base buat latihan
Dependencies: ESC Motor NewTextLCD PID PS_PAD Ping Servo mbed millis
Fork of Base_Hybrid_Latihan_Ok_Hajar by
Diff: main.cpp
- Revision:
- 4:65d65a108b68
- Parent:
- 3:d3708c3ed288
- Child:
- 5:34be90fa6d27
--- a/main.cpp Wed Feb 17 17:21:18 2016 +0000 +++ b/main.cpp Thu Feb 18 09:18:39 2016 +0000 @@ -67,7 +67,7 @@ DigitalOut pnuematik_lengan(PC_10); DigitalOut pnuematik_gripper(PC_11); -Servo servo_gripper(PC_7); +Servo servo_gripper(PB_9); /* // Sensor @@ -131,15 +131,19 @@ switch (c) { case 1: - servo_gripper.position(140); + servo_gripper.position(170); + pc.printf("grip lost"); + wait_ms(25); pnuematik_lengan=1; wait_ms(500); - pnuematik_gripper=0; - wait_ms(100); + break; case 2: - wait_ms(300); - servo_gripper.position(40); + pnuematik_gripper=0; + wait_ms(600); + servo_gripper.position(50); + pc.printf("grip get"); + wait_ms(25); wait_ms(1000); pnuematik_gripper=1; wait_ms(800); @@ -185,19 +189,20 @@ ps2.init(); //tambahan power - ESC edf(PB_9,20); //p wm esc pin PC_7 + //ESC edf(PB_9,20); //p wm esc pin PC_7 Servo myservo(PB_8); //pwm servo pin PA_8 //set inisialisasi servo pada posisi 0 myservo.position(sudut); //set edf pada posisi bukan kalibrasi, yaitu set edf 0 - edf.setThrottle(pwm); - edf.pulse(); + //edf.setThrottle(pwm); + //edf.pulse(); pc.baud(115200); float speed; servo_gripper.position(140); pnuematik_lengan=0; + pnuematik_gripper=1; while(1) { @@ -237,7 +242,10 @@ } else if ((ps2.read(PS_PAD::PAD_CIRCLE)==1)) { + //mekanisme ambil gripper + pc.printf("mekanisme gripper"); if (count==1){ + pc.printf("ambil 1"); ambil(1); count=2; wait_ms(400); @@ -246,6 +254,7 @@ { ambil(2); count=1; + pc.printf("ambil 2"); wait_ms(400); } } @@ -312,8 +321,8 @@ init_pwm(); myservo.position(sudut); wait_ms(25); - edf.setThrottle(pwm); - edf.pulse(); - wait_ms(25); + //edf.setThrottle(pwm); + //edf.pulse(); + //wait_ms(25); } } \ No newline at end of file