KRTMI 2019 / Mbed 2 deprecated Inverse_Kine_Lengan3

Boleh bisa langsung dicoba, tap servo base belum dikalibrasi

Dependencies:   mbed Servo

main.cpp@0:9dfae2e18414, 2019-04-10 (annotated)

Committer:
harrymunli
Date:
Wed Apr 10 15:18:37 2019 +0000
Revision:
0:9dfae2e18414
Child:
1:9284c57e84da
first_commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
harrymunli 0:9dfae2e18414 1 #include "mbed.h"
harrymunli 0:9dfae2e18414 2 #include "Servo.h"
harrymunli 0:9dfae2e18414 3 #include "Motor.h"
harrymunli 0:9dfae2e18414 4
harrymunli 0:9dfae2e18414 5 /* Nama servo
harrymunli 0:9dfae2e18414 6 4
harrymunli 0:9dfae2e18414 7 3
harrymunli 0:9dfae2e18414 8 21 22
harrymunli 0:9dfae2e18414 9 1 */
harrymunli 0:9dfae2e18414 10
harrymunli 0:9dfae2e18414 11 Servo servo1(PA_1);
harrymunli 0:9dfae2e18414 12 Servo servo21(PA_2);
harrymunli 0:9dfae2e18414 13 Servo servo22(PA_3);
harrymunli 0:9dfae2e18414 14 Servo servo3(PA_4);
harrymunli 0:9dfae2e18414 15 Servo servo4(PA_5);
harrymunli 0:9dfae2e18414 16 Motor motorKanan(PB_3, PA_10, PC_4);
harrymunli 0:9dfae2e18414 17 Motor motorKiri(PB_7, PC_3, PC_0);
harrymunli 0:9dfae2e18414 18
harrymunli 0:9dfae2e18414 19 void kalibrasi(float deg){
harrymunli 0:9dfae2e18414 20 servo1.calibrate(0.0005,deg);
harrymunli 0:9dfae2e18414 21 servo21.calibrate(0.0005,deg);
harrymunli 0:9dfae2e18414 22 servo22.calibrate(0.0005,deg);
harrymunli 0:9dfae2e18414 23 servo3.calibrate(0.0005,deg);
harrymunli 0:9dfae2e18414 24 servo4.calibrate(0.0005,deg);
harrymunli 0:9dfae2e18414 25 }
harrymunli 0:9dfae2e18414 26
harrymunli 0:9dfae2e18414 27 void idle(float s1,float s21,float s22, float s3, float s4){
harrymunli 0:9dfae2e18414 28 servo1.position(s1);
harrymunli 0:9dfae2e18414 29 wait_ms(1);
harrymunli 0:9dfae2e18414 30 servo21.position(s21);
harrymunli 0:9dfae2e18414 31 servo22.position(s22);
harrymunli 0:9dfae2e18414 32 wait_ms(1);
harrymunli 0:9dfae2e18414 33 servo3.position(s3);
harrymunli 0:9dfae2e18414 34 wait_ms(1);
harrymunli 0:9dfae2e18414 35 servo4.position(s4);
harrymunli 0:9dfae2e18414 36 wait_ms(1);
harrymunli 0:9dfae2e18414 37 }
harrymunli 0:9dfae2e18414 38
harrymunli 0:9dfae2e18414 39 int main() {
harrymunli 0:9dfae2e18414 40 /***Gerak Jalan***
harrymunli 0:9dfae2e18414 41 //Maju
harrymunli 0:9dfae2e18414 42 motorKanan.speed(0.3);
harrymunli 0:9dfae2e18414 43 motorKiri.speed(0.3);
harrymunli 0:9dfae2e18414 44
harrymunli 0:9dfae2e18414 45 //Mundur
harrymunli 0:9dfae2e18414 46 motorKanan.speed(0.3);
harrymunli 0:9dfae2e18414 47 motorKiri.speed(0.3);
harrymunli 0:9dfae2e18414 48
harrymunli 0:9dfae2e18414 49 //PivotKiri
harrymunli 0:9dfae2e18414 50 motorKanan.brake();
harrymunli 0:9dfae2e18414 51 motorKiri.speed(0.3);
harrymunli 0:9dfae2e18414 52
harrymunli 0:9dfae2e18414 53 //PivotKanan
harrymunli 0:9dfae2e18414 54 motorKiri.brake();
harrymunli 0:9dfae2e18414 55 motorKanan.speed(0.3);
harrymunli 0:9dfae2e18414 56 */
harrymunli 0:9dfae2e18414 57
harrymunli 0:9dfae2e18414 58 /***Gerak Tangan***/
harrymunli 0:9dfae2e18414 59 //kalibrasi
harrymunli 0:9dfae2e18414 60 kalibrasi(300);
harrymunli 0:9dfae2e18414 61
harrymunli 0:9dfae2e18414 62 //mode1(idle)
harrymunli 0:9dfae2e18414 63 idle(0.0,90.0,90.0,90.0,0.0);
harrymunli 0:9dfae2e18414 64
harrymunli 0:9dfae2e18414 65 //mode2(gerakan keluar)
harrymunli 0:9dfae2e18414 66 }