![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
PID omniwheel 3 roda
Dependencies: Motor PS_PAD TextLCD mbed-os
Fork of cobaLCDJoyMotor_Thread by
main.cpp
- Committer:
- rizqicahyo
- Date:
- 2015-11-24
- Revision:
- 0:837acb06c892
- Child:
- 1:2bf3dac65b08
File content as of revision 0:837acb06c892:
#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(); } }