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Penyesuaian pin
Dependencies: Motor PID Joystick_OrdoV5 mbed
Fork of Joystick_ManualBaseBaruV1 by
Diff: main.cpp
- Revision:
- 14:6d389e99981c
- Parent:
- 13:8ab42383a2ca
- Child:
- 15:98f0d56b14f0
--- a/main.cpp Fri Dec 09 10:27:56 2016 +0000 +++ b/main.cpp Fri Dec 09 10:50:40 2016 +0000 @@ -76,18 +76,18 @@ encoderKRAI encoderKiri( PC_11, PC_10, 2000, encoderKRAI::X2_ENCODING); // Deklarasi variabel motor -Motor motor1(PA_8, PB_0 , PC_15); // pwm, fwd, rev -Motor motor2(PA_11, PA_6 ,PA_5); // pwm, fwd, rev -Motor motor3(PA_9, PC_2 , PC_3); // pwm, fwd, rev -Motor motor4(PA_10, PB_5 ,PB_4); // pwm, fwd, rev +Motor motor1(PB_7, PA_14 , PA_15); // pwm, fwd, rev +Motor motor2(PB_8, PA_13 ,PB_0); // pwm, fwd, rev +Motor motor3(PB_3, PA_12 , PC_5); // pwm, fwd, rev +Motor motor4(PB_6, PB_1 ,PB_12); // pwm, fwd, rev //Motor Atas -Motor motorld(PB_8, PB_1 , PA_13); // pwm, fwd, rev -Motor motorlb(PB_9, PA_12, PC_5 ); // pwm, fwd, rev +Motor motorld(PA_8, PC_1 , PC_2); // pwm, fwd, rev +Motor motorlb(PA_9, PA_4, PC_15 ); // pwm, fwd, rev //Servo Atas -Servo servoS(PC_9); -Servo servoB(PC_7); +Servo servoS(PB_2); +Servo servoB(PA_5); // Deklarasi variabel posisi robot //robotPos posisi(); @@ -273,7 +273,7 @@ pivka=true; maju=mundur=analog=kiri=kanan=saka=saki=sbka=sbki=pivki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false; - pc.printf("pivKa Xt =%.2f x=%.2f YT=%.2f y=%.2f errx=%.2f erry=%.2f \n",XT,x,YT,y,errX,errY); +// pc.printf("pivKa Xt =%.2f x=%.2f YT=%.2f y=%.2f errx=%.2f erry=%.2f \n",XT,x,YT,y,errX,errY); break; @@ -285,7 +285,7 @@ pivki=true; maju=mundur=kiri=analog=kanan=saka=saki=sbka=sbki=pivka=cw1=ccw1=cw2=ccw2=cw3=ccw3=false; - pc.printf("pivKi Xt =%.2f x=%.2f YT=%.2f y=%.2f \n",XT,x,YT,y); + // pc.printf("pivKi Xt =%.2f x=%.2f YT=%.2f y=%.2f \n",XT,x,YT,y); break; @@ -297,7 +297,7 @@ maju=true; mundur=kiri=kanan=saka=saki=sbka=sbki=analog=pivka=pivki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false; - pc.printf("maju Xt =%.2f x=%.2f YT=%.2f y=%.2f errx=%.2f erry=%.2f \n",XT,x,YT,y,errX,errY); +// pc.printf("maju Xt =%.2f x=%.2f YT=%.2f y=%.2f errx=%.2f erry=%.2f \n",XT,x,YT,y,errX,errY); break; } @@ -308,7 +308,7 @@ mundur=true; maju=kiri=kanan=saka=saki=sbka=sbki=analog=pivka=pivki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false; - pc.printf("mundur Xt =%.2f x=%.2f YT=%.2f y=%.2f errx=%.2f erry=%.2f \n",XT,x,YT,y,errX,errY); + // pc.printf("mundur Xt =%.2f x=%.2f YT=%.2f y=%.2f errx=%.2f erry=%.2f \n",XT,x,YT,y,errX,errY); break; @@ -321,7 +321,7 @@ saka=true; maju=mundur=kiri=kanan=sbka=saki=sbki=analog=pivka=pivki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false; - pc.printf("saka Xt =%.2f x=%.2f YT=%.2f y=%.2f \n",XT,x,YT,y); + // pc.printf("saka Xt =%.2f x=%.2f YT=%.2f y=%.2f \n",XT,x,YT,y); break; @@ -335,7 +335,7 @@ sbka=true; maju=mundur=kiri=kanan=saka=saki=sbki=analog=pivka=pivki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false; - pc.printf("sbka Xt =%.2f x=%.2f YT=%.2f y=%.2f \n",XT,x,YT,y); + // pc.printf("sbka Xt =%.2f x=%.2f YT=%.2f y=%.2f \n",XT,x,YT,y); break; @@ -349,7 +349,7 @@ saki=true; maju=kiri=kanan=saka=mundur=sbka=sbki=analog=pivka=pivki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false; - pc.printf("saki Xt =%.2f x=%.2f YT=%.2f y=%.2f \n",XT,x,YT,y); + // pc.printf("saki Xt =%.2f x=%.2f YT=%.2f y=%.2f \n",XT,x,YT,y); break; @@ -359,7 +359,7 @@ XT = XT - 0.1; YT = YT - 0.1; - pc.printf("sbki Xt =%.2f x=%.2f YT=%.2f y=%.2f \n",XT,x,YT,y); + // pc.printf("sbki Xt =%.2f x=%.2f YT=%.2f y=%.2f \n",XT,x,YT,y); break; @@ -370,7 +370,7 @@ kanan=true; maju=kiri=mundur=saka=saki=sbka=sbki=analog=pivka=pivki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false; - pc.printf("Kanan Xt =%.2f x=%.2f YT=%.2f y=%.2f \n",XT,x,YT,y); + // pc.printf("Kanan Xt =%.2f x=%.2f YT=%.2f y=%.2f \n",XT,x,YT,y); break; } @@ -381,7 +381,7 @@ kiri=true; maju=kanan=mundur=saka=saki=sbka=sbki=analog=pivka=pivki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false; - pc.printf("Kiri Xt =%.2f x=%.2f YT=%.2f y=%.2f \n",XT,x,YT,y); + // pc.printf("Kiri Xt =%.2f x=%.2f YT=%.2f y=%.2f \n",XT,x,YT,y); break; @@ -395,7 +395,7 @@ analog=true; maju=mundur=kiri=kanan=saka=saki=sbka=sbki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false; - pc.printf("analog Xt =%.2f x=%.2f YT=%.2f y=%.2f \n",XT,x,YT,y); + // pc.printf("analog Xt =%.2f x=%.2f YT=%.2f y=%.2f \n",XT,x,YT,y); break; }