KRAI 2017 / Mbed 2 deprecated Encoder_Base_Nasioanal_awalv1

jalan kiri

Dependencies:   Motor PID mbed millis

Fork of Encoder_Base_NasioanalV1 by KRAI 2017

main.cpp@1:7d3041941b1b, 2017-05-29 (annotated)

Committer:
gustavaditya
Date:
Mon May 29 15:46:48 2017 +0000
Revision:
1:7d3041941b1b
Parent:
0:57124be75a63
Child:
2:9cf609b74de9
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 1:7d3041941b1b 31 #define D_ROBOT 55 // Diameter Roda Robot
gustavaditya 1:7d3041941b1b 32
gustavaditya 1:7d3041941b1b 33 float K_enc = PI*D_ENCODER;
gustavaditya 1:7d3041941b1b 34 float K_robot = PI*D_ROBOT;
gustavaditya 1:7d3041941b1b 35
gustavaditya 1:7d3041941b1b 36 float speed1=0.6;
gustavaditya 1:7d3041941b1b 37 float speed2=0.6;
gustavaditya 1:7d3041941b1b 38 float speed3=0.6;
gustavaditya 1:7d3041941b1b 39 float speed4=0.6;
gustavaditya 1:7d3041941b1b 40
gustavaditya 1:7d3041941b1b 41 float errX, errY, errT, Vt, Vx, Vy, KpX=1.5, KpY=1.5, Kp_tetha=0.15;
gustavaditya 1:7d3041941b1b 42 float V1, V2, V3, V4;
gustavaditya 0:57124be75a63 43
gustavaditya 0:57124be75a63 44 // Variable Bawah
gustavaditya 0:57124be75a63 45 float tuneDpn = 1.0; // Tunning PWM motor Depan
gustavaditya 0:57124be75a63 46 float tuneBlk = 1.0; // Tunning PWM motor belakang
gustavaditya 0:57124be75a63 47
gustavaditya 0:57124be75a63 48 /* Inisialisasi Pin TX-RX Joystik dan PC */
gustavaditya 0:57124be75a63 49 joysticknucleo joystick(PA_0,PA_1);
gustavaditya 0:57124be75a63 50 Serial pc(USBTX,USBRX);
gustavaditya 0:57124be75a63 51
gustavaditya 0:57124be75a63 52 /* Deklarasi Encoder Launcher */
gustavaditya 0:57124be75a63 53 encoderKRAI encKiri( PC_10, PC_11, 28, encoderKRAI::X4_ENCODING);
gustavaditya 0:57124be75a63 54 encoderKRAI encKanan( PC_12, PD_2, 28, encoderKRAI::X4_ENCODING);
gustavaditya 0:57124be75a63 55
gustavaditya 0:57124be75a63 56 /* Deklarasi Motor Base */
gustavaditya 0:57124be75a63 57 Motor motorDpn(PB_7, PC_3, PC_0); //(PB_9, PA_12, PC_5);
gustavaditya 0:57124be75a63 58 Motor motorBlk(PB_2, PB_15, PB_1);
gustavaditya 0:57124be75a63 59 Motor motorL (PB_9, PA_12, PA_6);
gustavaditya 0:57124be75a63 60 Motor motorR (PB_8, PC_6, PC_5); //(PC_6, PB_4, PB_5);