KRAI ITB GARUDAGO / Mbed 2 deprecated DataMotor

Data kecepatan motor thdp pwm Data kec motor thdp waktu

Dependencies:   mbed encoderKRAI Motor_new

main.cpp@0:cddb02c09d3f, 2019-10-28 (annotated)

Committer:
dwianiyulia
Date:
Mon Oct 28 12:52:13 2019 +0000
Revision:
0:cddb02c09d3f
Ambil Data Motor

Who changed what in which revision?

UserRevisionLine numberNew contents of line
dwianiyulia 0:cddb02c09d3f 1 #include "mbed.h"
dwianiyulia 0:cddb02c09d3f 2 #include "Motor.h"
dwianiyulia 0:cddb02c09d3f 3 #include "encoderKRAI.h"
dwianiyulia 0:cddb02c09d3f 4 #include <stdio.h>
dwianiyulia 0:cddb02c09d3f 5
dwianiyulia 0:cddb02c09d3f 6 Serial pc(USBTX, USBRX, 115200)
dwianiyulia 0:cddb02c09d3f 7
dwianiyulia 0:cddb02c09d3f 8 //PinList
dwianiyulia 0:cddb02c09d3f 9 Motor motorA(PB_7,PC_3,PC_0);
dwianiyulia 0:cddb02c09d3f 10 EncoderKRAI encoderA(PB_1,PB_2,538,encoderKRAI::X4_ENCODING);// input pin
dwianiyulia 0:cddb02c09d3f 11
dwianiyulia 0:cddb02c09d3f 12 //Define
dwianiyulia 0:cddb02c09d3f 13 double pulse, total_pulse,velA;
dwianiyulia 0:cddb02c09d3f 14 float pwm;
dwianiyulia 0:cddb02c09d3f 15 typedef int IdxType;
dwianiyulia 0:cddb02c09d3f 16 typedef int ElType;
dwianiyulia 0:cddb02c09d3f 17 typedef struct{
dwianiyulia 0:cddb02c09d3f 18 ElType TI[IdxMax];
dwianiyulia 0:cddb02c09d3f 19 int Neff;
dwianiyulia 0:cddb02c09d3f 20 }TabInt;
dwianiyulia 0:cddb02c09d3f 21 TabInt A,B,C;
dwianiyulia 0:cddb02c09d3f 22 IdxType i;
dwianiyulia 0:cddb02c09d3f 23 const float wheel_radius = 0.050;
dwianiyulia 0:cddb02c09d3f 24 const float PI = 3.141592;
dwianiyulia 0:cddb02c09d3f 25 float sample_time = 10;
dwianiyulia 0:cddb02c09d3f 26
dwianiyulia 0:cddb02c09d3f 27 void locomotionMovement();
dwianiyulia 0:cddb02c09d3f 28
dwianiyulia 0:cddb02c09d3f 29 //Procedures Implementation
dwianiyulia 0:cddb02c09d3f 30 int main(){
dwianiyulia 0:cddb02c09d3f 31 startMillis();
dwianiyulia 0:cddb02c09d3f 32 //gerak motor
dwianiyulia 0:cddb02c09d3f 33 while (1){
dwianiyulia 0:cddb02c09d3f 34 if (millis()- last_timer >= sample_time){
dwianiyulia 0:cddb02c09d3f 35 //read actual velocity (feedback)
dwianiyulia 0:cddb02c09d3f 36 velA = (encoderA.getPulses() * 2 * PI * wheel_radius)/(0.003*538);
dwianiyulia 0:cddb02c09d3f 37 //give pwm to motor
dwianiyulia 0:cddb02c09d3f 38 while (pwm<=0.8){
dwianiyulia 0:cddb02c09d3f 39 pwm=pwm+0.1
dwianiyulia 0:cddb02c09d3f 40 }
dwianiyulia 0:cddb02c09d3f 41 motorA.speed(pwm);
dwianiyulia 0:cddb02c09d3f 42 //reset encoder
dwianiyulia 0:cddb02c09d3f 43 encoderA.reset();
dwianiyulia 0:cddb02c09d3f 44 last_timer = millis();
dwianiyulia 0:cddb02c09d3f 45 pc.printf("%d\n", velA));
dwianiyulia 0:cddb02c09d3f 46 }
dwianiyulia 0:cddb02c09d3f 47 }
dwianiyulia 0:cddb02c09d3f 48
dwianiyulia 0:cddb02c09d3f 49 }