baca kiri dan atas
Dependencies: Motor PID mbed millis
Fork of Encoder_Base_Nasioanal by
Revision 2:9cf609b74de9, committed 2017-05-29
- Comitter:
- rahmadirizki18
- Date:
- Mon May 29 17:01:57 2017 +0000
- Parent:
- 1:7d3041941b1b
- Commit message:
- Baca kiri dan kanan
Changed in this revision
main.cpp | Show annotated file Show diff for this revision Revisions of this file |
diff -r 7d3041941b1b -r 9cf609b74de9 main.cpp --- a/main.cpp Mon May 29 15:46:48 2017 +0000 +++ b/main.cpp Mon May 29 17:01:57 2017 +0000 @@ -17,6 +17,7 @@ /* SETTINGS (WAJIB!) : */ /* 1. Settings Pin Encoder, Resolusi, dan Tipe encoding */ /* 2. Deklarasi penggunaan library pada bagian deklarasi encoder */ +/* 3. Searah jarum jam positif 517 pulse 1 putaran enc Atas, 524 kiri */ /* */ /****************************************************************************/ @@ -50,11 +51,26 @@ 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); +encoderKRAI encKiri( PB_5, PB_4, 28, encoderKRAI::X4_ENCODING); +encoderKRAI encAtas( PA_15, PA_14, 28, encoderKRAI::X4_ENCODING); /* Deklarasi Motor Base */ -Motor motorDpn(PB_7, PC_3, PC_0); //(PB_9, PA_12, PC_5); +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); \ No newline at end of file +Motor motorR (PB_8, PC_6, PC_5); //(PC_6, PB_4, PB_5); + +void setCenter(){ +/* Fungsi untuk menentukan center dari robot */ + encKiri.reset(); + encAtas.reset(); +} + +int main(void){ + pc.baud(115200); + setCenter(); + while(1){ + pc.printf("kiri %d, atas %d \n",(int)encKiri.getPulses(),(int)encAtas.getPulses()); + //wait_ms(500); + } +} \ No newline at end of file