![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
ping + display on
Dependencies: DigitDisplay Motor PID Ping mbed millis
Fork of MainProgram_BaseBaru_20Feb by
Diff: main.cpp
- Revision:
- 29:7b372b0aaa61
- Parent:
- 28:2d0746dc2d7d
- Child:
- 30:d69cc27ac644
diff -r 2d0746dc2d7d -r 7b372b0aaa61 main.cpp --- a/main.cpp Fri Feb 10 19:18:55 2017 +0000 +++ b/main.cpp Sun Feb 12 08:07:04 2017 +0000 @@ -70,27 +70,27 @@ float speedT = 0.2; float vpid = 0; float pwmP = 0.5; -float pwmT = -0.8; +float pwmT = -0.95; /* Deklarasi Encoder Base */ encoderKRAI encoderKiri(PC_4, PB_15, 2000, encoderKRAI::X2_ENCODING); //inA, inB, pin Indeks (NC = tak ada), resolusi, pembacaan /* Deklarasi Encoder Launcher */ -encoderKRAI encoderAtas( PB_13, PB_14, 28, encoderKRAI::X2_ENCODING); -encoderKRAI encoderAtas2( PB_15, PC_4, 28, encoderKRAI::X2_ENCODING); +encoderKRAI encoderAtas( PC_10, PC_11, 28, encoderKRAI::X2_ENCODING); +encoderKRAI encoderAtas2( PD_2, PC_12, 28, encoderKRAI::X2_ENCODING); /* Deklarasi Motor Base */ -Motor motor1(PB_9, PC_5, PA_12); // pwm, fwd, rev, Motor Depan +Motor motor1(PB_9, PA_12, PC_5); // pwm, fwd, rev, Motor Depan Motor motor2(PB_6, PB_1, PB_12); // pwm, fwd, rev, Motor Belakang /* Deklarasi Motor Launcher */ -Motor motorL1(PA_8,PC_1,PC_2); // pwm ,fwd, rev, Motor Launcher1 -Motor motorL3(PA_10, PC_0, PC_3); // pwm, fwd, rev, Motor Launcher2 -Motor motorP(PC_7, PC_14, PC_13); // pwm, fwd, rev, Motor Powerscrew +Motor motorL1(PA_8,PC_2,PC_1); // pwm ,fwd, rev, Motor Launcher1 +Motor motorL3(PA_10, PC_3, PC_0); // pwm, fwd, rev, Motor Launcher2 +Motor motorP(PB_7, PA_14, PA_15); // pwm, fwd, rev, Motor Powerscrew /* Deklarasi Penumatik Launcher */ -DigitalOut pneumatik(PB_2, 0); +DigitalOut pneumatik(PB_3, PullUp); /*Dekalrasi Limit Switch */ DigitalIn limitA (PC_9, PullUp); @@ -179,6 +179,7 @@ if (reload){ if (!limitA){ motorP.brake (1); + wait_ms(1000); } else { @@ -190,9 +191,9 @@ motorP.speed(pwmT); } motorP.brake(1); + reload = !reload; } } - reload = !reload; } /*Motor Atas*/ @@ -243,6 +244,12 @@ encoderAtas2.getPulses(); } } + else + { + motorL1.brake(1); + motorL3.brake(1); + } + // MOTOR Bawah switch (case_ger) { @@ -361,9 +368,9 @@ launcher = !launcher; } if (joystick.lingkaran_click){ + pneumatik = 0; + wait_ms(1000); pneumatik = 1; - wait_ms(500); - pneumatik = 0; } speedKalibrasiMotor(); if (joystick.silang_click){