KRTMI 2019
Encoder read code
Dependencies: mbed encoderKRTMI Motornew millis
Revision 0:8c90db18512f, committed 2019-02-23
- Comitter:
- SalbiFaza
- Date:
- Sat Feb 23 11:17:09 2019 +0000
- Commit message:
- bismillah
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Motor.lib Sat Feb 23 11:17:09 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/teams/KRAI-2018/code/Motornew/#1d0887244f8b
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/encoderKRTMI.lib Sat Feb 23 11:17:09 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/teams/KRTMI-2019/code/encoderKRTMI/#fd29d4db8c40
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Sat Feb 23 11:17:09 2019 +0000
@@ -0,0 +1,33 @@
+//library
+#include "mbed.h"
+#include "encoderKRTMI.h"
+#include "millis.h"
+#include "Motor.h"
+
+//Konstanta
+
+//Roda KRTMI = 0.61313625
+#define PULSE_TO_JARAK 0.61313625 //jarak yang ditempuh oleh roda (keliling roda)
+
+// PX1 diganti Pin yang dipakai, PY1 diganti Pin yang dipakai, 538 banyaknya pulse (spesifikasi dari encoder), X4_ENCODING dari library,
+// PX2 diganti Pin yang dipakai, PY2 diganti Pin yang dipakai, 538 banyaknya pulse (spesifikasi dari encoder), X4_ENCODING dari library,
+encoderKRTMI encoderMotorX (PB_1, PC_2, 538, encoderKRTMI::X4_ENCODING);
+encoderKRTMI encoderMotorY (PB_3, PC_4, 538, encoderKRTMI::X4_ENCODING);
+
+Serial pc(USBTX, USBRX);
+
+//variabel global
+float timeSampling;
+double pulseX; // pulseX diganti dengan pulse nama motor
+double pulseY; // pulseY diganti dengan pulse nama motor
+
+//
+int main (){
+ pc.baud(115200);
+ while(1){
+ pulseX = (double) encoderMotorX.getPulses()*PULSE_TO_JARAK;
+ pulseY = (double) encoderMotorY.getPulses()*PULSE_TO_JARAK;
+ pc.printf("X: $if\t Y: $if\n",pulseX,pulseY);
+ wait(0.2);
+ }
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Sat Feb 23 11:17:09 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400 \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/millis.lib Sat Feb 23 11:17:09 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/teams/DFRobot/code/millis/#736e6cc31bcd