lcd.locate(12,3); |
rizqicahyo | 0:837acb06c892 | 158 | lcd.putc(sensor_ka(5)); |
rizqicahyo | 0:837acb06c892 | 159 | lcd.locate(13,3); |
rizqicahyo | 0:837acb06c892 | 160 | lcd.putc(sensor_ka(4)); |
rizqicahyo | 0:837acb06c892 | 161 | lcd.locate(14,3); |
rizqicahyo | 0:837acb06c892 | 162 | lcd.putc(sensor_ka(3)); |
rizqicahyo | 0:837acb06c892 | 163 | lcd.locate(15,3); |
rizqicahyo | 0:837acb06c892 | 164 | lcd.putc(sensor_ka(2)); |
rizqicahyo | 0:837acb06c892 | 165 | lcd.locate(16,3); |
rizqicahyo | 0:837acb06c892 | 166 | lcd.putc(sensor_ka(1)); |
rizqicahyo | 0:837acb06c892 | 167 | lcd.locate(17,3); |
rizqicahyo | 0:837acb06c892 | 168 | lcd.putc(sensor_ka(0)); |
rizqicahyo | 0:837acb06c892 | 169 | lcd.locate(18,3); |
rizqicahyo | 0:837acb06c892 | 170 | } |
rizqicahyo | 0:837acb06c892 | 171 | |
rizqicahyo | 0:837acb06c892 | 172 | void tampil_lcd_adc() |
rizqicahyo | 0:837acb06c892 | 173 | { |
rizqicahyo | 0:837acb06c892 | 174 | int k,j,i; |
rizqicahyo | 0:837acb06c892 | 175 | i=0; |
rizqicahyo | 0:837acb06c892 | 176 | |
rizqicahyo | 0:837acb06c892 | 177 | while(i <= 3) |
rizqicahyo | 0:837acb06c892 | 178 | { |
rizqicahyo | 0:837acb06c892 | 179 | j=0; |
rizqicahyo | 0:837acb06c892 | 180 | k=7; |
rizqicahyo | 0:837acb06c892 | 181 | while(j<16 && k>3) |
rizqicahyo | 0:837acb06c892 | 182 | { |
rizqicahyo | 0:837acb06c892 | 183 | lcd.locate(j,i); |
rizqicahyo | 0:837acb06c892 | 184 | if(i==0) |
rizqicahyo | 0:837acb06c892 | 185 | { |
rizqicahyo | 0:837acb06c892 | 186 | //lcd.locate(j,i); |
rizqicahyo | 0:837acb06c892 | 187 | lcd.printf("%1.2f",sensor_ki_adc(k)); |
rizqicahyo | 0:837acb06c892 | 188 | } |
rizqicahyo | 0:837acb06c892 | 189 | else if(i==1) |
rizqicahyo | 0:837acb06c892 | 190 | { |
rizqicahyo | 0:837acb06c892 | 191 | //lcd.locate(j,i); |
rizqicahyo | 0:837acb06c892 | 192 | lcd.printf("%1.2f",sensor_ki_adc(k-4)); |
rizqicahyo | 0:837acb06c892 | 193 | } |
rizqicahyo | 0:837acb06c892 | 194 | else if(i==2) |
rizqicahyo | 0:837acb06c892 | 195 | { |
rizqicahyo | 0:837acb06c892 | 196 | //lcd.locate(j,i); |
rizqicahyo | 0:837acb06c892 | 197 | lcd.printf("%1.2f",sensor_ka_adc(k)); |
rizqicahyo | 0:837acb06c892 | 198 | } |
rizqicahyo | 0:837acb06c892 | 199 | else if(i==3) |
rizqicahyo | 0:837acb06c892 | 200 | { |
rizqicahyo | 0:837acb06c892 | 201 | //lcd.locate(j,i); |
rizqicahyo | 0:837acb06c892 | 202 | lcd.printf("%1.2f",sensor_ka_adc(k-4)); |
rizqicahyo | 0:837acb06c892 | 203 | } |
rizqicahyo | 0:837acb06c892 | 204 | |
rizqicahyo | 0:837acb06c892 | 205 | j=j+5; |
rizqicahyo | 0:837acb06c892 | 206 | k--; |
rizqicahyo | 0:837acb06c892 | 207 | } |
rizqicahyo | 0:837acb06c892 | 208 | i++; |
rizqicahyo | 0:837acb06c892 | 209 | } |
rizqicahyo | 0:837acb06c892 | 210 | } |
rizqicahyo | 0:837acb06c892 | 211 | |
rizqicahyo | 0:837acb06c892 | 212 | |
rizqicahyo | 0:837acb06c892 | 213 | |
rizqicahyo | 0:837acb06c892 | 214 | int main() |
rizqicahyo | 0:837acb06c892 | 215 | { |
rizqicahyo | 0:837acb06c892 | 216 | pc.baud(115200); |
rizqicahyo | 0:837acb06c892 | 217 | //pc.printf("Pembacaan ADC Sensor : \n"); |
rizqicahyo | 0:837acb06c892 | 218 | while (1) |
rizqicahyo | 0:837acb06c892 | 219 | { |
rizqicahyo | 0:837acb06c892 | 220 | if(but0 == 1) |
rizqicahyo | 0:837acb06c892 | 221 | { |
rizqicahyo | 0:837acb06c892 | 222 | tampil_lcd_adc(); |
rizqicahyo | 0:837acb06c892 | 223 | //wait_ms(100); |
rizqicahyo | 0:837acb06c892 | 224 | } |
rizqicahyo | 0:837acb06c892 | 225 | else |
rizqicahyo | 0:837acb06c892 | 226 | { |
rizqicahyo | 0:837acb06c892 | 227 | lcd.locate(0,0); |
rizqicahyo | 0:837acb06c892 | 228 | lcd.printf("rizqi cahyo Yuwono"); |
rizqicahyo | 0:837acb06c892 | 229 | lcd.locate(0,1); |
rizqicahyo | 0:837acb06c892 | 230 | lcd.printf("12314090"); |
rizqicahyo | 0:837acb06c892 | 231 | tampil_lcd_bin(); |
rizqicahyo | 0:837acb06c892 | 232 | } |
rizqicahyo | 0:837acb06c892 | 233 | |
rizqicahyo | 0:837acb06c892 | 234 | pc.printf ("%f", sensor_ki_adc(7)); |
rizqicahyo | 0:837acb06c892 | 235 | //pc.printf (" "); |
rizqicahyo | 0:837acb06c892 | 236 | pc.printf (" %f ", sensor_ki_adc(6)); |
rizqicahyo | 0:837acb06c892 | 237 | //pc.printf (" "); |
rizqicahyo | 0:837acb06c892 | 238 | pc.printf (" %f ", sensor_ki_adc(5)); |
rizqicahyo | 0:837acb06c892 | 239 | pc.printf (" %f ", sensor_ki_adc(4)); |
rizqicahyo | 0:837acb06c892 | 240 | pc.printf (" %f ", sensor_ki_adc(3)); |
rizqicahyo | 0:837acb06c892 | 241 | pc.printf (" %f ", sensor_ki_adc(2)); |
rizqicahyo | 0:837acb06c892 | 242 | pc.printf (" %f ", sensor_ki_adc(1)); |
rizqicahyo | 0:837acb06c892 | 243 | pc.printf (" %f ", sensor_ki_adc(0)); |
rizqicahyo | 0:837acb06c892 | 244 | pc.printf ("\t\t"); |
rizqicahyo | 0:837acb06c892 | 245 | pc.printf (" %f ", sensor_ka_adc(7)); |
rizqicahyo | 0:837acb06c892 | 246 | pc.printf (" %f ", sensor_ka_adc(6)); |
rizqicahyo | 0:837acb06c892 | 247 | pc.printf (" %f ", sensor_ka_adc(5)); |
rizqicahyo | 0:837acb06c892 | 248 | pc.printf (" %f ", sensor_ka_adc(4)); |
rizqicahyo | 0:837acb06c892 | 249 | pc.printf (" %f ", sensor_ka_adc(3)); |
rizqicahyo | 0:837acb06c892 | 250 | pc.printf (" %f ", sensor_ka_adc(2)); |
rizqicahyo | 0:837acb06c892 | 251 | pc.printf (" %f ", sensor_ka_adc(1)); |
rizqicahyo | 0:837acb06c892 | 252 | pc.printf (" %f ", sensor_ka_adc(0)); |
rizqicahyo | 0:837acb06c892 | 253 | pc.printf ("\r\n"); |
rizqicahyo | 0:837acb06c892 | 254 | |
rizqicahyo | 0:837acb06c892 | 255 | wait_ms(10); |
rizqicahyo | 0:837acb06c892 | 256 | lcd.cls(); |
rizqicahyo | 0:837acb06c892 | 257 | } |
rizqicahyo | 0:837acb06c892 | 258 | } |
rizqicahyo | 0:837acb06c892 | 259 |