KRAI 2017 / Mbed 2 deprecated Launcher_CODE

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Dependencies:   Motor Servo mbed-rtos mbed

lonch.cpp@0:0ae8cd6754d2, 2016-10-31 (annotated)

Committer:
Sufa
Date:
Mon Oct 31 13:36:59 2016 +0000
Revision:
0:0ae8cd6754d2
Child:
1:9dbbdb321fce
Launcher Code

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Sufa 0:0ae8cd6754d2 1 /* Made by SF101 */
Sufa 0:0ae8cd6754d2 2 /* 29/10/2016 */
Sufa 0:0ae8cd6754d2 3 /* KRAI 2017 */
Sufa 0:0ae8cd6754d2 4 /* Control the Launcher... */
Sufa 0:0ae8cd6754d2 5
Sufa 0:0ae8cd6754d2 6 // Library
Sufa 0:0ae8cd6754d2 7 #include "Motor.h"
Sufa 0:0ae8cd6754d2 8 #include "mbed.h"
Sufa 0:0ae8cd6754d2 9 #include "Servo.h"
Sufa 0:0ae8cd6754d2 10 #include "rtos.h"
Sufa 0:0ae8cd6754d2 11
Sufa 0:0ae8cd6754d2 12 //Deklarasi Fungsi yang digunakan
Sufa 0:0ae8cd6754d2 13 // Motor :: Fungsi -- Nama fungsi -- (pwm, forward, reverse)
Sufa 0:0ae8cd6754d2 14 // Motor :: Fungsi -- Nama fungsi -- (pwm, vcc, gnd)
Sufa 0:0ae8cd6754d2 15
Sufa 0:0ae8cd6754d2 16 Motor motor1 (PA_8, PC_12, PB_7);
Sufa 0:0ae8cd6754d2 17 Motor motor2 (PA_9, PA_13, PC_13);
Sufa 0:0ae8cd6754d2 18 Motor motor3 (PA_10, PA_14, PC_14);
Sufa 0:0ae8cd6754d2 19 Motor motor4 (PA_11, PA_15, PC_15);
Sufa 0:0ae8cd6754d2 20
Sufa 0:0ae8cd6754d2 21 Servo servo1 (PB_8);
Sufa 0:0ae8cd6754d2 22 Servo servo2 (PC_8);
Sufa 0:0ae8cd6754d2 23 Servo servo3 (PB_9);
Sufa 0:0ae8cd6754d2 24 Servo servo4 (PC_9);
Sufa 0:0ae8cd6754d2 25 Servo servo5 (PB_6);
Sufa 0:0ae8cd6754d2 26 Servo servo6 (PC_6);
Sufa 0:0ae8cd6754d2 27
Sufa 0:0ae8cd6754d2 28
Sufa 0:0ae8cd6754d2 29
Sufa 0:0ae8cd6754d2 30 // Deklarasi Variabel Global & Konstanta
Sufa 0:0ae8cd6754d2 31 int i;
Sufa 0:0ae8cd6754d2 32 float sudut_awal = 80;
Sufa 0:0ae8cd6754d2 33 float sudut_min = 60;
Sufa 0:0ae8cd6754d2 34 float sudut_max = 90;
Sufa 0:0ae8cd6754d2 35
Sufa 0:0ae8cd6754d2 36
Sufa 0:0ae8cd6754d2 37 int main (void) {
Sufa 0:0ae8cd6754d2 38
Sufa 0:0ae8cd6754d2 39 while (1) {
Sufa 0:0ae8cd6754d2 40 for ( i = 0 ; i >= 6 ; i++) // untuk melempar 7 saucer
Sufa 0:0ae8cd6754d2 41 {
Sufa 0:0ae8cd6754d2 42 servo1.position (sudut_ref);
Sufa 0:0ae8cd6754d2 43 wait_ms(100);
Sufa 0:0ae8cd6754d2 44 servo1.position (sudut_max);
Sufa 0:0ae8cd6754d2 45 wait_ms(100);
Sufa 0:0ae8cd6754d2 46
Sufa 0:0ae8cd6754d2 47 motor1.speed(0.75);
Sufa 0:0ae8cd6754d2 48 motor2.speed(-0.75);
Sufa 0:0ae8cd6754d2 49 motor3.speed(0.25);
Sufa 0:0ae8cd6754d2 50 motor4.speed(-0.25);
Sufa 0:0ae8cd6754d2 51 motor5.speed(0.80);
Sufa 0:0ae8cd6754d2 52 motor6.speed(-0.80);
Sufa 0:0ae8cd6754d2 53 wait_ms(200);
Sufa 0:0ae8cd6754d2 54 motor1.brake(1);
Sufa 0:0ae8cd6754d2 55 motor2.brake(1);
Sufa 0:0ae8cd6754d2 56 motor3.brake(1);
Sufa 0:0ae8cd6754d2 57 motor4.brake(1);
Sufa 0:0ae8cd6754d2 58 motor5.brake(1);
Sufa 0:0ae8cd6754d2 59 motor6.speed(1);
Sufa 0:0ae8cd6754d2 60 wait_ms(100);
Sufa 0:0ae8cd6754d2 61
Sufa 0:0ae8cd6754d2 62 servo1.position (sudut_min);
Sufa 0:0ae8cd6754d2 63 wait_ms(100);
Sufa 0:0ae8cd6754d2 64 }
Sufa 0:0ae8cd6754d2 65 }
Sufa 0:0ae8cd6754d2 66 }