Diff: main.cpp

Revision:

2:9cf609b74de9

Parent:

1:7d3041941b1b

Child:

3:db2dc06c0686

--- 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