tes ir atas semua
Dependencies: mbed ADS1115 StepperMotor SRF05 TPA81new
main.cpp@14:207770fefedf, 2019-01-17 (annotated)
- Committer:
- hisyamfs
- Date:
- Thu Jan 17 13:23:10 2019 +0000
- Revision:
- 14:207770fefedf
- Parent:
- 13:0c5942931cad
- Child:
- 15:da7a15289893
masih gak bisa;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
hisyamfs | 12:1e3227a6fcd7 | 1 | #include "mbed.h" |
hisyamfs | 12:1e3227a6fcd7 | 2 | #include "Stepper.h" |
hisyamfs | 12:1e3227a6fcd7 | 3 | #include "AX12.h" |
hisyamfs | 12:1e3227a6fcd7 | 4 | #include "Uvtron.h" |
hisyamfs | 12:1e3227a6fcd7 | 5 | #include "TPA81new.h" |
hisyamfs | 13:0c5942931cad | 6 | #include "SRF05.h" |
hisyamfs | 14:207770fefedf | 7 | #include "SharpIR.h" |
Ezeuz | 4:9932af380e56 | 8 | |
hisyamfs | 12:1e3227a6fcd7 | 9 | #define WAIT_TIME 0.02 |
Ezeuz | 6:69c59bcab6ea | 10 | |
hisyamfs | 12:1e3227a6fcd7 | 11 | Serial pc(USBTX, USBRX); |
hisyamfs | 14:207770fefedf | 12 | |
hisyamfs | 14:207770fefedf | 13 | // Kaki |
hisyamfs | 14:207770fefedf | 14 | AX12 servo1(PC_10, PC_11, PA_13, 1, 1000000); // tx, rx, tx_enable, servo ID, baud rate |
hisyamfs | 14:207770fefedf | 15 | |
hisyamfs | 14:207770fefedf | 16 | // Kepala |
hisyamfs | 14:207770fefedf | 17 | // Infrared |
hisyamfs | 14:207770fefedf | 18 | SharpIR irb1(PA_0); |
hisyamfs | 14:207770fefedf | 19 | SharpIR irb2(PA_1); |
hisyamfs | 14:207770fefedf | 20 | SharpIR irb3(PA_4); |
hisyamfs | 14:207770fefedf | 21 | SharpIR irb4(PB_0); |
hisyamfs | 14:207770fefedf | 22 | SharpIR ira1(PC_5); |
hisyamfs | 14:207770fefedf | 23 | SharpIR ira2(PA_5); |
hisyamfs | 14:207770fefedf | 24 | SharpIR ira3(PC_2); |
hisyamfs | 14:207770fefedf | 25 | SharpIR ira4(PC_3); |
hisyamfs | 14:207770fefedf | 26 | SharpIR ira5(PB_1); |
hisyamfs | 14:207770fefedf | 27 | SharpIR ira6(PC_4); |
hisyamfs | 14:207770fefedf | 28 | SharpIR ira7(PA_6); |
hisyamfs | 14:207770fefedf | 29 | SharpIR ira8(PA_7); |
hisyamfs | 14:207770fefedf | 30 | // Kompas |
hisyamfs | 14:207770fefedf | 31 | // MPU9255 mpu(PB_4, PA_8) |
hisyamfs | 14:207770fefedf | 32 | // Line |
hisyamfs | 14:207770fefedf | 33 | AnalogIn line(PC_1); |
hisyamfs | 14:207770fefedf | 34 | // Sound activation |
hisyamfs | 14:207770fefedf | 35 | DigitalIn sound(PA_3); |
hisyamfs | 14:207770fefedf | 36 | |
hisyamfs | 14:207770fefedf | 37 | // Topi |
hisyamfs | 14:207770fefedf | 38 | // TPA |
hisyamfs | 14:207770fefedf | 39 | TPA81 tpa1(PB_9, PB_8, 0xDC); // sda, scl, id |
hisyamfs | 14:207770fefedf | 40 | TPA81 tpa2(PB_3, PB_10, 0xDE); |
hisyamfs | 14:207770fefedf | 41 | // Ultrasonik |
hisyamfs | 14:207770fefedf | 42 | SRF05 us1(PB_7, PB_15); // trigger, echo |
hisyamfs | 14:207770fefedf | 43 | SRF05 us2(PC_15, PC_14); // trigger echo |
hisyamfs | 14:207770fefedf | 44 | // Uvtron |
hisyamfs | 12:1e3227a6fcd7 | 45 | Uvtron uv(PC_12); |
hisyamfs | 12:1e3227a6fcd7 | 46 | DigitalOut led(LED1); |
hisyamfs | 14:207770fefedf | 47 | // stepper |
hisyamfs | 14:207770fefedf | 48 | stepper s(PC_6, PC_8, PA_12, PC_7, PA_11, PB_12); // _en, ms1, ms2, ms3, _step, dir |
hisyamfs | 14:207770fefedf | 49 | // relay |
hisyamfs | 14:207770fefedf | 50 | DigitalOut relay(PB_2); |
dmgongora | 0:79e2a8171b16 | 51 | |
dmgongora | 0:79e2a8171b16 | 52 | int main() |
hisyamfs | 12:1e3227a6fcd7 | 53 | { |
hisyamfs | 14:207770fefedf | 54 | pc.printf("Memulai test\n"); |
hisyamfs | 14:207770fefedf | 55 | pc.printf("3\n"); |
hisyamfs | 14:207770fefedf | 56 | wait(1); |
hisyamfs | 14:207770fefedf | 57 | pc.printf("2\n"); |
hisyamfs | 14:207770fefedf | 58 | wait(1); |
hisyamfs | 14:207770fefedf | 59 | pc.printf("1\n"); |
hisyamfs | 14:207770fefedf | 60 | wait(1); |
hisyamfs | 12:1e3227a6fcd7 | 61 | while (1) |
hisyamfs | 12:1e3227a6fcd7 | 62 | { |
hisyamfs | 14:207770fefedf | 63 | // Servo |
hisyamfs | 14:207770fefedf | 64 | // pc.printf("Test Servo : 240\n"); |
hisyamfs | 14:207770fefedf | 65 | // int degrees1 = 240; |
hisyamfs | 14:207770fefedf | 66 | // float speed1 = 1.0f; |
hisyamfs | 14:207770fefedf | 67 | // servo1.MultSetGoal(degrees1, speed1, |
hisyamfs | 14:207770fefedf | 68 | // degrees1, speed1, |
hisyamfs | 14:207770fefedf | 69 | // degrees1, speed1, |
hisyamfs | 14:207770fefedf | 70 | // degrees1, speed1, |
hisyamfs | 14:207770fefedf | 71 | // degrees1, speed1, |
hisyamfs | 14:207770fefedf | 72 | // degrees1, speed1, |
hisyamfs | 14:207770fefedf | 73 | // degrees1, speed1, |
hisyamfs | 14:207770fefedf | 74 | // degrees1, speed1, |
hisyamfs | 14:207770fefedf | 75 | // degrees1, speed1, |
hisyamfs | 14:207770fefedf | 76 | // degrees1, speed1, |
hisyamfs | 14:207770fefedf | 77 | // degrees1, speed1, |
hisyamfs | 14:207770fefedf | 78 | // degrees1, speed1, |
hisyamfs | 14:207770fefedf | 79 | // degrees1, speed1, |
hisyamfs | 14:207770fefedf | 80 | // degrees1, speed1, |
hisyamfs | 14:207770fefedf | 81 | // degrees1, speed1, |
hisyamfs | 14:207770fefedf | 82 | // degrees1, speed1, |
hisyamfs | 14:207770fefedf | 83 | // degrees1, speed1, |
hisyamfs | 14:207770fefedf | 84 | // degrees1, speed1); |
hisyamfs | 14:207770fefedf | 85 | // degrees1 = 150; |
hisyamfs | 14:207770fefedf | 86 | // pc.printf("150/n"); |
hisyamfs | 14:207770fefedf | 87 | // servo1.MultSetGoal(degrees1, speed1, |
hisyamfs | 14:207770fefedf | 88 | // degrees1, speed1, |
hisyamfs | 14:207770fefedf | 89 | // degrees1, speed1, |
hisyamfs | 14:207770fefedf | 90 | // degrees1, speed1, |
hisyamfs | 14:207770fefedf | 91 | // degrees1, speed1, |
hisyamfs | 14:207770fefedf | 92 | // degrees1, speed1, |
hisyamfs | 14:207770fefedf | 93 | // degrees1, speed1, |
hisyamfs | 14:207770fefedf | 94 | // degrees1, speed1, |
hisyamfs | 14:207770fefedf | 95 | // degrees1, speed1, |
hisyamfs | 14:207770fefedf | 96 | // degrees1, speed1, |
hisyamfs | 14:207770fefedf | 97 | // degrees1, speed1, |
hisyamfs | 14:207770fefedf | 98 | // degrees1, speed1, |
hisyamfs | 14:207770fefedf | 99 | // degrees1, speed1, |
hisyamfs | 14:207770fefedf | 100 | // degrees1, speed1, |
hisyamfs | 14:207770fefedf | 101 | // degrees1, speed1, |
hisyamfs | 14:207770fefedf | 102 | // degrees1, speed1, |
hisyamfs | 14:207770fefedf | 103 | // degrees1, speed1, |
hisyamfs | 14:207770fefedf | 104 | // degrees1, speed1); |
hisyamfs | 14:207770fefedf | 105 | |
hisyamfs | 14:207770fefedf | 106 | // Infrared Bawah |
hisyamfs | 14:207770fefedf | 107 | //float b1 = irb1.read(); |
hisyamfs | 14:207770fefedf | 108 | // float b2 = irb2.read(); |
hisyamfs | 14:207770fefedf | 109 | // float b3 = irb3.read(); |
hisyamfs | 14:207770fefedf | 110 | // float b4 = irb4.read(); |
hisyamfs | 14:207770fefedf | 111 | // pc.printf("IR bawah\n"); |
hisyamfs | 14:207770fefedf | 112 | // pc.printf(" %.f \n", b1); |
hisyamfs | 14:207770fefedf | 113 | // pc.printf("%.f %.f\n", b2, b4); |
hisyamfs | 14:207770fefedf | 114 | // pc.printf(" %.f \n", b3); |
hisyamfs | 14:207770fefedf | 115 | |
hisyamfs | 14:207770fefedf | 116 | // Line |
hisyamfs | 14:207770fefedf | 117 | pc.printf("Line : %.f\n", line.read()); |
hisyamfs | 14:207770fefedf | 118 | |
hisyamfs | 14:207770fefedf | 119 | // Infrared Atas |
hisyamfs | 14:207770fefedf | 120 | //float a1 = ira1.read(); |
hisyamfs | 14:207770fefedf | 121 | // float a2 = ira2.read(); |
hisyamfs | 14:207770fefedf | 122 | // float a3 = ira3.read(); |
hisyamfs | 14:207770fefedf | 123 | // float a4 = ira4.read(); |
hisyamfs | 14:207770fefedf | 124 | // float a5 = ira5.read(); |
hisyamfs | 14:207770fefedf | 125 | // float a6 = ira6.read(); |
hisyamfs | 14:207770fefedf | 126 | // float a7 = ira7.read(); |
hisyamfs | 14:207770fefedf | 127 | // float a8 = ira8.read(); |
hisyamfs | 14:207770fefedf | 128 | // pc.printf("IR atas\n"); |
hisyamfs | 14:207770fefedf | 129 | // pc.printf(" %.f %.f\n", a2, a1); |
hisyamfs | 14:207770fefedf | 130 | // pc.printf("%.f %.f\n", a3, a8); |
hisyamfs | 14:207770fefedf | 131 | // pc.printf("%.f %.f\n", a4, a7); |
hisyamfs | 14:207770fefedf | 132 | // pc.printf(" %.f %.f\n", a5, a6); |
hisyamfs | 14:207770fefedf | 133 | // |
hisyamfs | 14:207770fefedf | 134 | // Sound activation |
hisyamfs | 14:207770fefedf | 135 | |
hisyamfs | 14:207770fefedf | 136 | // Stepper |
hisyamfs | 14:207770fefedf | 137 | //pc.printf("Stepper 1 putaran\n"); |
hisyamfs | 14:207770fefedf | 138 | // for(int i=0; i<200; i++) |
hisyamfs | 14:207770fefedf | 139 | // { |
hisyamfs | 14:207770fefedf | 140 | // s.step(1, 1, 50); |
hisyamfs | 14:207770fefedf | 141 | // } |
hisyamfs | 14:207770fefedf | 142 | |
hisyamfs | 14:207770fefedf | 143 | // TPA |
hisyamfs | 14:207770fefedf | 144 | tpa1.Read(); |
hisyamfs | 14:207770fefedf | 145 | tpa2.Read(); |
hisyamfs | 14:207770fefedf | 146 | pc.printf("TPA 1\tTPA 2\n"); |
hisyamfs | 14:207770fefedf | 147 | for (int i = 0; i < 8; i++) |
hisyamfs | 14:207770fefedf | 148 | { |
hisyamfs | 14:207770fefedf | 149 | pc.printf("%d\t%d\n", tpa1.Data[i], tpa2.Data[i]); |
Ezeuz | 8:5e1854c119ba | 150 | } |
Ezeuz | 6:69c59bcab6ea | 151 | |
hisyamfs | 14:207770fefedf | 152 | // Uvtron |
hisyamfs | 14:207770fefedf | 153 | uv.Read(); |
hisyamfs | 14:207770fefedf | 154 | int read = uv.Flag; |
hisyamfs | 14:207770fefedf | 155 | pc.printf("UVTron = %d\n", read); |
hisyamfs | 14:207770fefedf | 156 | // Ultrasonik |
hisyamfs | 14:207770fefedf | 157 | pc.printf("Ultrasonik 1 : %.f Ultrasonik 2 : %.f \n", us1.read(), us2.read()); |
hisyamfs | 14:207770fefedf | 158 | // Relay |
hisyamfs | 14:207770fefedf | 159 | pc.printf("relay\n"); |
hisyamfs | 14:207770fefedf | 160 | relay = 1; |
hisyamfs | 14:207770fefedf | 161 | wait(1); |
hisyamfs | 14:207770fefedf | 162 | relay = 0; |
hisyamfs | 14:207770fefedf | 163 | } |
hisyamfs | 12:1e3227a6fcd7 | 164 | } |