KRTMI 2019 / Lengan3

library lengan 3

Dependents:   KRTMI_v1

Lengan3.h@0:42f8a5003e37, 2019-05-19 (annotated)

Committer:
harrymunli
Date:
Sun May 19 15:58:20 2019 +0000
Revision:
0:42f8a5003e37
+library lengan3

Who changed what in which revision?

UserRevisionLine numberNew contents of line
harrymunli 0:42f8a5003e37 1 #ifndef MBED_LENGAN3_H
harrymunli 0:42f8a5003e37 2 #define MBED_LENGAN3_H
harrymunli 0:42f8a5003e37 3
harrymunli 0:42f8a5003e37 4 #include "mbed.h"
harrymunli 0:42f8a5003e37 5 #include "Servo.h"
harrymunli 0:42f8a5003e37 6
harrymunli 0:42f8a5003e37 7 //Programmed and formulated by Andre
harrymunli 0:42f8a5003e37 8 /* Nama servo
harrymunli 0:42f8a5003e37 9 4
harrymunli 0:42f8a5003e37 10 3
harrymunli 0:42f8a5003e37 11 1(L3) 2
harrymunli 0:42f8a5003e37 12 0
harrymunli 0:42f8a5003e37 13 */
harrymunli 0:42f8a5003e37 14
harrymunli 0:42f8a5003e37 15 class Lengan3 {
harrymunli 0:42f8a5003e37 16 protected :
harrymunli 0:42f8a5003e37 17 Servo SL3_1; //lengan3-ser1
harrymunli 0:42f8a5003e37 18 Servo SL3_2; //lengan3-ser2
harrymunli 0:42f8a5003e37 19 Servo SL3_3; //lengan3-ser3
harrymunli 0:42f8a5003e37 20 Servo SL3_base; //lengan3-servo base
harrymunli 0:42f8a5003e37 21
harrymunli 0:42f8a5003e37 22 public :
harrymunli 0:42f8a5003e37 23
harrymunli 0:42f8a5003e37 24 //SL3_1 => lengan3-ser1
harrymunli 0:42f8a5003e37 25 Lengan3(PinName pin_SL3_1, PinName pin_SL3_2, PinName pin_SL3_3, PinName pin_SL3_base);
harrymunli 0:42f8a5003e37 26
harrymunli 0:42f8a5003e37 27 //rumus mencari sudut phi
harrymunli 0:42f8a5003e37 28 double phi(float x, float y);
harrymunli 0:42f8a5003e37 29
harrymunli 0:42f8a5003e37 30 //rumus mencari x yg dipengaruhi phi
harrymunli 0:42f8a5003e37 31 double x_phi(float x, float y);
harrymunli 0:42f8a5003e37 32
harrymunli 0:42f8a5003e37 33 //rumus teta2+teta1 versi 1
harrymunli 0:42f8a5003e37 34 double rum1_tet(float sdt, float x, float y, float z, float r1, float r2);
harrymunli 0:42f8a5003e37 35
harrymunli 0:42f8a5003e37 36 //rumus teta2+teta1 versi 2
harrymunli 0:42f8a5003e37 37 double rum2_tet(float sdt, float x, float y, float z, float r1, float r2);
harrymunli 0:42f8a5003e37 38
harrymunli 0:42f8a5003e37 39 //Penggunaan rumus 1 dan 2
harrymunli 0:42f8a5003e37 40 // Apabila Nef(tujuan) berada di kuadran I
harrymunli 0:42f8a5003e37 41 // atau x dan z positif maka rum1 dan rum2 berlaku
harrymunli 0:42f8a5003e37 42 //
harrymunli 0:42f8a5003e37 43 // rum1(sdt)=rum2(sdt)=O1+O2
harrymunli 0:42f8a5003e37 44 // (dengan O1 : teta1 dan O2 : teta2)
harrymunli 0:42f8a5003e37 45
harrymunli 0:42f8a5003e37 46 // Apabila berada di kuadran IV
harrymunli 0:42f8a5003e37 47 // atau x positif dan z negatif maka rum1 dan rum2 berlaku
harrymunli 0:42f8a5003e37 48 // rum1(sdt)=rum2(sdt)=O1-O2
harrymunli 0:42f8a5003e37 49
harrymunli 0:42f8a5003e37 50 //rumus untuk menentukan sudut teta1 terbaik (harus mendekati 0)
harrymunli 0:42f8a5003e37 51 //didapat dari substitusi dua rumus diatas
harrymunli 0:42f8a5003e37 52 double diffeI(float sdt,float x, float y, float z, float r1, float r2);
harrymunli 0:42f8a5003e37 53
harrymunli 0:42f8a5003e37 54 double diffeIV(float sdt,float x, float y, float z, float r1, float r2);
harrymunli 0:42f8a5003e37 55
harrymunli 0:42f8a5003e37 56 //mainnya program andre
harrymunli 0:42f8a5003e37 57 void invKinMain(float xt, float yt, float zt);
harrymunli 0:42f8a5003e37 58
harrymunli 0:42f8a5003e37 59 };
harrymunli 0:42f8a5003e37 60
harrymunli 0:42f8a5003e37 61 #endif