Joshua Adi
ver 1 yang belum behrasil, motor belum gerak kalo kodingannya digabung
Dependencies: mbed encoderKRAI Motornew millis
Revision 0:0705184c2e58, committed 2019-02-23
- Comitter:
- 315_josh
- Date:
- Sat Feb 23 07:36:32 2019 +0000
- Commit message:
- versi 1 yang masih belum berhasil
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Motor.lib Sat Feb 23 07:36:32 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/encoderKRAI.lib Sat Feb 23 07:36:32 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/teams/KRAI-ITB-2019/code/encoderKRAI/#8a7fb008561c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Sat Feb 23 07:36:32 2019 +0000
@@ -0,0 +1,85 @@
+//Program untuk Arm dengan PID tetha
+#include "mbed.h"
+#include "Motor.h"
+#include "encoderKRAI.h"
+#include "millis.h"
+
+encoderKRAI encoderPelontar (PC_15, PC_14, 538, encoderKRAI::X4_ENCODING);
+Motor motorPelontar(PB_1, PB_2, PB_15);
+DigitalIn butt (USER_BUTTON);
+DigitalOut pneu[3] = {(PC_7), (PC_8), (PC_9)};
+//pneu 0, 1 = pneu buat ambil shagai
+//pneu 2 = pneu buat lempar shagai
+
+Serial pc(USBTX, USBRX,115200);
+double theta;
+double pulse;
+int kondisi=0, cp=0;
+uint32_t millisx;
+
+
+void hitungParameter();
+
+int main(){
+
+ theta=0.0;
+ encoderPelontar.reset();
+
+ pneu[0] = 1;
+ pneu[1] = 1;
+ pneu[2] = 0;
+
+while (1){
+ // 2, 4, 6 mati ketika 1 namun led nyala
+ //0 tuh narik kedalem
+
+ /* if (butt){
+ pneu[0] = 0; //led 2
+ pneu[1] = 1; //4
+ pneu[2] = 1; //6
+ }
+ else {
+ pneu[0] = 1;
+ pneu[1] = 1;
+ pneu[2] = 1;
+ }
+
+*/
+
+if (!butt){
+ cp = 1;
+ wait(1);
+}
+
+if(cp){
+ pneu[0] = 1;
+ pneu[2] = 0;
+ while (theta<160.0){
+ motorPelontar.speed(0.7);
+ hitungParameter();
+ }
+ motorPelontar.brake(BRAKE_HIGH);
+ wait (1);
+ pneu[0] = 0;
+ wait_ms (1000);
+
+ while (theta>30.0){
+ motorPelontar.speed(-0.2);
+ hitungParameter();
+ }
+ motorPelontar.brake(BRAKE_HIGH);
+ wait (1);
+ pneu[2] = 1;
+ wait (1);
+ pneu[2] = 0;
+ cp=0;
+}
+}
+}
+
+void hitungParameter(){
+ pulse=(double) encoderPelontar.getPulses()*360/538;
+ encoderPelontar.reset();
+ theta+=pulse;
+ pc.printf("theta = %.2f\t\n", theta );
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Sat Feb 23 07:36:32 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/3a7713b1edbc \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/millis.lib Sat Feb 23 07:36:32 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/teams/DFRobot/code/millis/#736e6cc31bcd