KRAI 2017 / Mbed 2 deprecated Encoder_Base_Nasioanal

CLOSED LOOP BASE

Dependencies:   Motor PID mbed millis

Files at this revision

API Documentation at this revision

Revision 1:7d3041941b1b, committed 2017-05-29

Comitter:
gustavaditya
Date:
Mon May 29 15:46:48 2017 +0000
Parent:
0:57124be75a63
Commit message:
CLOSED LOOP BASE

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
diff -r 57124be75a63 -r 7d3041941b1b main.cpp
--- a/main.cpp	Mon May 29 15:43:42 2017 +0000
+++ b/main.cpp	Mon May 29 15:46:48 2017 +0000
@@ -28,7 +28,18 @@
 
 #define PI 3.14159265
 #define D_ENCODER 10        // Diameter Roda Encoder
-#define D_ROBOT 80          // Diameter Roda Robot
+#define D_ROBOT 55          // Diameter Roda Robot
+
+float K_enc = PI*D_ENCODER;
+float K_robot = PI*D_ROBOT;
+
+float speed1=0.6;
+float speed2=0.6;
+float speed3=0.6;
+float speed4=0.6;
+
+float errX, errY, errT, Vt, Vx, Vy, KpX=1.5, KpY=1.5, Kp_tetha=0.15;
+float V1, V2, V3, V4;
 
 // Variable Bawah
 float tuneDpn           = 1.0;     // Tunning PWM motor Depan