tes ir atas semua
Dependencies: mbed ADS1115 StepperMotor SRF05 TPA81new
Diff: main.cpp
- Revision:
- 30:5efd59a0226f
- Parent:
- 28:528c2fbd6a54
- Child:
- 31:95396425b44b
--- a/main.cpp Thu Jan 24 10:35:36 2019 +0000 +++ b/main.cpp Thu Jan 24 11:27:26 2019 +0000 @@ -2,6 +2,7 @@ #include "TPA81new.h" #include "SRF05.h" #include "Uvtron.h" +#include "Stepper.h" #define LCD_D4_DIG PA_15 #define LCD_D5_DIG PA_14 @@ -50,6 +51,11 @@ AnalogIn irb3(PA_4); AnalogIn irb4(PB_0); +#define WAIT_TIME 0.02 + +// stepper(PinName _en, PinName ms1, PinName ms2, PinName ms3, PinName _stepPin, PinName dir); +stepper s(PC_6, PC_8, PA_12, PC_7, PA_11, PB_12); + float call_depan(uint16_t x){ float side_distance = a_depan/pow(x,b_depan)+1; return side_distance; @@ -92,43 +98,48 @@ pc.printf("Line = %.2f\n", 3300*line.read()); - uint16_t raw_a1 = ira1.read_u16(); - uint16_t raw_a2 = ira2.read_u16(); - uint16_t raw_a3 = ira3.read_u16(); - uint16_t raw_a4 = ira4.read_u16(); - uint16_t raw_a5 = ira5.read_u16(); - uint16_t raw_a6 = ira6.read_u16(); - uint16_t raw_a7 = ira7.read_u16(); - uint16_t raw_a8 = ira8.read_u16(); - - uint16_t raw_b1 = irb1.read_u16(); - uint16_t raw_b2 = irb2.read_u16(); - uint16_t raw_b3 = irb3.read_u16(); - uint16_t raw_b4 = irb4.read_u16(); - - float dist_a1 = call_depan(raw_a1); - float dist_a2 = call_depan(raw_a2); - float dist_a3 = call_depan(raw_a3); - float dist_a4 = call_depan(raw_a4); - float dist_a5 = call_depan(raw_a5); - float dist_a6 = call_depan(raw_a6); - float dist_a7 = call_depan(raw_a7); - float dist_a8 = call_depan(raw_a8); - - float dist_b1 = call_depan(raw_b1); - float dist_b2 = call_depan(raw_b2); - float dist_b3 = call_depan(raw_b3); - float dist_b4 = call_depan(raw_b4); - - pc.printf("ir atas\n"); - pc.printf(" %.2f %.2f\n", dist_a2, dist_a1); - pc.printf("%.2f %.2f\n", dist_a3, dist_a7); - pc.printf("%.2f %.2f\n", dist_a4, dist_a8); - pc.printf(" %.2f %.2f\n", dist_a6, dist_a5); - - pc.printf("ir bawah\n"); - pc.printf(" %.2f\n", dist_b1); - pc.printf("%.2f %.2f\n", dist_b2, dist_b3); - pc.printf(" %.2f\n", dist_b4); + for (int i=0; i<200; i++) + { + s.step(1, 1, 1/WAIT_TIME); + } + //uint16_t raw_a1 = ira1.read_u16(); +// uint16_t raw_a2 = ira2.read_u16(); +// uint16_t raw_a3 = ira3.read_u16(); +// uint16_t raw_a4 = ira4.read_u16(); +// uint16_t raw_a5 = ira5.read_u16(); +// uint16_t raw_a6 = ira6.read_u16(); +// uint16_t raw_a7 = ira7.read_u16(); +// uint16_t raw_a8 = ira8.read_u16(); +// +// uint16_t raw_b1 = irb1.read_u16(); +// uint16_t raw_b2 = irb2.read_u16(); +// uint16_t raw_b3 = irb3.read_u16(); +// uint16_t raw_b4 = irb4.read_u16(); +// +// float dist_a1 = call_depan(raw_a1); +// float dist_a2 = call_depan(raw_a2); +// float dist_a3 = call_depan(raw_a3); +// float dist_a4 = call_depan(raw_a4); +// float dist_a5 = call_depan(raw_a5); +// float dist_a6 = call_depan(raw_a6); +// float dist_a7 = call_depan(raw_a7); +// float dist_a8 = call_depan(raw_a8); +// +// float dist_b1 = call_depan(raw_b1); +// float dist_b2 = call_depan(raw_b2); +// float dist_b3 = call_depan(raw_b3); +// float dist_b4 = call_depan(raw_b4); +// +// pc.printf("ir atas\n"); +// pc.printf(" %.2f %.2f\n", dist_a2, dist_a1); +// pc.printf("%.2f %.2f\n", dist_a3, dist_a7); +// pc.printf("%.2f %.2f\n", dist_a4, dist_a8); +// pc.printf(" %.2f %.2f\n", dist_a6, dist_a5); +// +// pc.printf("ir bawah\n"); +// pc.printf(" %.2f\n", dist_b1); +// pc.printf("%.2f %.2f\n", dist_b2, dist_b3); +// pc.printf(" %.2f\n", dist_b4); +// wait(1); } }