KRAI 2017 / Mbed 2 deprecated Launcher_CODE

Kodingan untuk sistem atas. Silahkan di edit dan dibuat seoptimal mungkin

Dependencies:   Motor Servo mbed-rtos mbed

lonch.cpp@1:9dbbdb321fce, 2016-11-10 (annotated)

Committer:
Sufa
Date:
Thu Nov 10 15:12:44 2016 +0000
Revision:
1:9dbbdb321fce
Parent:
0:0ae8cd6754d2 
Program Launcher

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Sufa 1:9dbbdb321fce 1 ///////////////////////////////// LAUNCHER CODE v1.4 //////////////////////////////////
Sufa 1:9dbbdb321fce 2 ///////////////////////////Made by Everyone in KRAI 2017///////////////////////////////
Sufa 1:9dbbdb321fce 3 ////////////////////////////////Bandung, 10 Nov 2016///////////////////////////////////////
Sufa 1:9dbbdb321fce 4 ///////////////////////////Feel free to edit and upgrade it///////////////////////////
Sufa 1:9dbbdb321fce 5
Sufa 1:9dbbdb321fce 6 //Supporting People
Sufa 1:9dbbdb321fce 7 // 1. Gustav Aditya Permana
Sufa 1:9dbbdb321fce 8 // 2. Fransiskus Hendri
Sufa 1:9dbbdb321fce 9 // 3. Sulhan Fauzi
Sufa 1:9dbbdb321fce 10 // 4. Joshua
Sufa 1:9dbbdb321fce 11 // 5. Daniel Steven Doxazo
Sufa 1:9dbbdb321fce 12 // 6. Muhammad Fathoni
Sufa 0:0ae8cd6754d2 13
Sufa 0:0ae8cd6754d2 14 // Library
Sufa 0:0ae8cd6754d2 15 #include "Motor.h"
Sufa 0:0ae8cd6754d2 16 #include "mbed.h"
Sufa 0:0ae8cd6754d2 17 #include "Servo.h"
Sufa 0:0ae8cd6754d2 18 #include "rtos.h"
Sufa 0:0ae8cd6754d2 19
Sufa 0:0ae8cd6754d2 20 //Deklarasi Fungsi yang digunakan
Sufa 0:0ae8cd6754d2 21 // Motor :: Fungsi -- Nama fungsi -- (pwm, forward, reverse)
Sufa 1:9dbbdb321fce 22 // Servo :: Fungsi -- Nama fungsi -- (pwm, vcc, gnd)
Sufa 0:0ae8cd6754d2 23
Sufa 0:0ae8cd6754d2 24 Motor motor1 (PA_8, PC_12, PB_7);
Sufa 0:0ae8cd6754d2 25 Motor motor2 (PA_9, PA_13, PC_13);
Sufa 0:0ae8cd6754d2 26 Motor motor3 (PA_10, PA_14, PC_14);
Sufa 0:0ae8cd6754d2 27 Motor motor4 (PA_11, PA_15, PC_15);
Sufa 0:0ae8cd6754d2 28
Sufa 1:9dbbdb321fce 29 Servo servo1 (PA_0); // (PWM2/1)
Sufa 1:9dbbdb321fce 30 Servo servo2 (PA_1); // (PWM2/2)
Sufa 1:9dbbdb321fce 31 Servo servo3 (PB_10); // (PWM2/3)
Sufa 1:9dbbdb321fce 32 Servo servo4 (PC_9); // (PWM3/4)
Sufa 1:9dbbdb321fce 33 Servo servo5 (PC_8); // (PWM3/3)
Sufa 1:9dbbdb321fce 34 Servo servo6 (PC_6); // (PWM3/1)
Sufa 0:0ae8cd6754d2 35
Sufa 0:0ae8cd6754d2 36
Sufa 0:0ae8cd6754d2 37 // Deklarasi Variabel Global & Konstanta
Sufa 0:0ae8cd6754d2 38 int i;
Sufa 0:0ae8cd6754d2 39 float sudut_awal = 80;
Sufa 0:0ae8cd6754d2 40 float sudut_min = 60;
Sufa 0:0ae8cd6754d2 41 float sudut_max = 90;
Sufa 0:0ae8cd6754d2 42
Sufa 1:9dbbdb321fce 43 // Main Function
Sufa 0:0ae8cd6754d2 44 int main (void) {
Sufa 0:0ae8cd6754d2 45
Sufa 0:0ae8cd6754d2 46 while (1) {
Sufa 0:0ae8cd6754d2 47 for ( i = 0 ; i >= 6 ; i++) // untuk melempar 7 saucer
Sufa 0:0ae8cd6754d2 48 {
Sufa 0:0ae8cd6754d2 49 servo1.position (sudut_ref);
Sufa 0:0ae8cd6754d2 50 wait_ms(100);
Sufa 0:0ae8cd6754d2 51 servo1.position (sudut_max);
Sufa 0:0ae8cd6754d2 52 wait_ms(100);
Sufa 0:0ae8cd6754d2 53
Sufa 0:0ae8cd6754d2 54 motor1.speed(0.75);
Sufa 0:0ae8cd6754d2 55 motor2.speed(-0.75);
Sufa 0:0ae8cd6754d2 56 motor3.speed(0.25);
Sufa 0:0ae8cd6754d2 57 motor4.speed(-0.25);
Sufa 0:0ae8cd6754d2 58 motor5.speed(0.80);
Sufa 0:0ae8cd6754d2 59 motor6.speed(-0.80);
Sufa 0:0ae8cd6754d2 60 wait_ms(200);
Sufa 0:0ae8cd6754d2 61 motor1.brake(1);
Sufa 0:0ae8cd6754d2 62 motor2.brake(1);
Sufa 0:0ae8cd6754d2 63 motor3.brake(1);
Sufa 0:0ae8cd6754d2 64 motor4.brake(1);
Sufa 0:0ae8cd6754d2 65 motor5.brake(1);
Sufa 0:0ae8cd6754d2 66 motor6.speed(1);
Sufa 0:0ae8cd6754d2 67 wait_ms(100);
Sufa 0:0ae8cd6754d2 68
Sufa 0:0ae8cd6754d2 69 servo1.position (sudut_min);
Sufa 0:0ae8cd6754d2 70 wait_ms(100);
Sufa 0:0ae8cd6754d2 71 }
Sufa 0:0ae8cd6754d2 72 }
Sufa 0:0ae8cd6754d2 73 }