Diff: main.cpp

Revision:

12:84cb23216f78

Parent:

11:d4cf81f59601

--- a/main.cpp	Wed Oct 25 15:16:27 2017 +0000
+++ b/main.cpp	Sat Mar 31 01:44:42 2018 +0000
@@ -1,7 +1,7 @@
-/**
- *          THROWER ROBOT
- * Bismillahirahmanirrahim
- *
+/*******************************************
+ *          THROWER ROBOT                   *
+ * Bismillahirahmanirrahim                  *
+ *                                          *
  * To do List :
  * - Cari konstanta Kanan Kiri
  * - Cari Konstanta lagi :(
@@ -12,7 +12,7 @@
  * - PID maju/mundur enak enak jos
  *
  * Last Edited by : Thrower KRAI
- **/
+ ********************************************/
 
  
 //LIBRARY
@@ -22,12 +22,15 @@
 #include "millis.h"
 #include "pidKRAI.h"
 #include "odometryKRAI.h"
+#include "Ultrasonic.h"
 
 /***************************
  *  Konstanta dan Variabel *
  ***************************/
 #define DRODA 100.0
 
+//ultrasonic 
+Ultrasonic US(PA_7, PD_2);
 //Variabel Robot
 double kll_roda = PI*DRODA;  //variabel keliling robot
 
@@ -151,7 +154,7 @@
                     motor_kanan.speed(pwm_kanan);
                     motor_kiri.speed(pwm_kiri);
                     //prev_millis2 = current_millis;
-                    //pc.printf("%.2f %.2f %.2f %.2f %.2f\n", jarak_y, d_tetha, pulses_depan, pulses_kanan, pulses_kiri); 
+                    pc.printf("%.2f %.2f %.2f %.2f %.2f\n", jarak_y, d_tetha, pulses_depan, pulses_kanan, pulses_kiri); 
                     }
                 if((jarak_x <= target_x[state]-(float)5.0)||(jarak_x >= target_x[state]+(float)5.0)){
                 /* masuk  ke case sumbu X */