base buat latihan
Dependencies: ESC Motor NewTextLCD PID PS_PAD Ping Servo mbed millis
Fork of Base_Hybrid_Latihan_Ok_Hajar by
main.cpp@8:3cc68df2bebf, 2016-03-21 (annotated)
- Committer:
- Najib_irvani
- Date:
- Mon Mar 21 12:10:27 2016 +0000
- Revision:
- 8:3cc68df2bebf
- Parent:
- 7:4d6a73d924ff
update board baru
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
rizqicahyo | 0:ac7353383a8e | 1 | /*********************************************************************************************/ |
rizqicahyo | 0:ac7353383a8e | 2 | /** FILE HEADER **/ |
rizqicahyo | 0:ac7353383a8e | 3 | /*********************************************************************************************/ |
rizqicahyo | 0:ac7353383a8e | 4 | #include "mbed.h" |
rizqicahyo | 0:ac7353383a8e | 5 | #include "Motor.h" |
rizqicahyo | 0:ac7353383a8e | 6 | #include "NewTextLCD.h" |
rizqicahyo | 0:ac7353383a8e | 7 | #include "PS_PAD.h" |
rizqicahyo | 0:ac7353383a8e | 8 | #include "PID.h" |
rizqicahyo | 1:c9f11055fb12 | 9 | #include "millis.h" |
Najib_irvani | 2:2f7bed7fb055 | 10 | #include "esc.h" |
Najib_irvani | 2:2f7bed7fb055 | 11 | #include "Servo.h" |
Najib_irvani | 8:3cc68df2bebf | 12 | #include "Ping.h" |
rizqicahyo | 0:ac7353383a8e | 13 | |
Najib_irvani | 3:d3708c3ed288 | 14 | |
nibrosul_umam | 7:4d6a73d924ff | 15 | |
rizqicahyo | 0:ac7353383a8e | 16 | /*********************************************************************************************/ |
rizqicahyo | 0:ac7353383a8e | 17 | /** DEKLARASI INPUT OUTPUT **/ |
rizqicahyo | 0:ac7353383a8e | 18 | /*********************************************************************************************/ |
rizqicahyo | 0:ac7353383a8e | 19 | // serial pc |
rizqicahyo | 0:ac7353383a8e | 20 | Serial pc(USBTX,USBRX); |
rizqicahyo | 0:ac7353383a8e | 21 | |
Najib_irvani | 8:3cc68df2bebf | 22 | //sensor ping |
Najib_irvani | 8:3cc68df2bebf | 23 | Ping pinger(PA_1); |
Najib_irvani | 8:3cc68df2bebf | 24 | //read jarak |
Najib_irvani | 8:3cc68df2bebf | 25 | int read_ping(){ |
Najib_irvani | 8:3cc68df2bebf | 26 | pinger.Send(); |
Najib_irvani | 8:3cc68df2bebf | 27 | wait_ms(30); |
Najib_irvani | 8:3cc68df2bebf | 28 | return ((pinger.Read_cm())/2); |
Najib_irvani | 8:3cc68df2bebf | 29 | } |
rizqicahyo | 0:ac7353383a8e | 30 | |
Najib_irvani | 8:3cc68df2bebf | 31 | // joystick PS2 |
Najib_irvani | 8:3cc68df2bebf | 32 | PS_PAD ps2(PB_15,PB_14,PB_13, PC_4); //(mosi, miso, sck, ss) default board lama pb_12 |
Najib_irvani | 8:3cc68df2bebf | 33 | /* |
rizqicahyo | 0:ac7353383a8e | 34 | // Motor(pwm, fwd, rev) |
Najib_irvani | 8:3cc68df2bebf | 35 | Motor gripper(PC_6, PC_8, PC_9); //PB_6, PB_8, PB_9 |
nibrosul_umam | 7:4d6a73d924ff | 36 | //Motor slider(PC_6, PC_9, PC_8); |
nibrosul_umam | 7:4d6a73d924ff | 37 | Motor motor2(PB_3, PB_4, PB_5); //kanan |
nibrosul_umam | 7:4d6a73d924ff | 38 | Motor motor1(PA_8, PC_7, PA_9); //kiri |
Najib_irvani | 8:3cc68df2bebf | 39 | */ |
Najib_irvani | 8:3cc68df2bebf | 40 | Motor gripper(PA_10, PB_3, PB_5); //PB_6, PB_8, PB_9 |
Najib_irvani | 8:3cc68df2bebf | 41 | //Motor slider(PC_6, PC_9, PC_8); |
Najib_irvani | 8:3cc68df2bebf | 42 | Motor motor2(PA_11, PB_12, PA_7); //kanan |
Najib_irvani | 8:3cc68df2bebf | 43 | Motor motor1(PA_8, PB_4, PB_1); //kiri |
Najib_irvani | 8:3cc68df2bebf | 44 | |
Najib_irvani | 8:3cc68df2bebf | 45 | DigitalOut limit0(PC_0,PullUp); |
Najib_irvani | 8:3cc68df2bebf | 46 | DigitalOut limit1(PC_1,PullUp); |
rizqicahyo | 0:ac7353383a8e | 47 | |
rizqicahyo | 0:ac7353383a8e | 48 | |
rizqicahyo | 0:ac7353383a8e | 49 | /*********************************************************************************************/ |
rizqicahyo | 0:ac7353383a8e | 50 | /** DEKLARASI VARIABEL GLOBAL **/ |
rizqicahyo | 0:ac7353383a8e | 51 | /*********************************************************************************************/ |
Najib_irvani | 8:3cc68df2bebf | 52 | float gMax_speed=0.83; //nilai maksimum kecepatan motor |
rizqicahyo | 0:ac7353383a8e | 53 | float gMin_speed=-0.05; //nilai minimum kecepatan motor |
Najib_irvani | 8:3cc68df2bebf | 54 | float gTuning = 0.14; |
rizqicahyo | 0:ac7353383a8e | 55 | |
nibrosul_umam | 7:4d6a73d924ff | 56 | // tambahan power |
nibrosul_umam | 7:4d6a73d924ff | 57 | // inisialisasi pwm awal servo |
nibrosul_umam | 7:4d6a73d924ff | 58 | float pwm = 0.00; |
nibrosul_umam | 7:4d6a73d924ff | 59 | |
nibrosul_umam | 7:4d6a73d924ff | 60 | // inisialisasi sudut awal |
nibrosul_umam | 7:4d6a73d924ff | 61 | int sudut = 0; |
nibrosul_umam | 7:4d6a73d924ff | 62 | //membatasi nilai brushless pada edf |
nibrosul_umam | 7:4d6a73d924ff | 63 | float min=0; |
nibrosul_umam | 7:4d6a73d924ff | 64 | float max=0.70; |
rizqicahyo | 0:ac7353383a8e | 65 | |
rizqicahyo | 0:ac7353383a8e | 66 | unsigned char i; // variabel iterasi |
rizqicahyo | 1:c9f11055fb12 | 67 | int over=0; |
Najib_irvani | 8:3cc68df2bebf | 68 | int lapangan = 0; |
rizqicahyo | 0:ac7353383a8e | 69 | |
nibrosul_umam | 7:4d6a73d924ff | 70 | unsigned char gMode=0; //variabel mode driving (manual = 0 otomatis = 1) |
nibrosul_umam | 7:4d6a73d924ff | 71 | unsigned char gCase=0; //variabel keadaan proses |
nibrosul_umam | 7:4d6a73d924ff | 72 | |
nibrosul_umam | 7:4d6a73d924ff | 73 | |
rizqicahyo | 0:ac7353383a8e | 74 | |
rizqicahyo | 0:ac7353383a8e | 75 | /*********************************************************************************************/ |
rizqicahyo | 0:ac7353383a8e | 76 | /** DEKLARASI PROSEDUR DAN FUNGSI **/ |
rizqicahyo | 0:ac7353383a8e | 77 | /*********************************************************************************************/ |
rizqicahyo | 0:ac7353383a8e | 78 | |
rizqicahyo | 0:ac7353383a8e | 79 | /*********************************************************************************************/ |
rizqicahyo | 0:ac7353383a8e | 80 | /*********************************************************************************************/ |
rizqicahyo | 0:ac7353383a8e | 81 | /** PROGRAM UTAMA **/ |
rizqicahyo | 0:ac7353383a8e | 82 | /*********************************************************************************************/ |
rizqicahyo | 0:ac7353383a8e | 83 | /*********************************************************************************************/ |
Najib_irvani | 2:2f7bed7fb055 | 84 | void init_servo(int i){ |
Najib_irvani | 2:2f7bed7fb055 | 85 | if (i){ |
Najib_irvani | 8:3cc68df2bebf | 86 | if (sudut>60){ |
Najib_irvani | 8:3cc68df2bebf | 87 | sudut=60; |
Najib_irvani | 2:2f7bed7fb055 | 88 | } |
Najib_irvani | 8:3cc68df2bebf | 89 | if (sudut<-60){ |
Najib_irvani | 8:3cc68df2bebf | 90 | sudut=-60; |
Najib_irvani | 2:2f7bed7fb055 | 91 | } |
Najib_irvani | 2:2f7bed7fb055 | 92 | } else { |
Najib_irvani | 2:2f7bed7fb055 | 93 | |
Najib_irvani | 8:3cc68df2bebf | 94 | if (sudut>60){ |
Najib_irvani | 8:3cc68df2bebf | 95 | sudut=60; |
Najib_irvani | 2:2f7bed7fb055 | 96 | } |
Najib_irvani | 8:3cc68df2bebf | 97 | if (sudut<-60){ |
Najib_irvani | 8:3cc68df2bebf | 98 | sudut=-60; |
nibrosul_umam | 7:4d6a73d924ff | 99 | } |
Najib_irvani | 2:2f7bed7fb055 | 100 | } |
Najib_irvani | 2:2f7bed7fb055 | 101 | } |
Najib_irvani | 2:2f7bed7fb055 | 102 | void init_pwm (){ |
Najib_irvani | 2:2f7bed7fb055 | 103 | if (pwm>max){ |
Najib_irvani | 2:2f7bed7fb055 | 104 | pwm = max; |
Najib_irvani | 2:2f7bed7fb055 | 105 | } |
Najib_irvani | 2:2f7bed7fb055 | 106 | |
Najib_irvani | 2:2f7bed7fb055 | 107 | if (pwm<min){ |
Najib_irvani | 2:2f7bed7fb055 | 108 | pwm = min; |
Najib_irvani | 2:2f7bed7fb055 | 109 | } |
Najib_irvani | 2:2f7bed7fb055 | 110 | } |
nibrosul_umam | 7:4d6a73d924ff | 111 | |
Najib_irvani | 3:d3708c3ed288 | 112 | int count=1; |
Najib_irvani | 3:d3708c3ed288 | 113 | |
rizqicahyo | 0:ac7353383a8e | 114 | int main(void){ |
rizqicahyo | 0:ac7353383a8e | 115 | //inisialisasi joystick |
nibrosul_umam | 7:4d6a73d924ff | 116 | ps2.init(); |
Najib_irvani | 2:2f7bed7fb055 | 117 | //tambahan power |
Najib_irvani | 8:3cc68df2bebf | 118 | ESC edf(PC_6,20); //pwm esc PB_8 |
Najib_irvani | 8:3cc68df2bebf | 119 | Servo myservo(PC_8); //pwm servo PB_9 |
Najib_irvani | 2:2f7bed7fb055 | 120 | //set inisialisasi servo pada posisi 0 |
Najib_irvani | 8:3cc68df2bebf | 121 | myservo.position(0); |
Najib_irvani | 8:3cc68df2bebf | 122 | |
Najib_irvani | 2:2f7bed7fb055 | 123 | //set edf pada posisi bukan kalibrasi, yaitu set edf 0 |
nibrosul_umam | 7:4d6a73d924ff | 124 | edf.setThrottle(pwm); |
nibrosul_umam | 7:4d6a73d924ff | 125 | edf.pulse(); |
nibrosul_umam | 7:4d6a73d924ff | 126 | |
nibrosul_umam | 7:4d6a73d924ff | 127 | float k; |
rizqicahyo | 0:ac7353383a8e | 128 | |
rizqicahyo | 0:ac7353383a8e | 129 | pc.baud(115200); |
Najib_irvani | 2:2f7bed7fb055 | 130 | float speed; |
rizqicahyo | 0:ac7353383a8e | 131 | |
rizqicahyo | 0:ac7353383a8e | 132 | while(1) |
rizqicahyo | 0:ac7353383a8e | 133 | { |
nibrosul_umam | 7:4d6a73d924ff | 134 | ps2.poll(); |
nibrosul_umam | 7:4d6a73d924ff | 135 | //init_sensor(); |
nibrosul_umam | 7:4d6a73d924ff | 136 | if((ps2.read(PS_PAD::PAD_TOP)==1) && (ps2.read(PS_PAD::PAD_L1)==1)){ |
nibrosul_umam | 7:4d6a73d924ff | 137 | speed = gMax_speed; |
Najib_irvani | 8:3cc68df2bebf | 138 | motor1.brake(0.2); |
nibrosul_umam | 7:4d6a73d924ff | 139 | motor2.speed(speed-0.05); |
nibrosul_umam | 7:4d6a73d924ff | 140 | pc.printf("maju serong kiri\n"); |
nibrosul_umam | 7:4d6a73d924ff | 141 | |
nibrosul_umam | 7:4d6a73d924ff | 142 | } |
nibrosul_umam | 7:4d6a73d924ff | 143 | else if((ps2.read(PS_PAD::PAD_TOP)==1) && (ps2.read(PS_PAD::PAD_R1)==1)){ |
nibrosul_umam | 7:4d6a73d924ff | 144 | speed = gMax_speed; |
nibrosul_umam | 7:4d6a73d924ff | 145 | motor1.speed(speed-gTuning-0.05); |
Najib_irvani | 8:3cc68df2bebf | 146 | motor2.brake(0.2); |
nibrosul_umam | 7:4d6a73d924ff | 147 | pc.printf("maju serong kanan\n"); |
nibrosul_umam | 7:4d6a73d924ff | 148 | |
nibrosul_umam | 7:4d6a73d924ff | 149 | } |
nibrosul_umam | 7:4d6a73d924ff | 150 | else if((ps2.read(PS_PAD::PAD_BOTTOM)==1) && (ps2.read(PS_PAD::PAD_L1)==1)){ |
nibrosul_umam | 7:4d6a73d924ff | 151 | speed = gMax_speed; |
nibrosul_umam | 7:4d6a73d924ff | 152 | motor2.brake(1); |
nibrosul_umam | 7:4d6a73d924ff | 153 | motor1.speed(-(speed-gTuning-0.2)); |
nibrosul_umam | 7:4d6a73d924ff | 154 | pc.printf("mundur serong kanan\n"); |
nibrosul_umam | 7:4d6a73d924ff | 155 | |
Najib_irvani | 2:2f7bed7fb055 | 156 | } |
nibrosul_umam | 7:4d6a73d924ff | 157 | else if((ps2.read(PS_PAD::PAD_BOTTOM)==1) && (ps2.read(PS_PAD::PAD_R1)==1)){ |
nibrosul_umam | 7:4d6a73d924ff | 158 | speed = gMax_speed; |
nibrosul_umam | 7:4d6a73d924ff | 159 | motor2.speed(-(speed-0.2)); |
nibrosul_umam | 7:4d6a73d924ff | 160 | motor1.brake(1); |
nibrosul_umam | 7:4d6a73d924ff | 161 | pc.printf("mundur serong kiri\n"); |
nibrosul_umam | 7:4d6a73d924ff | 162 | |
nibrosul_umam | 7:4d6a73d924ff | 163 | } |
nibrosul_umam | 7:4d6a73d924ff | 164 | else if((ps2.read(PS_PAD::PAD_TOP)==1) && (ps2.read(PS_PAD::PAD_BOTTOM)==0)){ |
nibrosul_umam | 7:4d6a73d924ff | 165 | //MOTOR DEPAN |
nibrosul_umam | 7:4d6a73d924ff | 166 | |
nibrosul_umam | 7:4d6a73d924ff | 167 | speed = k; |
nibrosul_umam | 7:4d6a73d924ff | 168 | |
nibrosul_umam | 7:4d6a73d924ff | 169 | if (k >= gMax_speed){ |
nibrosul_umam | 7:4d6a73d924ff | 170 | k = gMax_speed; |
nibrosul_umam | 7:4d6a73d924ff | 171 | } |
nibrosul_umam | 7:4d6a73d924ff | 172 | |
nibrosul_umam | 7:4d6a73d924ff | 173 | motor1.speed(speed-gTuning); |
nibrosul_umam | 7:4d6a73d924ff | 174 | motor2.speed(speed); |
nibrosul_umam | 7:4d6a73d924ff | 175 | pc.printf("maju \n"); |
nibrosul_umam | 7:4d6a73d924ff | 176 | |
nibrosul_umam | 7:4d6a73d924ff | 177 | k += 0.1; |
nibrosul_umam | 7:4d6a73d924ff | 178 | } |
Najib_irvani | 2:2f7bed7fb055 | 179 | else if((ps2.read(PS_PAD::PAD_BOTTOM)==1) && (ps2.read(PS_PAD::PAD_TOP)==0)){ |
Najib_irvani | 2:2f7bed7fb055 | 180 | //MOTOR BELAKANG |
nibrosul_umam | 7:4d6a73d924ff | 181 | speed = k; |
nibrosul_umam | 7:4d6a73d924ff | 182 | |
nibrosul_umam | 7:4d6a73d924ff | 183 | if (k >= gMax_speed){ |
nibrosul_umam | 7:4d6a73d924ff | 184 | k = gMax_speed; |
nibrosul_umam | 7:4d6a73d924ff | 185 | } |
nibrosul_umam | 7:4d6a73d924ff | 186 | |
Najib_irvani | 5:34be90fa6d27 | 187 | motor1.speed(-speed); |
Najib_irvani | 2:2f7bed7fb055 | 188 | motor2.speed(-speed); |
Najib_irvani | 2:2f7bed7fb055 | 189 | pc.printf("mundur \n"); |
nibrosul_umam | 7:4d6a73d924ff | 190 | |
nibrosul_umam | 7:4d6a73d924ff | 191 | k += 0.1; |
Najib_irvani | 2:2f7bed7fb055 | 192 | } |
Najib_irvani | 2:2f7bed7fb055 | 193 | else if((ps2.read(PS_PAD::PAD_L1)==1) && (ps2.read(PS_PAD::PAD_R1)==0)){ |
Najib_irvani | 2:2f7bed7fb055 | 194 | //pivot kiri |
nibrosul_umam | 7:4d6a73d924ff | 195 | speed = gMax_speed; |
Najib_irvani | 8:3cc68df2bebf | 196 | motor1.speed(-(speed*0.95-gTuning)); |
Najib_irvani | 8:3cc68df2bebf | 197 | motor2.speed(speed*0.95); |
nibrosul_umam | 7:4d6a73d924ff | 198 | pc.printf("pivot kiri \n"); |
Najib_irvani | 2:2f7bed7fb055 | 199 | } |
Najib_irvani | 2:2f7bed7fb055 | 200 | else if((ps2.read(PS_PAD::PAD_R1)==1) && (ps2.read(PS_PAD::PAD_L1)==0)){ |
Najib_irvani | 2:2f7bed7fb055 | 201 | //pivot kanan |
nibrosul_umam | 7:4d6a73d924ff | 202 | speed = gMax_speed; |
Najib_irvani | 8:3cc68df2bebf | 203 | motor1.speed(speed*0.95-gTuning); |
Najib_irvani | 8:3cc68df2bebf | 204 | motor2.speed(-speed*0.95 ); |
nibrosul_umam | 7:4d6a73d924ff | 205 | pc.printf("pivot kanan \n"); |
nibrosul_umam | 7:4d6a73d924ff | 206 | |
Najib_irvani | 2:2f7bed7fb055 | 207 | } |
nibrosul_umam | 7:4d6a73d924ff | 208 | else{ |
Najib_irvani | 2:2f7bed7fb055 | 209 | motor1.brake(1); |
Najib_irvani | 2:2f7bed7fb055 | 210 | motor2.brake(1); |
nibrosul_umam | 7:4d6a73d924ff | 211 | |
nibrosul_umam | 7:4d6a73d924ff | 212 | k = 0.6; |
Najib_irvani | 2:2f7bed7fb055 | 213 | } |
nibrosul_umam | 7:4d6a73d924ff | 214 | |
Najib_irvani | 2:2f7bed7fb055 | 215 | |
nibrosul_umam | 7:4d6a73d924ff | 216 | if((ps2.read(PS_PAD::PAD_CIRCLE)==0) && (ps2.read(PS_PAD::PAD_TRIANGLE)==1)){ |
Najib_irvani | 2:2f7bed7fb055 | 217 | //POWER WINDOW ATAS |
Najib_irvani | 8:3cc68df2bebf | 218 | gripper.speed(1); |
Najib_irvani | 5:34be90fa6d27 | 219 | |
Najib_irvani | 8:3cc68df2bebf | 220 | if (limit0 == 0){ |
Najib_irvani | 8:3cc68df2bebf | 221 | gripper.brake(1); |
Najib_irvani | 8:3cc68df2bebf | 222 | } |
Najib_irvani | 2:2f7bed7fb055 | 223 | pc.printf("up \n"); |
Najib_irvani | 2:2f7bed7fb055 | 224 | } |
nibrosul_umam | 7:4d6a73d924ff | 225 | else if((ps2.read(PS_PAD::PAD_CIRCLE)==1) && (ps2.read(PS_PAD::PAD_TRIANGLE)==0)){ |
Najib_irvani | 5:34be90fa6d27 | 226 | //POWER WINDOW BAWAH |
Najib_irvani | 5:34be90fa6d27 | 227 | |
nibrosul_umam | 7:4d6a73d924ff | 228 | gripper.speed(-1); |
Najib_irvani | 8:3cc68df2bebf | 229 | |
Najib_irvani | 8:3cc68df2bebf | 230 | if (limit1 ==0){ |
Najib_irvani | 8:3cc68df2bebf | 231 | gripper.brake(1); |
Najib_irvani | 8:3cc68df2bebf | 232 | } |
Najib_irvani | 8:3cc68df2bebf | 233 | |
Najib_irvani | 2:2f7bed7fb055 | 234 | pc.printf("down \n"); |
Najib_irvani | 2:2f7bed7fb055 | 235 | } |
nibrosul_umam | 7:4d6a73d924ff | 236 | else{ |
Najib_irvani | 2:2f7bed7fb055 | 237 | gripper.brake(1); |
nibrosul_umam | 7:4d6a73d924ff | 238 | |
nibrosul_umam | 7:4d6a73d924ff | 239 | pc.printf("diam \n"); |
nibrosul_umam | 7:4d6a73d924ff | 240 | |
nibrosul_umam | 7:4d6a73d924ff | 241 | } |
Najib_irvani | 2:2f7bed7fb055 | 242 | |
nibrosul_umam | 7:4d6a73d924ff | 243 | if(ps2.read(PS_PAD::PAD_X)==1){ |
Najib_irvani | 2:2f7bed7fb055 | 244 | //PWM ++ |
Najib_irvani | 2:2f7bed7fb055 | 245 | pwm += 0.01; |
Najib_irvani | 2:2f7bed7fb055 | 246 | pc.printf("gaspol \n"); |
Najib_irvani | 2:2f7bed7fb055 | 247 | } |
nibrosul_umam | 7:4d6a73d924ff | 248 | else if(ps2.read(PS_PAD::PAD_SQUARE)==1){ |
Najib_irvani | 2:2f7bed7fb055 | 249 | //PWM-- |
Najib_irvani | 2:2f7bed7fb055 | 250 | pwm -= 0.01; |
Najib_irvani | 2:2f7bed7fb055 | 251 | pc.printf("rem ndeng \n"); |
Najib_irvani | 2:2f7bed7fb055 | 252 | } |
Najib_irvani | 2:2f7bed7fb055 | 253 | |
nibrosul_umam | 7:4d6a73d924ff | 254 | if(ps2.read(PS_PAD::PAD_L2)==1){ |
Najib_irvani | 2:2f7bed7fb055 | 255 | //SERVO -- |
Najib_irvani | 8:3cc68df2bebf | 256 | sudut += 3; |
Najib_irvani | 2:2f7bed7fb055 | 257 | pc.printf("servo min \n"); |
Najib_irvani | 2:2f7bed7fb055 | 258 | } |
nibrosul_umam | 7:4d6a73d924ff | 259 | else if(ps2.read(PS_PAD::PAD_R2)==1){ |
Najib_irvani | 2:2f7bed7fb055 | 260 | //SERVO ++ |
Najib_irvani | 8:3cc68df2bebf | 261 | sudut -= 3; |
Najib_irvani | 2:2f7bed7fb055 | 262 | pc.printf("servo max \n"); |
Najib_irvani | 2:2f7bed7fb055 | 263 | } |
Najib_irvani | 5:34be90fa6d27 | 264 | |
Najib_irvani | 2:2f7bed7fb055 | 265 | init_servo(lapangan); |
Najib_irvani | 2:2f7bed7fb055 | 266 | init_pwm(); |
nibrosul_umam | 7:4d6a73d924ff | 267 | edf.setThrottle(pwm); |
nibrosul_umam | 7:4d6a73d924ff | 268 | edf.pulse(); |
Najib_irvani | 8:3cc68df2bebf | 269 | wait_ms(25); |
Najib_irvani | 2:2f7bed7fb055 | 270 | myservo.position(sudut); |
nibrosul_umam | 7:4d6a73d924ff | 271 | |
rizqicahyo | 0:ac7353383a8e | 272 | } |
rizqicahyo | 0:ac7353383a8e | 273 | } |