Joshua Adi / Mbed 2 deprecated risetarm

ver 1 yang belum behrasil, motor belum gerak kalo kodingannya digabung

Dependencies:   mbed encoderKRAI Motornew millis

main.cpp@0:0705184c2e58, 2019-02-23 (annotated)

Committer:
315_josh
Date:
Sat Feb 23 07:36:32 2019 +0000
Revision:
0:0705184c2e58
versi 1 yang masih belum berhasil

Who changed what in which revision?

UserRevisionLine numberNew contents of line
315_josh 0:0705184c2e58 1 //Program untuk Arm dengan PID tetha
315_josh 0:0705184c2e58 2 #include "mbed.h"
315_josh 0:0705184c2e58 3 #include "Motor.h"
315_josh 0:0705184c2e58 4 #include "encoderKRAI.h"
315_josh 0:0705184c2e58 5 #include "millis.h"
315_josh 0:0705184c2e58 6
315_josh 0:0705184c2e58 7 encoderKRAI encoderPelontar (PC_15, PC_14, 538, encoderKRAI::X4_ENCODING);
315_josh 0:0705184c2e58 8 Motor motorPelontar(PB_1, PB_2, PB_15);
315_josh 0:0705184c2e58 9 DigitalIn butt (USER_BUTTON);
315_josh 0:0705184c2e58 10 DigitalOut pneu[3] = {(PC_7), (PC_8), (PC_9)};
315_josh 0:0705184c2e58 11 //pneu 0, 1 = pneu buat ambil shagai
315_josh 0:0705184c2e58 12 //pneu 2 = pneu buat lempar shagai
315_josh 0:0705184c2e58 13
315_josh 0:0705184c2e58 14 Serial pc(USBTX, USBRX,115200);
315_josh 0:0705184c2e58 15 double theta;
315_josh 0:0705184c2e58 16 double pulse;
315_josh 0:0705184c2e58 17 int kondisi=0, cp=0;
315_josh 0:0705184c2e58 18 uint32_t millisx;
315_josh 0:0705184c2e58 19
315_josh 0:0705184c2e58 20
315_josh 0:0705184c2e58 21 void hitungParameter();
315_josh 0:0705184c2e58 22
315_josh 0:0705184c2e58 23 int main(){
315_josh 0:0705184c2e58 24
315_josh 0:0705184c2e58 25 theta=0.0;
315_josh 0:0705184c2e58 26 encoderPelontar.reset();
315_josh 0:0705184c2e58 27
315_josh 0:0705184c2e58 28 pneu[0] = 1;
315_josh 0:0705184c2e58 29 pneu[1] = 1;
315_josh 0:0705184c2e58 30 pneu[2] = 0;
315_josh 0:0705184c2e58 31
315_josh 0:0705184c2e58 32 while (1){
315_josh 0:0705184c2e58 33 // 2, 4, 6 mati ketika 1 namun led nyala
315_josh 0:0705184c2e58 34 //0 tuh narik kedalem
315_josh 0:0705184c2e58 35
315_josh 0:0705184c2e58 36 /* if (butt){
315_josh 0:0705184c2e58 37 pneu[0] = 0; //led 2
315_josh 0:0705184c2e58 38 pneu[1] = 1; //4
315_josh 0:0705184c2e58 39 pneu[2] = 1; //6
315_josh 0:0705184c2e58 40 }
315_josh 0:0705184c2e58 41 else {
315_josh 0:0705184c2e58 42 pneu[0] = 1;
315_josh 0:0705184c2e58 43 pneu[1] = 1;
315_josh 0:0705184c2e58 44 pneu[2] = 1;
315_josh 0:0705184c2e58 45 }
315_josh 0:0705184c2e58 46
315_josh 0:0705184c2e58 47 */
315_josh 0:0705184c2e58 48
315_josh 0:0705184c2e58 49 if (!butt){
315_josh 0:0705184c2e58 50 cp = 1;
315_josh 0:0705184c2e58 51 wait(1);
315_josh 0:0705184c2e58 52 }
315_josh 0:0705184c2e58 53
315_josh 0:0705184c2e58 54 if(cp){
315_josh 0:0705184c2e58 55 pneu[0] = 1;
315_josh 0:0705184c2e58 56 pneu[2] = 0;
315_josh 0:0705184c2e58 57 while (theta<160.0){
315_josh 0:0705184c2e58 58 motorPelontar.speed(0.7);
315_josh 0:0705184c2e58 59 hitungParameter();
315_josh 0:0705184c2e58 60 }
315_josh 0:0705184c2e58 61 motorPelontar.brake(BRAKE_HIGH);
315_josh 0:0705184c2e58 62 wait (1);
315_josh 0:0705184c2e58 63 pneu[0] = 0;
315_josh 0:0705184c2e58 64 wait_ms (1000);
315_josh 0:0705184c2e58 65
315_josh 0:0705184c2e58 66 while (theta>30.0){
315_josh 0:0705184c2e58 67 motorPelontar.speed(-0.2);
315_josh 0:0705184c2e58 68 hitungParameter();
315_josh 0:0705184c2e58 69 }
315_josh 0:0705184c2e58 70 motorPelontar.brake(BRAKE_HIGH);
315_josh 0:0705184c2e58 71 wait (1);
315_josh 0:0705184c2e58 72 pneu[2] = 1;
315_josh 0:0705184c2e58 73 wait (1);
315_josh 0:0705184c2e58 74 pneu[2] = 0;
315_josh 0:0705184c2e58 75 cp=0;
315_josh 0:0705184c2e58 76 }
315_josh 0:0705184c2e58 77 }
315_josh 0:0705184c2e58 78 }
315_josh 0:0705184c2e58 79
315_josh 0:0705184c2e58 80 void hitungParameter(){
315_josh 0:0705184c2e58 81 pulse=(double) encoderPelontar.getPulses()*360/538;
315_josh 0:0705184c2e58 82 encoderPelontar.reset();
315_josh 0:0705184c2e58 83 theta+=pulse;
315_josh 0:0705184c2e58 84 pc.printf("theta = %.2f\t\n", theta );
315_josh 0:0705184c2e58 85 }