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Penyesuaian pin
Dependencies: Motor PID Joystick_OrdoV5 mbed
Fork of Joystick_ManualBaseBaruV1 by
Diff: main.cpp
- Revision:
- 15:98f0d56b14f0
- Parent:
- 14:6d389e99981c
- Child:
- 16:90119f03c5d1
diff -r 6d389e99981c -r 98f0d56b14f0 main.cpp --- a/main.cpp Fri Dec 09 10:50:40 2016 +0000 +++ b/main.cpp Fri Dec 09 12:03:44 2016 +0000 @@ -68,17 +68,24 @@ // Deklarasi variabel PID //PID PID(0.992,0.000,0.81,0.001); //(P,I,D, time sampling) - +/* // Deklarasi variabel encoder encoderKRAI encoderDepan( PB_14, PB_13, 2000, encoderKRAI::X2_ENCODING); //inA, inB, pin Indeks (NC = tak ada), resolusi, pembacaan encoderKRAI encoderBelakang( PC_4, PB_15, 2000, encoderKRAI::X2_ENCODING); encoderKRAI encoderKanan( PD_2, PC_12, 720, encoderKRAI::X2_ENCODING); encoderKRAI encoderKiri( PC_11, PC_10, 2000, encoderKRAI::X2_ENCODING); +*/ + +// Deklarasi variabel encoder +encoderKRAI encoderDepan( PB_13, PB_14, 2000, encoderKRAI::X2_ENCODING); //inA, inB, pin Indeks (NC = tak ada), resolusi, pembacaan +encoderKRAI encoderBelakang( PC_11, PC_10, 2000, encoderKRAI::X2_ENCODING); +encoderKRAI encoderKanan( PC_12, PD_2, 720, encoderKRAI::X2_ENCODING); +encoderKRAI encoderKiri( PC_4, PB_15, 2000, encoderKRAI::X2_ENCODING); // Deklarasi variabel motor 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 motor3(PB_9, PA_12 ,PC_5); // pwm, fwd, rev Motor motor4(PB_6, PB_1 ,PB_12); // pwm, fwd, rev //Motor Atas @@ -269,119 +276,119 @@ { case (1): { - Tetha = Tetha - 0.5; + Tetha = Tetha - 0.05; 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; } case (2): { - Tetha = Tetha + 0.5; + Tetha = Tetha + 0.05; 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; } case (3): { - YT = YT + 0.1; + YT = YT + 0.01; 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; } case (4): { - YT = YT - 0.1; + YT = YT - 0.01; 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; } case (5) : { - XT = XT + 0.1; - YT = YT + 0.1; + XT = XT + 0.01; + YT = YT + 0.01; 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; } case (6) : { - XT = XT + 0.1; - YT = YT - 0.1; + XT = XT + 0.01; + YT = YT - 0.01; 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; } case (7) : { - XT = XT - 0.1; - YT = YT + 0.1; + XT = XT - 0.01; + YT = YT + 0.01; 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; } case (8) : { - XT = XT - 0.1; - YT = YT - 0.1; + XT = XT - 0.01; + YT = YT - 0.01; - // 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; } case (9) : { - XT = XT + 0.1; + XT = XT + 0.01; 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; } case (10) : { - XT = XT - 0.1; + XT = XT - 0.01; 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; @@ -389,13 +396,13 @@ case (11): { - XT = XT + 0.1*x; - YT = YT + 0.1*y; + XT = XT + 0.01*x; + YT = YT + 0.01*y; 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; } @@ -518,7 +525,7 @@ speedB = speedB + 0.01;} if (joystick.L2_click and speedB > 0.1 ){ speedB = speedB - 0.01;} - pc.printf("Pwm depan = %.3f\t Pwm belakang = %.3f\n", speedL, speedB); + //pc.printf("Pwm depan = %.3f\t Pwm belakang = %.3f\n", speedL, speedB); } @@ -569,7 +576,7 @@ XT = 0; YT = 0; Tetha = 0; - pc.printf("x..\n"); + //pc.printf("x..\n"); } speedLauncher();