tes ir atas semua
Dependencies: mbed ADS1115 StepperMotor SRF05 TPA81new
main.cpp
- Committer:
- hisyamfs
- Date:
- 2019-01-17
- Revision:
- 14:207770fefedf
- Parent:
- 13:0c5942931cad
- Child:
- 15:da7a15289893
File content as of revision 14:207770fefedf:
#include "mbed.h" #include "Stepper.h" #include "AX12.h" #include "Uvtron.h" #include "TPA81new.h" #include "SRF05.h" #include "SharpIR.h" #define WAIT_TIME 0.02 Serial pc(USBTX, USBRX); // Kaki AX12 servo1(PC_10, PC_11, PA_13, 1, 1000000); // tx, rx, tx_enable, servo ID, baud rate // Kepala // Infrared SharpIR irb1(PA_0); SharpIR irb2(PA_1); SharpIR irb3(PA_4); SharpIR irb4(PB_0); SharpIR ira1(PC_5); SharpIR ira2(PA_5); SharpIR ira3(PC_2); SharpIR ira4(PC_3); SharpIR ira5(PB_1); SharpIR ira6(PC_4); SharpIR ira7(PA_6); SharpIR ira8(PA_7); // Kompas // MPU9255 mpu(PB_4, PA_8) // Line AnalogIn line(PC_1); // Sound activation DigitalIn sound(PA_3); // Topi // TPA TPA81 tpa1(PB_9, PB_8, 0xDC); // sda, scl, id TPA81 tpa2(PB_3, PB_10, 0xDE); // Ultrasonik SRF05 us1(PB_7, PB_15); // trigger, echo SRF05 us2(PC_15, PC_14); // trigger echo // Uvtron Uvtron uv(PC_12); DigitalOut led(LED1); // stepper stepper s(PC_6, PC_8, PA_12, PC_7, PA_11, PB_12); // _en, ms1, ms2, ms3, _step, dir // relay DigitalOut relay(PB_2); int main() { pc.printf("Memulai test\n"); pc.printf("3\n"); wait(1); pc.printf("2\n"); wait(1); pc.printf("1\n"); wait(1); while (1) { // Servo // pc.printf("Test Servo : 240\n"); // int degrees1 = 240; // float speed1 = 1.0f; // servo1.MultSetGoal(degrees1, speed1, // degrees1, speed1, // degrees1, speed1, // degrees1, speed1, // degrees1, speed1, // degrees1, speed1, // degrees1, speed1, // degrees1, speed1, // degrees1, speed1, // degrees1, speed1, // degrees1, speed1, // degrees1, speed1, // degrees1, speed1, // degrees1, speed1, // degrees1, speed1, // degrees1, speed1, // degrees1, speed1, // degrees1, speed1); // degrees1 = 150; // pc.printf("150/n"); // servo1.MultSetGoal(degrees1, speed1, // degrees1, speed1, // degrees1, speed1, // degrees1, speed1, // degrees1, speed1, // degrees1, speed1, // degrees1, speed1, // degrees1, speed1, // degrees1, speed1, // degrees1, speed1, // degrees1, speed1, // degrees1, speed1, // degrees1, speed1, // degrees1, speed1, // degrees1, speed1, // degrees1, speed1, // degrees1, speed1, // degrees1, speed1); // Infrared Bawah //float b1 = irb1.read(); // float b2 = irb2.read(); // float b3 = irb3.read(); // float b4 = irb4.read(); // pc.printf("IR bawah\n"); // pc.printf(" %.f \n", b1); // pc.printf("%.f %.f\n", b2, b4); // pc.printf(" %.f \n", b3); // Line pc.printf("Line : %.f\n", line.read()); // Infrared Atas //float a1 = ira1.read(); // float a2 = ira2.read(); // float a3 = ira3.read(); // float a4 = ira4.read(); // float a5 = ira5.read(); // float a6 = ira6.read(); // float a7 = ira7.read(); // float a8 = ira8.read(); // pc.printf("IR atas\n"); // pc.printf(" %.f %.f\n", a2, a1); // pc.printf("%.f %.f\n", a3, a8); // pc.printf("%.f %.f\n", a4, a7); // pc.printf(" %.f %.f\n", a5, a6); // // Sound activation // Stepper //pc.printf("Stepper 1 putaran\n"); // for(int i=0; i<200; i++) // { // s.step(1, 1, 50); // } // TPA tpa1.Read(); tpa2.Read(); pc.printf("TPA 1\tTPA 2\n"); for (int i = 0; i < 8; i++) { pc.printf("%d\t%d\n", tpa1.Data[i], tpa2.Data[i]); } // Uvtron uv.Read(); int read = uv.Flag; pc.printf("UVTron = %d\n", read); // Ultrasonik pc.printf("Ultrasonik 1 : %.f Ultrasonik 2 : %.f \n", us1.read(), us2.read()); // Relay pc.printf("relay\n"); relay = 1; wait(1); relay = 0; } }