Gala Ramadhan
rev
Dependencies: mbed encoderKRAI Motor_new millis
Revision 0:586c99a83752, committed 2019-08-13
- Comitter:
- ilhamwp0701
- Date:
- Tue Aug 13 12:53:18 2019 +0000
- Commit message:
- rev
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Motor_new.lib Tue Aug 13 12:53:18 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/teams/Magang-KRAI-2019/code/Motor_new/#1d0887244f8b
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/encoderKRAI.lib Tue Aug 13 12:53:18 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/tamamfirdaus/code/encoderKRAI/#88b904c4ffbb
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Tue Aug 13 12:53:18 2019 +0000
@@ -0,0 +1,75 @@
+/* LIBRARY */
+#include "mbed.h"
+#include "encoderKRAI.h"
+#include "Motor.h"
+#include "millis.h"
+// #define debug_motor
+// #define looping_program
+/*PIN DECLARATION */
+DigitalOut pneua(PC_5);// input pin
+DigitalOut pneub(PC_6);
+DigitalOut pneuc(PC_8);
+encoderKRAI enc (PB_2 , PB_1 , 538, encoderKRAI::X4_ENCODING);
+Serial pc(USBTX, USBRX, 115200);
+Motor main_motor(PB_15, PB_13, PB_14); // pwm(+)=clockwise
+/* PROCEDURE DECLARATION */
+void hitungTheta();
+void motorMovement(bool _state);
+/*VARIABLE */
+float theta = 0.0;
+bool state;
+unsigned long theta_timer_prev=0;
+unsigned long motor_timer_prev=0;
+
+/* MAIN PROGRAM */
+int main() {
+ state=0;
+ startMillis();
+ pneua=1;
+ pneub=1;
+ pneuc=1;
+ #ifdef looping_program
+ while(1) {
+ pc.printf("theta : %d \n", enc.getPulses());
+ pc.printf("hitung theta : %f \n", theta);
+ pc.printf("state : %d \n", state);
+ if (millis()-theta_timer_prev>13){
+ hitungTheta();
+ theta_timer_prev=millis();
+ }
+ #ifdef debug_motor
+ main_motor.speed(0.1);
+ #endif
+
+ if (millis()-motor_timer_prev>5){
+ motorMovement(state);
+ motor_timer_prev=millis();
+ }
+
+ if (theta > 45 && state == 0){
+ state = 1;
+ }
+ else if (theta < -45 && state == 1){
+ state = 0;
+ }
+
+
+ }
+ #endif
+}
+
+void hitungTheta(){
+ theta = theta + (float)enc.getPulses()*360/538;
+ enc.reset();
+}
+void motorMovement(bool _state){
+ if (_state==1) {
+ main_motor.speed(-0.1);
+ }
+ else{
+ main_motor.speed(0.1);
+ }
+}
+
+
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Tue Aug 13 12:53:18 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400 \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/millis.lib Tue Aug 13 12:53:18 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/teams/DFRobot/code/millis/#736e6cc31bcd