Data kecepatan motor thdp pwm Data kec motor thdp waktu
Dependencies: mbed encoderKRAI Motor_new
Revision 0:cddb02c09d3f, committed 2019-10-28
- Comitter:
- dwianiyulia
- Date:
- Mon Oct 28 12:52:13 2019 +0000
- Commit message:
- Ambil Data Motor
Changed in this revision
diff -r 000000000000 -r cddb02c09d3f Motor.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Motor.lib Mon Oct 28 12:52:13 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/teams/Magang-KRAI-2019/code/Motor_new/#1d0887244f8b
diff -r 000000000000 -r cddb02c09d3f encoderKRAI.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/encoderKRAI.lib Mon Oct 28 12:52:13 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/teams/Magang-KRAI-2019/code/encoderKRAI/#8a7fb008561c
diff -r 000000000000 -r cddb02c09d3f main.cpp --- /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
diff -r 000000000000 -r cddb02c09d3f mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Mon Oct 28 12:52:13 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400 \ No newline at end of file