Diff: main.cpp

Revision:

0:b6f3a4e90aff

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Mar 18 15:15:43 2019 +0000
@@ -0,0 +1,71 @@
+//Library
+#include "mbed.h"
+#include "encoderKRAI.h"
+#include "millis.h"
+#include "Motor.h"
+
+//Konstanta
+#define PULSE_TO_JARAK 0.61313625
+#define Pressed 0
+#define NotPressed 1
+
+encoderKRAI encoderMotorA (PC_11, PC_12, 538, encoderKRAI::X4_ENCODING);
+encoderKRAI encoderMotorB (PC_2, PC_3, 538, encoderKRAI::X4_ENCODING);
+encoderKRAI encoderMotorC (PC_14, PC_15, 538, encoderKRAI::X4_ENCODING);
+encoderKRAI encoderMotorD (PC_10,PC_13, 538, encoderKRAI::X4_ENCODING);
+
+encoderKRAI encoder1 (PB_7,PB_6, 538, encoderKRAI::X4_ENCODING);
+encoderKRAI encoder2 (PB_4,PB_5, 538, encoderKRAI::X4_ENCODING);
+encoderKRAI encoder3 (PB_8,PB_9, 538, encoderKRAI::X4_ENCODING);
+
+/*Motor motorA(PA_7,  PA_5, PA_6);
+Motor motorB(PB_0, PC_1, PC_0);
+Motor motorC(PB_1, PB_15, PB_14);
+Motor motorD(PA_11, PA_12, PB_12);*/
+DigitalIn BlueButton(USER_BUTTON);
+
+
+Serial pc(USBTX, USBRX);
+
+//Variable Global
+float timeSampling;
+double pulseA;
+double pulseB;
+double pulseC;
+double pulseD;
+double pulse1;
+double pulse2;
+double pulse3;
+long lastMillis;
+
+//Baca Encoder
+int main(){
+   /* motorA.speed(0.4);
+    motorB.speed(0.4);
+    motorC.speed(0.4);
+    motorD.speed(0.4);
+    wait(5);
+    motorA.speed(0.0);
+    motorB.speed(0.0);
+    motorC.speed(0.0);
+    motorD.speed(0.0);*/
+    pc.baud(115200);
+    while(1){
+        /*if(BlueButton==Pressed){
+            encoderMotorA.reset();
+            }*/
+                 
+        pulseA = (double)encoderMotorA.getPulses()*PULSE_TO_JARAK;
+        pulseB = (double)encoderMotorB.getPulses()*PULSE_TO_JARAK;
+        pulseC = (double)encoderMotorC.getPulses()*PULSE_TO_JARAK;
+        pulseD = (double)encoderMotorD.getPulses()*PULSE_TO_JARAK;
+        
+        //pulse1 = (double)encoder1.getPulses()*PULSE_TO_JARAK;
+        //pulse2 = (double)encoder2.getPulses()*PULSE_TO_JARAK;
+        pulse3 = (double)encoder3.getPulses()*PULSE_TO_JARAK;
+        //pc.printf("A: %lf\t B: %lf\t C: %lf\t D: %lf\t \n", pulseA, pulseB, pulseC, pulseD);
+        pc.printf("Enc_1: %lf\n", pulse3);
+        
+        wait(0.2);    
+    }
+}
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