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Dependencies: DigitDisplay Motor PID Ping mbed millis
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MainProgram_BaseBaru_fix_omni_5April_fix
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KRAI 2017
Revision 10:f0f0dc3904e0, committed 2016-11-29
- Comitter:
- franshendri
- Date:
- Tue Nov 29 15:15:28 2016 +0000
- Parent:
- 9:5a50782510fb
- Child:
- 11:e1efcc958f4b
- Commit message:
- motor bawah oke
Changed in this revision
| Servo.lib | Show annotated file Show diff for this revision Revisions of this file |
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/Servo.lib Tue Nov 29 11:54:22 2016 +0000 +++ b/Servo.lib Tue Nov 29 15:15:28 2016 +0000 @@ -1,1 +1,1 @@ -https://developer.mbed.org/teams/KRAI-2017/code/Joystic_OrdoV3/#5fe5dc9b8010 +https://developer.mbed.org/teams/KRAI-2017/code/Joystic_OrdoV3/#3778327a0102
--- a/main.cpp Tue Nov 29 11:54:22 2016 +0000
+++ b/main.cpp Tue Nov 29 15:15:28 2016 +0000
@@ -54,7 +54,7 @@
float speed2=0.6;
float speed3=0.6;
float speed4=0.6;
-float speedL=0.2;
+float speedL=0.6;
float KpX=0.5, KpY=0.5, Kp_tetha=0.03;
@@ -71,18 +71,18 @@
encoderKRAI encoderKiri( PC_11, PC_10, 2000, encoderKRAI::X2_ENCODING);
// Deklarasi variabel motor
-Motor motor1(PB_8, PB_1 , PA_13); // pwm, fwd, rev
-Motor motor2(PB_9, PA_12, PC_5); // pwm, fwd, rev
-Motor motor3(PB_6, PA_7 , PB_12); // pwm, fwd, rev
-Motor motor4(PB_7, PA_14 ,PA_15); // pwm, fwd, rev
+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 Atas
-Motor motorld(PA_8, PB_0 ,PC_15); // pwm, fwd, rev
-Motor motorlb(PA_11, PA_5 ,PA_6); // pwm, fwd, rev
+Motor motorld(PB_8, PB_1 , PA_13); // pwm, fwd, rev
+Motor motorlb(PB_9, PA_12, PC_5 ); // pwm, fwd, rev
//Servo Atas
-Servo servoS(pinservo1);
-Servo servoB(pinservo2);
+Servo servoS(PC_9);
+Servo servoB(PC_7);
// Deklarasi variabel posisi robot
//robotPos posisi();
@@ -233,7 +233,9 @@
{
//Servo
if (ServoGo){
- servoS.position(-90);
+ servoS.position(10);
+ wait_ms(500);
+ servoS.position(-70);
wait_ms(500);
servoS.position(10);
wait_ms(500);
@@ -288,7 +290,7 @@
}
case (3):
{
- YT = YT + 0.01;
+ YT = YT + 0.1;
maju=true;
mundur=kiri=kanan=saka=saki=sbka=sbki=analog=pivka=pivki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false;
@@ -299,7 +301,7 @@
}
case (4):
{
- YT = YT - 0.01;
+ YT = YT - 0.1;
mundur=true;
maju=kiri=kanan=saka=saki=sbka=sbki=analog=pivka=pivki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false;
@@ -311,8 +313,8 @@
}
case (5) :
{
- XT = XT + 0.01;
- YT = YT + 0.01;
+ XT = XT + 0.1;
+ YT = YT + 0.1;
saka=true;
maju=mundur=kiri=kanan=sbka=saki=sbki=analog=pivka=pivki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false;
@@ -324,8 +326,8 @@
}
case (6) :
{
- XT = XT + 0.01;
- YT = YT - 0.01;
+ XT = XT + 0.1;
+ YT = YT - 0.1;
sbka=true;
@@ -338,8 +340,8 @@
}
case (7) :
{
- XT = XT - 0.01;
- YT = YT + 0.01;
+ XT = XT - 0.1;
+ YT = YT + 0.1;
saki=true;
@@ -352,8 +354,8 @@
}
case (8) :
{
- XT = XT - 0.01;
- YT = YT - 0.01;
+ XT = XT - 0.1;
+ YT = YT - 0.1;
pc.printf("sbki Xt =%.2f x=%.2f YT=%.2f y=%.2f \n",XT,x,YT,y);
@@ -362,7 +364,7 @@
}
case (9) :
{
- XT = XT + 0.01;
+ XT = XT + 0.1;
kanan=true;
maju=kiri=mundur=saka=saki=sbka=sbki=analog=pivka=pivki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false;
@@ -372,7 +374,7 @@
}
case (10) :
{
- XT = XT - 0.01;
+ XT = XT - 0.1;
kiri=true;
maju=kanan=mundur=saka=saki=sbka=sbki=analog=pivka=pivki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false;
@@ -385,8 +387,8 @@
case (11):
{
- XT = XT + 0.01*x;
- YT = YT + 0.01*y;
+ XT = XT + 0.1*x;
+ YT = YT + 0.1*y;
analog=true;
maju=mundur=kiri=kanan=saka=saki=sbka=sbki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false;