Diff: main.cpp

Revision:

4:8e6dfc416ecf

Parent:

3:e4cbba0706b0

--- a/main.cpp	Tue Oct 18 12:28:57 2016 +0000
+++ b/main.cpp	Thu Feb 09 14:34:10 2017 +0000
@@ -16,16 +16,16 @@
     unsigned long int previousMillis = 0;
     
     //Variabel Motor
-    Motor motor1(PB_9, PC_5, PA_12); // pwm, fwd, rev
+    Motor motor1(PA_8, PC_2, PC_1); // pwm, fwd, rev
     
     // Variabel PID    
-    int errorP, last_errorD;
-    float pwm, pwm_last;
+    int errorP = 0, last_errorD = 0;
+    float pwm = 0, pwm_last;
     float P, Kp;
     float D, Kd;
 
     // Variabel Sabeb
-    int desired_rpm = 100;
+    int desired_rpm = 50;
     
     // Test Variabel
     int selisiherror;
@@ -33,17 +33,17 @@
 // Main Program
  int main(void) { 
  
-   DigitalIn encoder0PinA(PA_5);
-   DigitalIn encoder0PinB(PA_6);
-   Serial pc(USBTX,USBRX);
-   pc.baud(9600);
+    DigitalIn encoder0PinA(PB_14);
+    DigitalIn encoder0PinB(PB_13);
+    Serial pc(USBTX,USBRX);
+    pc.baud(9600);
     startMillis();
     
     // Deklarasi awal PID
     last_errorD = 0;
     pwm_last = 0;
-    Kp = 0.00000007;
-    Kd = 0.000000007;
+    Kp = 0.000000033;               //0.000000037
+    Kd = 0.000000297;               //0.000000270
     
     while(1){
     
@@ -58,9 +58,11 @@
         pwm = 1;
         }
     
+    
     motor1.speed(pwm);
     pwm_last = pwm;
     
+    //motor1.speed(0.8);
     unsigned long int currentMillis = millis();
 //    int counter;
 //    counter=currentMillis/100;
@@ -69,7 +71,7 @@
     {
         previousMillis = currentMillis;
         rpm = encoder0Pos;
-        pc.printf ("pwm = %.5f | rpm = %.0f | P = %.10f | D = %.10f | errorP = %.d | last_errorD = %.d \n",pwm,rpm,P,D, errorP, last_errorD);
+        pc.printf ("pwm = %.5f | rpm = %.0f | P = %.10f | D = %.10f | errorP = %.d | last_errorD = %.d \n",pwm,(rpm),P,D, errorP, last_errorD);
         encoder0Pos = 0;
            
         last_errorD = errorP;
@@ -86,7 +88,7 @@
          } else {
            encoder0Pos++;
          }
-         //pc.printf ("%d \n",encoder0Pos);
+        //pc.printf ("%d \n",encoder0Pos);
         }
         encoder0PinALast = n;
     }