jalan kiri
Dependencies: Motor PID mbed millis
Fork of Encoder_Base_NasioanalV1 by
Diff: main.cpp
- Revision:
- 0:57124be75a63
- Child:
- 1:7d3041941b1b
diff -r 000000000000 -r 57124be75a63 main.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp Mon May 29 15:43:42 2017 +0000 @@ -0,0 +1,49 @@ +/****************************************************************************/ +/* PROGRAM UNTUK CLOSED LOOP BASE */ +/* */ +/* Last Update : 29 Mei 2017 */ +/* */ +/* - Digunakan encoder bawaan motor */ +/* - Konfigurasi Motor dan Encoder sbb : */ +/* ______________________ */ +/* / \ Rode Depan Belakang: */ +/* / 1 (Depan) \ Omniwheel */ +/* | | */ +/* | 3 (kiri) 4 (kanan) | Roda Kiri Kanan: */ +/* | | Omniwheel */ +/* \ 2 (Belakang) / */ +/* \______________________/ Putaran CW tampak depan */ +/* positif */ +/* SETTINGS (WAJIB!) : */ +/* 1. Settings Pin Encoder, Resolusi, dan Tipe encoding */ +/* 2. Deklarasi penggunaan library pada bagian deklarasi encoder */ +/* */ +/****************************************************************************/ + +#include "mbed.h" +#include "JoystickPS3.h" +#include "Motor.h" +#include "encoderKRAI.h" +#include "millis.h" + +#define PI 3.14159265 +#define D_ENCODER 10 // Diameter Roda Encoder +#define D_ROBOT 80 // Diameter Roda Robot + +// Variable Bawah +float tuneDpn = 1.0; // Tunning PWM motor Depan +float tuneBlk = 1.0; // Tunning PWM motor belakang + +/* Inisialisasi Pin TX-RX Joystik dan PC */ +joysticknucleo joystick(PA_0,PA_1); +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); + +/* Deklarasi Motor Base */ +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