robotpin.h

00001 /*Garudago ITB 2019 Attributes*/
00002 
00003 #ifndef ROBOTPIN_H
00004 #define ROBOTPIN_H
00005 
00006 #include "mbed.h"
00007 #include "encoderKRAI.h"
00008 #include "CMPS12_KRAI.h"
00009 #include "Motor.h"
00010 #include "encoderHAL.h"
00011 #include <garudago_hardware_interface/JoystickPS3.h>
00012 
00013 #define PIN_OPTO_3      PB_9                            //Extension shagai      1 -> Memendek
00014 #define PIN_OPTO_4      PB_6                            //Penaik gerege         1 -> Naik
00015 #define PIN_OPTO_5      PB_4//LED Mati                  //Pelontar shagai       1 -> Panjang
00016 #define PIN_OPTO_7      PC_8                            //Pencapit gerege       1 -> Buka
00017 #define PIN_OPTO_9      PC_5                            //Pembelok gerege       1 -> Lurus
00018 #define PIN_OPTO_11     PB_2                            //Pengambil shagai      1 -> Tutup
00019 
00020 //Serial pin for UART Arduino
00021 #define PIN_TX              PA_0
00022 #define PIN_RX              PA_1
00023 
00024 //Serial Initiate
00025 //Serial pc(USBTX, USBRX, 115200);
00026 joysticknucleo stick(PIN_TX, PIN_RX);
00027 
00028 //Compass
00029 CMPS12_KRAI compass_sensor(PC_9,PA_8, 0xC0);
00030 
00031 //Internal Encoder From Motor using interrupt
00032 encoderKRAI enc_right_top(PC_10, PC_13, 537.6, encoderKRAI::X4_ENCODING);
00033 encoderKRAI enc_left_top(PC_12,  PC_11,  537.6, encoderKRAI::X4_ENCODING);
00034 encoderKRAI enc_left_back(PC_3, PC_2, 537.6, encoderKRAI::X4_ENCODING);
00035 encoderKRAI enc_right_back(PC_15, PC_14, 537.6, encoderKRAI::X4_ENCODING);
00036 encoderKRAI enc_shagai(PC_6, PC_7, 538, encoderKRAI::X4_ENCODING);
00037 
00038 //input capture encoder
00039 // encoderHAL enc2(TIM4);
00040 // encoderHAL enc3(TIM2);
00041 // encoderHAL enc1(TIM3);
00042 
00043 Motor motor_right_top(PA_11,PA_12,PB_12);
00044 Motor motor_left_top(PA_7,PA_5,  PA_6);
00045 Motor motor_left_back(PB_0,PC_1, PC_0);
00046 Motor motor_right_back(PB_1,PB_14, PB_15);
00047 Motor motor_shagai(PA_15, PA_13, PA_14 );
00048 
00049 //Pneumatic
00050 DigitalOut  pneumatic_extension (PIN_OPTO_3);
00051 DigitalOut  pneumatic_penaik    (PIN_OPTO_4);
00052 DigitalOut  pneumatic_pelontar  (PIN_OPTO_5);
00053 DigitalOut  pneumatic_pencapit  (PIN_OPTO_7);
00054 DigitalOut  pneumatic_pembelok  (PIN_OPTO_9);
00055 DigitalOut  pneumatic_pengambil (PIN_OPTO_11);
00056 
00057 #endif