KRAI ITB GARUDAGO / Mbed 2 deprecated TESTROBOT

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Dependencies:   mbed

main.cpp@0:6a83d8fc84cf, 2019-10-09 (annotated)

Committer:
oktavianusirvan
Date:
Wed Oct 09 13:32:49 2019 +0000
Revision:
0:6a83d8fc84cf
Child:
1:f318636315dc
1. Sudah Benar, tinggal implementasi PID; - oktavianus irvan sitanggang;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
oktavianusirvan 0:6a83d8fc84cf 1 #include "mbed.h"
oktavianusirvan 0:6a83d8fc84cf 2 #include "pinlist.h"
oktavianusirvan 0:6a83d8fc84cf 3 #include "robotpin.h"
oktavianusirvan 0:6a83d8fc84cf 4 #include "encoder_krai/encoderKRAI.h"
oktavianusirvan 0:6a83d8fc84cf 5 #include "motor/Motor.h"
oktavianusirvan 0:6a83d8fc84cf 6 Serial pc(USBTX, USBRX, 115200);
oktavianusirvan 0:6a83d8fc84cf 7
oktavianusirvan 0:6a83d8fc84cf 8 float pulseA = 0,
oktavianusirvan 0:6a83d8fc84cf 9 pulseB = 0,
oktavianusirvan 0:6a83d8fc84cf 10 pulseC = 0,
oktavianusirvan 0:6a83d8fc84cf 11 pulseD = 0;
oktavianusirvan 0:6a83d8fc84cf 12 encoderKRAI enc_A (PIN_A_CHA, PIN_A_CHB, 538, encoderKRAI::X4_ENCODING);
oktavianusirvan 0:6a83d8fc84cf 13 encoderKRAI enc_B (PIN_B_CHA, PIN_B_CHB, 538, encoderKRAI::X4_ENCODING);
oktavianusirvan 0:6a83d8fc84cf 14 encoderKRAI enc_C (PIN_C_CHA, PIN_C_CHB, 538, encoderKRAI::X4_ENCODING);
oktavianusirvan 0:6a83d8fc84cf 15 encoderKRAI enc_D (PIN_D_CHA, PIN_D_CHB, 538, encoderKRAI::X4_ENCODING);
oktavianusirvan 0:6a83d8fc84cf 16
oktavianusirvan 0:6a83d8fc84cf 17 Motor motor_A (PIN_PWM_A, PIN_FWD_A, PIN_REV_A);
oktavianusirvan 0:6a83d8fc84cf 18 Motor motor_B (PIN_PWM_B, PIN_FWD_B, PIN_REV_B);
oktavianusirvan 0:6a83d8fc84cf 19 Motor motor_C (PIN_PWM_C, PIN_FWD_C, PIN_REV_C);
oktavianusirvan 0:6a83d8fc84cf 20 Motor motor_D (PIN_PWM_D, PIN_FWD_D, PIN_REV_D);
oktavianusirvan 0:6a83d8fc84cf 21
oktavianusirvan 0:6a83d8fc84cf 22 int main() {
oktavianusirvan 0:6a83d8fc84cf 23 while(1){
oktavianusirvan 0:6a83d8fc84cf 24 motor_A.speed(0.5);
oktavianusirvan 0:6a83d8fc84cf 25 motor_B.speed(0.5);
oktavianusirvan 0:6a83d8fc84cf 26 motor_C.speed(0.5);
oktavianusirvan 0:6a83d8fc84cf 27 motor_D.speed(0.5);
oktavianusirvan 0:6a83d8fc84cf 28
oktavianusirvan 0:6a83d8fc84cf 29 pulseA += (float)enc_A.getPulses()*360/538;
oktavianusirvan 0:6a83d8fc84cf 30 pulseB += (float)enc_B.getPulses()*360/538;
oktavianusirvan 0:6a83d8fc84cf 31 pulseC += (float)enc_C.getPulses()*360/538;
oktavianusirvan 0:6a83d8fc84cf 32 pulseD += (float)enc_D.getPulses()*360/538;
oktavianusirvan 0:6a83d8fc84cf 33
oktavianusirvan 0:6a83d8fc84cf 34 enc_A.reset();
oktavianusirvan 0:6a83d8fc84cf 35 enc_B.reset();
oktavianusirvan 0:6a83d8fc84cf 36 enc_C.reset();
oktavianusirvan 0:6a83d8fc84cf 37 enc_D.reset();
oktavianusirvan 0:6a83d8fc84cf 38
oktavianusirvan 0:6a83d8fc84cf 39 pc.printf("Pulse A : %f ", pulseA);
oktavianusirvan 0:6a83d8fc84cf 40 pc.printf("Pulse B : %f ", pulseB);
oktavianusirvan 0:6a83d8fc84cf 41 pc.printf("Pulse C : %f ", pulseC);
oktavianusirvan 0:6a83d8fc84cf 42 pc.printf("Pulse D : %f \n", pulseD);
oktavianusirvan 0:6a83d8fc84cf 43
oktavianusirvan 0:6a83d8fc84cf 44 }
oktavianusirvan 0:6a83d8fc84cf 45 return 0;
oktavianusirvan 0:6a83d8fc84cf 46 }