PID sudah ternormalisasi

Dependencies:   Motor PS_PAD TextLCD mbed-os

Fork of cobaLCDJoyMotor_Thread by EL4121 Embedded System

Revision:
2:907766ac29a2
Parent:
1:2bf3dac65b08
Child:
3:a03ce2084ceb
--- a/main.cpp	Tue Nov 24 14:39:59 2015 +0000
+++ b/main.cpp	Sat Dec 09 09:52:26 2017 +0000
@@ -13,244 +13,21 @@
 #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,
+TextLCD lcd(PB_7, PA_15, PA_14, PB_8, PB_1, PA_13, 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");
+            lcd.printf("12314090"); 
     
         wait_ms(10);
         lcd.cls();