Diff: main.cpp

Revision:

0:cddb02c09d3f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Oct 28 12:52:13 2019 +0000
@@ -0,0 +1,49 @@
+#include "mbed.h"
+#include "Motor.h"
+#include "encoderKRAI.h"
+#include <stdio.h>
+
+Serial pc(USBTX, USBRX, 115200)
+
+//PinList
+Motor motorA(PB_7,PC_3,PC_0);
+EncoderKRAI encoderA(PB_1,PB_2,538,encoderKRAI::X4_ENCODING);// input pin
+
+//Define
+double pulse, total_pulse,velA;
+float pwm;
+typedef int IdxType;
+typedef int ElType;
+typedef struct{
+    ElType TI[IdxMax];
+    int Neff;
+}TabInt;
+TabInt A,B,C;
+IdxType i;
+const float  wheel_radius                           = 0.050;
+const float  PI                                     = 3.141592;
+float sample_time                                   = 10;
+
+void locomotionMovement();
+
+//Procedures Implementation
+int main(){
+    startMillis();
+    //gerak motor
+    while (1){
+        if (millis()- last_timer >= sample_time){
+            //read actual velocity (feedback)
+            velA   = (encoderA.getPulses()  * 2 * PI * wheel_radius)/(0.003*538);
+            //give pwm to motor
+            while (pwm<=0.8){
+                pwm=pwm+0.1
+            }    
+            motorA.speed(pwm);
+            //reset encoder
+            encoderA.reset();
+            last_timer = millis();
+            pc.printf("%d\n", velA));
+    }
+}     
+
+}    
\ No newline at end of file