Yolanda Tania / Mbed 2 deprecated bacaencoder

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Dependencies:   mbed encoderKRAI Motor_new

odometriKRAI/odometriKRAI.cpp@0:49e87dcad299, 2021-06-18 (annotated)

Committer:
Yolandataniaa
Date:
Fri Jun 18 11:04:08 2021 +0000
Revision:
0:49e87dcad299
nambah buat eksternal

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Yolandataniaa 0:49e87dcad299 1 /***************************************************************************
Yolandataniaa 0:49e87dcad299 2 * Title : Library untuk odometri base
Yolandataniaa 0:49e87dcad299 3 * Name : odometriKrai.cpp
Yolandataniaa 0:49e87dcad299 4 * Version : 1.0
Yolandataniaa 0:49e87dcad299 5 * Author : Oktavianus Irvan Sitanggang EL 18
Yolandataniaa 0:49e87dcad299 6 * Date : 17 Desember 2019
Yolandataniaa 0:49e87dcad299 7 * Description:
Yolandataniaa 0:49e87dcad299 8 *
Yolandataniaa 0:49e87dcad299 9 * Library ini digunakan untuk melakukan perhitungan posisi robot
Yolandataniaa 0:49e87dcad299 10 *
Yolandataniaa 0:49e87dcad299 11 *
Yolandataniaa 0:49e87dcad299 12 ***************************************************************************/
Yolandataniaa 0:49e87dcad299 13
Yolandataniaa 0:49e87dcad299 14 /******************************* library ***********************************/
Yolandataniaa 0:49e87dcad299 15
Yolandataniaa 0:49e87dcad299 16 #include "odometriKRAI.h"
Yolandataniaa 0:49e87dcad299 17 #include "mbed.h"
Yolandataniaa 0:49e87dcad299 18
Yolandataniaa 0:49e87dcad299 19
Yolandataniaa 0:49e87dcad299 20
Yolandataniaa 0:49e87dcad299 21 #ifndef PHI
Yolandataniaa 0:49e87dcad299 22 #define PHI 3.14159265359
Yolandataniaa 0:49e87dcad299 23 #endif
Yolandataniaa 0:49e87dcad299 24
Yolandataniaa 0:49e87dcad299 25 #ifndef D_RODA
Yolandataniaa 0:49e87dcad299 26 #define D_RODA 0.06
Yolandataniaa 0:49e87dcad299 27 #endif
Yolandataniaa 0:49e87dcad299 28 /*************************** inisiasi class *******************************/
Yolandataniaa 0:49e87dcad299 29 odometriKRAI::odometriKRAI(TIM_TypeDef *_TIMEncX, TIM_TypeDef *_TIMEncY, PinName SDA, PinName SCL)
Yolandataniaa 0:49e87dcad299 30 : encX(_TIMEncX), encY(_TIMEncY), kompass(SDA, SCL, 0xC0) {
Yolandataniaa 0:49e87dcad299 31 position.x = 0; // initiate all Value
Yolandataniaa 0:49e87dcad299 32 position.y = 0;
Yolandataniaa 0:49e87dcad299 33 position.teta = 0;
Yolandataniaa 0:49e87dcad299 34 kompass.compassResetOffsetValue();
Yolandataniaa 0:49e87dcad299 35 }
Yolandataniaa 0:49e87dcad299 36
Yolandataniaa 0:49e87dcad299 37
Yolandataniaa 0:49e87dcad299 38 /*************************** definisi fungsi ******************************/
Yolandataniaa 0:49e87dcad299 39
Yolandataniaa 0:49e87dcad299 40 /* update position from base */
Yolandataniaa 0:49e87dcad299 41 void odometriKRAI::updatePosition(void){
Yolandataniaa 0:49e87dcad299 42 float xTemp = encX.getPulses(1); /* butuh 1.5us */
Yolandataniaa 0:49e87dcad299 43 float yTemp = encY.getPulses(1); /* butuh 1.5us */
Yolandataniaa 0:49e87dcad299 44
Yolandataniaa 0:49e87dcad299 45 kompass.compassUpdateValue(); /* ??? */
Yolandataniaa 0:49e87dcad299 46 position.teta = kompass.compassValue();
Yolandataniaa 0:49e87dcad299 47 position.x += (xTemp*PHI*D_RODA/4000)*cos(position.teta) + (yTemp*PHI*D_RODA/4000)*-sin(position.teta); /* butuh 4.5 us */
Yolandataniaa 0:49e87dcad299 48 position.y += (xTemp*PHI*D_RODA/4000)*sin(position.teta) + (yTemp*PHI*D_RODA/4000)*cos(position.teta); /* butuh 4.5 us */
Yolandataniaa 0:49e87dcad299 49
Yolandataniaa 0:49e87dcad299 50 }
Yolandataniaa 0:49e87dcad299 51
Yolandataniaa 0:49e87dcad299 52 /* to reset all the position */
Yolandataniaa 0:49e87dcad299 53 void odometriKRAI::resetOdom(void){
Yolandataniaa 0:49e87dcad299 54 position.x = 0; // initiate all Value
Yolandataniaa 0:49e87dcad299 55 position.y = 0;
Yolandataniaa 0:49e87dcad299 56 position.teta = 0;
Yolandataniaa 0:49e87dcad299 57
Yolandataniaa 0:49e87dcad299 58 kompass.compassResetOffsetValue();
Yolandataniaa 0:49e87dcad299 59 }
Yolandataniaa 0:49e87dcad299 60
Yolandataniaa 0:49e87dcad299 61
Yolandataniaa 0:49e87dcad299 62