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PID omniwheel 3 roda
Dependencies: Motor PS_PAD TextLCD mbed-os
Fork of cobaLCDJoyMotor_Thread by
Diff: main.cpp
- Revision:
- 0:837acb06c892
- Child:
- 1:2bf3dac65b08
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp Tue Nov 24 14:33:01 2015 +0000 @@ -0,0 +1,247 @@ +#include "mbed.h" +#include "TextLCD.h" + +TextLCD lcd(PA_8, PB_10, PB_4, PB_5, PB_3, PA_10, TextLCD::LCD20x4); //rs,e,d4-d7, + +Serial pc(USBTX,USBRX); + +DigitalOut selector_a (PA_4); +DigitalOut selector_b (PB_0); +DigitalOut selector_c (PC_1); + +DigitalIn but0(PC_8); + +AnalogIn sensorkanan (PA_1); +AnalogIn sensorkiri(PA_0); + +void Selektor (int output) +{ + if (output == 0) + { + selector_a = 0; + selector_b = 0; + selector_c = 0; + } + else if (output ==1) + { + selector_a = 1; + selector_b = 0; + selector_c = 0; + } + else if (output ==2) + { + selector_a = 0; + selector_b = 1; + selector_c = 0; + } + else if (output ==3) + { + selector_a = 1; + selector_b = 1; + selector_c = 0; + } + else if (output ==4) + { + selector_a = 0; + selector_b = 0; + selector_c = 1; + } + else if (output ==5) + { + selector_a = 1; + selector_b = 0; + selector_c = 1; + } + else if (output ==6) + { + selector_a = 0; + selector_b = 1; + selector_c = 1; + } + else if (output ==7) + { + selector_a = 1; + selector_b = 1; + selector_c = 1; + } +} +char sensor_ki (int urutan) +{ + char x; + //int hasil; + Selektor(urutan); + wait_ms(1); + if (sensorkiri.read() >= 1) + { + + x='1'; + } + else + { + x='0'; + } + + return x; +} +char sensor_ka (int urutan ) +{ + char x; + //int hasil ; + Selektor(urutan); + wait_ms(1); + if (sensorkanan.read() >= 1) + { + x='1'; + } + else + { + x='0'; + } + + return x; +} + +float sensor_ki_adc (int urutan) +{ + //int hasil; + Selektor(urutan); + wait_ms(1); + + return sensorkiri.read(); +} +float sensor_ka_adc (int urutan ) +{ + //int hasil ; + Selektor(urutan); + wait_ms(1); + + return sensorkanan.read(); +} + +void tampil_lcd_bin() +{ + lcd.locate(2,3); + lcd.putc(sensor_ki(7)); + lcd.locate(3,3); + //pc.printf (" "); + lcd.putc(sensor_ki(6)); + lcd.locate(4,3); + //pc.printf (" "); + lcd.putc(sensor_ki(5)); + lcd.locate(5,3); + lcd.putc(sensor_ki(4)); + lcd.locate(6,3); + lcd.putc(sensor_ki(3)); + lcd.locate(7,3); + lcd.putc(sensor_ki(2)); + lcd.locate(8,3); + lcd.putc(sensor_ki(1)); + lcd.locate(9,3); + lcd.putc(sensor_ki(0)); + lcd.locate(10,3); + lcd.putc(sensor_ka(7)); + lcd.locate(11,3); + lcd.putc(sensor_ka(6)); + lcd.locate(12,3); + lcd.putc(sensor_ka(5)); + lcd.locate(13,3); + lcd.putc(sensor_ka(4)); + lcd.locate(14,3); + lcd.putc(sensor_ka(3)); + lcd.locate(15,3); + lcd.putc(sensor_ka(2)); + lcd.locate(16,3); + lcd.putc(sensor_ka(1)); + lcd.locate(17,3); + lcd.putc(sensor_ka(0)); + lcd.locate(18,3); +} + +void tampil_lcd_adc() +{ + int k,j,i; + i=0; + + while(i <= 3) + { + j=0; + k=7; + while(j<16 && k>3) + { + lcd.locate(j,i); + if(i==0) + { + //lcd.locate(j,i); + lcd.printf("%1.2f",sensor_ki_adc(k)); + } + else if(i==1) + { + //lcd.locate(j,i); + lcd.printf("%1.2f",sensor_ki_adc(k-4)); + } + else if(i==2) + { + //lcd.locate(j,i); + lcd.printf("%1.2f",sensor_ka_adc(k)); + } + else if(i==3) + { + //lcd.locate(j,i); + lcd.printf("%1.2f",sensor_ka_adc(k-4)); + } + + j=j+5; + k--; + } + i++; + } +} + + + +int main() +{ + pc.baud(115200); + //pc.printf("Pembacaan ADC Sensor : \n"); + while (1) + { + if(but0 == 1) + { + tampil_lcd_adc(); + //wait_ms(100); + } + else + { + lcd.locate(0,0); + lcd.printf("rizqi cahyo Yuwono"); + lcd.locate(0,1); + lcd.printf("12314090"); + tampil_lcd_bin(); + } + + pc.printf ("%f", sensor_ki_adc(7)); + //pc.printf (" "); + pc.printf (" %f ", sensor_ki_adc(6)); + //pc.printf (" "); + pc.printf (" %f ", sensor_ki_adc(5)); + pc.printf (" %f ", sensor_ki_adc(4)); + pc.printf (" %f ", sensor_ki_adc(3)); + pc.printf (" %f ", sensor_ki_adc(2)); + pc.printf (" %f ", sensor_ki_adc(1)); + pc.printf (" %f ", sensor_ki_adc(0)); + pc.printf ("\t\t"); + pc.printf (" %f ", sensor_ka_adc(7)); + pc.printf (" %f ", sensor_ka_adc(6)); + pc.printf (" %f ", sensor_ka_adc(5)); + pc.printf (" %f ", sensor_ka_adc(4)); + pc.printf (" %f ", sensor_ka_adc(3)); + pc.printf (" %f ", sensor_ka_adc(2)); + pc.printf (" %f ", sensor_ka_adc(1)); + pc.printf (" %f ", sensor_ka_adc(0)); + pc.printf ("\r\n"); + + wait_ms(10); + lcd.cls(); + } +} + \ No newline at end of file