Diff: main.cpp

Revision:

0:57124be75a63

Child:

1:7d3041941b1b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon May 29 15:43:42 2017 +0000
@@ -0,0 +1,49 @@
+/****************************************************************************/
+/*                  PROGRAM UNTUK CLOSED LOOP BASE                          */
+/*                                                                          */
+/*                  Last Update : 29 Mei 2017                               */
+/*                                                                          */
+/*  - Digunakan encoder bawaan motor                                        */
+/*  - Konfigurasi Motor dan Encoder sbb :                                   */
+/*                      ______________________                              */
+/*                     /                      \    Rode Depan Belakang:     */
+/*                    /      1 (Depan)         \   Omniwheel                */
+/*                   |                          |                           */
+/*                   | 3 (kiri)       4 (kanan) |  Roda Kiri Kanan:         */
+/*                   |                          |  Omniwheel                */
+/*                    \       2 (Belakang)     /                            */
+/*                     \______________________/    Putaran CW tampak depan  */
+/*                                                 positif                  */
+/*   SETTINGS (WAJIB!) :                                                    */
+/*   1. Settings Pin Encoder, Resolusi, dan Tipe encoding                   */
+/*   2. Deklarasi penggunaan library pada bagian deklarasi encoder          */
+/*                                                                          */
+/****************************************************************************/
+
+#include "mbed.h"
+#include "JoystickPS3.h"
+#include "Motor.h"
+#include "encoderKRAI.h"
+#include "millis.h"
+
+#define PI 3.14159265
+#define D_ENCODER 10        // Diameter Roda Encoder
+#define D_ROBOT 80          // Diameter Roda Robot
+
+// Variable Bawah
+float tuneDpn           = 1.0;     // Tunning PWM motor Depan
+float tuneBlk           = 1.0;     // Tunning PWM motor belakang
+
+/* Inisialisasi  Pin TX-RX Joystik dan PC */
+joysticknucleo joystick(PA_0,PA_1);
+Serial pc(USBTX,USBRX);
+
+/* Deklarasi Encoder Launcher */
+encoderKRAI encKiri( PC_10, PC_11, 28, encoderKRAI::X4_ENCODING);
+encoderKRAI encKanan( PC_12, PD_2, 28, encoderKRAI::X4_ENCODING);
+
+/* Deklarasi Motor Base */
+Motor motorDpn(PB_7, PC_3, PC_0); //(PB_9, PA_12, PC_5);
+Motor motorBlk(PB_2, PB_15, PB_1);
+Motor motorL  (PB_9, PA_12, PA_6);  
+Motor motorR  (PB_8, PC_6, PC_5);   //(PC_6, PB_4, PB_5);
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