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