KRAI 2017 / Mbed 2 deprecated Encoder_Base_Nasioanal

CLOSED LOOP BASE

Dependencies:   Motor PID mbed millis

main.cpp@0:57124be75a63, 2017-05-29 (annotated)

Committer:
gustavaditya
Date:
Mon May 29 15:43:42 2017 +0000
Revision:
0:57124be75a63
Child:
1:7d3041941b1b
CLOSED LOOP BASE

Who changed what in which revision?

UserRevisionLine numberNew contents of line
gustavaditya 0:57124be75a63 1 /****************************************************************************/
gustavaditya 0:57124be75a63 2 /* PROGRAM UNTUK CLOSED LOOP BASE */
gustavaditya 0:57124be75a63 3 /* */
gustavaditya 0:57124be75a63 4 /* Last Update : 29 Mei 2017 */
gustavaditya 0:57124be75a63 5 /* */
gustavaditya 0:57124be75a63 6 /* - Digunakan encoder bawaan motor */
gustavaditya 0:57124be75a63 7 /* - Konfigurasi Motor dan Encoder sbb : */
gustavaditya 0:57124be75a63 8 /* ______________________ */
gustavaditya 0:57124be75a63 9 /* / \ Rode Depan Belakang: */
gustavaditya 0:57124be75a63 10 /* / 1 (Depan) \ Omniwheel */
gustavaditya 0:57124be75a63 11 /* | | */
gustavaditya 0:57124be75a63 12 /* | 3 (kiri) 4 (kanan) | Roda Kiri Kanan: */
gustavaditya 0:57124be75a63 13 /* | | Omniwheel */
gustavaditya 0:57124be75a63 14 /* \ 2 (Belakang) / */
gustavaditya 0:57124be75a63 15 /* \______________________/ Putaran CW tampak depan */
gustavaditya 0:57124be75a63 16 /* positif */
gustavaditya 0:57124be75a63 17 /* SETTINGS (WAJIB!) : */
gustavaditya 0:57124be75a63 18 /* 1. Settings Pin Encoder, Resolusi, dan Tipe encoding */
gustavaditya 0:57124be75a63 19 /* 2. Deklarasi penggunaan library pada bagian deklarasi encoder */
gustavaditya 0:57124be75a63 20 /* */
gustavaditya 0:57124be75a63 21 /****************************************************************************/
gustavaditya 0:57124be75a63 22
gustavaditya 0:57124be75a63 23 #include "mbed.h"
gustavaditya 0:57124be75a63 24 #include "JoystickPS3.h"
gustavaditya 0:57124be75a63 25 #include "Motor.h"
gustavaditya 0:57124be75a63 26 #include "encoderKRAI.h"
gustavaditya 0:57124be75a63 27 #include "millis.h"
gustavaditya 0:57124be75a63 28
gustavaditya 0:57124be75a63 29 #define PI 3.14159265
gustavaditya 0:57124be75a63 30 #define D_ENCODER 10 // Diameter Roda Encoder
gustavaditya 0:57124be75a63 31 #define D_ROBOT 80 // Diameter Roda Robot
gustavaditya 0:57124be75a63 32
gustavaditya 0:57124be75a63 33 // Variable Bawah
gustavaditya 0:57124be75a63 34 float tuneDpn = 1.0; // Tunning PWM motor Depan
gustavaditya 0:57124be75a63 35 float tuneBlk = 1.0; // Tunning PWM motor belakang
gustavaditya 0:57124be75a63 36
gustavaditya 0:57124be75a63 37 /* Inisialisasi Pin TX-RX Joystik dan PC */
gustavaditya 0:57124be75a63 38 joysticknucleo joystick(PA_0,PA_1);
gustavaditya 0:57124be75a63 39 Serial pc(USBTX,USBRX);
gustavaditya 0:57124be75a63 40
gustavaditya 0:57124be75a63 41 /* Deklarasi Encoder Launcher */
gustavaditya 0:57124be75a63 42 encoderKRAI encKiri( PC_10, PC_11, 28, encoderKRAI::X4_ENCODING);
gustavaditya 0:57124be75a63 43 encoderKRAI encKanan( PC_12, PD_2, 28, encoderKRAI::X4_ENCODING);
gustavaditya 0:57124be75a63 44
gustavaditya 0:57124be75a63 45 /* Deklarasi Motor Base */
gustavaditya 0:57124be75a63 46 Motor motorDpn(PB_7, PC_3, PC_0); //(PB_9, PA_12, PC_5);
gustavaditya 0:57124be75a63 47 Motor motorBlk(PB_2, PB_15, PB_1);
gustavaditya 0:57124be75a63 48 Motor motorL (PB_9, PA_12, PA_6);
gustavaditya 0:57124be75a63 49 Motor motorR (PB_8, PC_6, PC_5); //(PC_6, PB_4, PB_5);