File content as of revision 45:96815f504b17:

#include "mbed.h"
#include "TPA81new.h"
#include "SRF05.h"
#include "Uvtron.h"
#include "Stepper.h"
#include "AMG8833.h"
#include "Adafruit_ADS1015.h"

// Konstanta
#define WAIT_TIME 0.05
// infrared
#define a_depan 5000000
#define b_depan 1.229
#define a_ads 500000
#define b_ads 1.184

Serial pc(USBTX,USBRX);

// AMG
Adafruit_AMG88xx amg(PB_3, PB_10); // sda, scl
float pixels[AMG88xx_PIXEL_ARRAY_SIZE];

DigitalOut relay(PB_2);
Uvtron uv(PC_12);
DigitalIn sound(PA_9);
AnalogIn line(PC_1);

// Infrared
// atas
AnalogIn ira1(PC_5);
AnalogIn ira2(PA_5);
AnalogIn ira3(PC_2);
AnalogIn ira4(PC_3);
AnalogIn ira5(PC_4);
AnalogIn ira6(PB_1);
AnalogIn ira7(PA_7);
AnalogIn ira8(PA_6);
// bawah
AnalogIn irb1(PA_0);
AnalogIn irb2(PA_1);
AnalogIn irb3(PA_4);
AnalogIn irb4(PB_0);
// ADC
I2C ads_i2c(PB_9, PB_8); // sda, scl
Adafruit_ADS1015 ads(&ads_i2c);

stepper s(PC_8, PC_6, PA_12, PA_11, PB_12, PC_7);
// stepper(PinName _en, PinName ms1, PinName ms2, PinName ms3, PinName _stepPin, PinName dir);

DigitalOut led_api(PB_6);
DigitalOut led_sound(PH_1);

float call_depan(uint16_t x)
{
    float side_distance = a_depan/pow(x,b_depan)+1;
    return side_distance;
}

float call_ads(uint16_t ir) {
    float voltage = ir * 6.2676 * 10e-5; // ubah ke mV
    uint16_t x = (voltage/3.3f) * 0xFFFF; // ubah ke uint16_t sesuai max nucleo
    float dist = a_ads/pow(x, b_ads)+1;    
    return dist;
}

int main()
{
    while (1) {
        // IR
        uint16_t ads_raw[4] = {0, 0, 0,0};
        for (uint8_t i=0; i < 4; i++) {
            ads_raw[i] = ads.readADC_SingleEnded(i);
        };
        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_a9 = call_ads(ads_raw[1]);
        float dist_a10 = call_ads(ads_raw[3]);
        float dist_a11 = call_ads(ads_raw[2]);
        float dist_a12 = call_ads(ads_raw[0]);
        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 %.2f   %.2f\n", dist_a9, dist_a10, dist_a11, dist_a12);
        pc.printf("%.2f               %.2f\n", dist_a3, dist_a1);
        pc.printf("%.2f               %.2f\n", dist_a4, dist_a6);
        pc.printf("%.2f   %.2f %.2f   %.2f\n", dist_a2, dist_a8, dist_a7, 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_ms(200);
        pc.printf("\033[2J\033[H");
    }
}