hisyam fs / Mbed 2 deprecated Test_all

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?

UserRevisionLine numberNew 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 }