Encoder read code
Dependencies: mbed encoderKRTMI Motornew millis
main.cpp@0:8c90db18512f, 2019-02-23 (annotated)
- Committer:
- SalbiFaza
- Date:
- Sat Feb 23 11:17:09 2019 +0000
- Revision:
- 0:8c90db18512f
bismillah
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
SalbiFaza | 0:8c90db18512f | 1 | //library |
SalbiFaza | 0:8c90db18512f | 2 | #include "mbed.h" |
SalbiFaza | 0:8c90db18512f | 3 | #include "encoderKRTMI.h" |
SalbiFaza | 0:8c90db18512f | 4 | #include "millis.h" |
SalbiFaza | 0:8c90db18512f | 5 | #include "Motor.h" |
SalbiFaza | 0:8c90db18512f | 6 | |
SalbiFaza | 0:8c90db18512f | 7 | //Konstanta |
SalbiFaza | 0:8c90db18512f | 8 | |
SalbiFaza | 0:8c90db18512f | 9 | //Roda KRTMI = 0.61313625 |
SalbiFaza | 0:8c90db18512f | 10 | #define PULSE_TO_JARAK 0.61313625 //jarak yang ditempuh oleh roda (keliling roda) |
SalbiFaza | 0:8c90db18512f | 11 | |
SalbiFaza | 0:8c90db18512f | 12 | // PX1 diganti Pin yang dipakai, PY1 diganti Pin yang dipakai, 538 banyaknya pulse (spesifikasi dari encoder), X4_ENCODING dari library, |
SalbiFaza | 0:8c90db18512f | 13 | // PX2 diganti Pin yang dipakai, PY2 diganti Pin yang dipakai, 538 banyaknya pulse (spesifikasi dari encoder), X4_ENCODING dari library, |
SalbiFaza | 0:8c90db18512f | 14 | encoderKRTMI encoderMotorX (PB_1, PC_2, 538, encoderKRTMI::X4_ENCODING); |
SalbiFaza | 0:8c90db18512f | 15 | encoderKRTMI encoderMotorY (PB_3, PC_4, 538, encoderKRTMI::X4_ENCODING); |
SalbiFaza | 0:8c90db18512f | 16 | |
SalbiFaza | 0:8c90db18512f | 17 | Serial pc(USBTX, USBRX); |
SalbiFaza | 0:8c90db18512f | 18 | |
SalbiFaza | 0:8c90db18512f | 19 | //variabel global |
SalbiFaza | 0:8c90db18512f | 20 | float timeSampling; |
SalbiFaza | 0:8c90db18512f | 21 | double pulseX; // pulseX diganti dengan pulse nama motor |
SalbiFaza | 0:8c90db18512f | 22 | double pulseY; // pulseY diganti dengan pulse nama motor |
SalbiFaza | 0:8c90db18512f | 23 | |
SalbiFaza | 0:8c90db18512f | 24 | // |
SalbiFaza | 0:8c90db18512f | 25 | int main (){ |
SalbiFaza | 0:8c90db18512f | 26 | pc.baud(115200); |
SalbiFaza | 0:8c90db18512f | 27 | while(1){ |
SalbiFaza | 0:8c90db18512f | 28 | pulseX = (double) encoderMotorX.getPulses()*PULSE_TO_JARAK; |
SalbiFaza | 0:8c90db18512f | 29 | pulseY = (double) encoderMotorY.getPulses()*PULSE_TO_JARAK; |
SalbiFaza | 0:8c90db18512f | 30 | pc.printf("X: $if\t Y: $if\n",pulseX,pulseY); |
SalbiFaza | 0:8c90db18512f | 31 | wait(0.2); |
SalbiFaza | 0:8c90db18512f | 32 | } |
SalbiFaza | 0:8c90db18512f | 33 | } |