board baru, pin baru
Dependencies: DigitDisplay Motor PID Ping mbed millis
Fork of MainProgram_BaseBaru_fix_omni_25Mar by
Diff: main.cpp
- Revision:
- 45:8af41da7fcd6
- Parent:
- 44:e23f6d8586c6
--- a/main.cpp Sun Mar 26 03:32:56 2017 +0000 +++ b/main.cpp Mon Mar 27 14:07:02 2017 +0000 @@ -127,37 +127,37 @@ Serial pc(USBTX,USBRX); /* Deklarasi Encoder Base */ -encoderKRAI encoderBase(PC_4, PB_15, 2000, encoderKRAI::X2_ENCODING); //inA, inB, pin Indeks (NC = tak ada), 2xresolusi, mode pembacaan +//encoderKRAI encoderBase(PC_4, PB_15, 2000, encoderKRAI::X2_ENCODING); //inA, inB, pin Indeks (NC = tak ada), 2xresolusi, mode pembacaan /* Deklarasi Encoder Launcher */ encoderKRAI encLauncherDpn( PC_10, PC_11, 28, encoderKRAI::X4_ENCODING); encoderKRAI encLauncherBlk( PD_2, PC_12, 28, encoderKRAI::X4_ENCODING); /* Deklarasi Motor Base */ -Motor motorDpn(PC_7, PC_13, PC_14); //(PB_9, PA_12, PC_5); -Motor motorBlk(PB_9, PC_5, PA_12); //(PB_6, PB_1, PB_12); (PC_7, PC_14, PC_13); -Motor motorL (PA_11, PA_6, PA_7); -Motor motorR (PC_6, PB_5, PB_4); //(PC_6, PB_4, PB_5); +Motor motorDpn(PB_7, PC_3, PC_0); +Motor motorBlk(PB_6, PC_13, PC_14); +Motor motorL (PB_9, PA_12, PA_6); +Motor motorR (PB_8, PC_5, PC_6); /* Deklarasi Motor Launcher */ -Motor launcherDpn(PA_8,PC_2,PC_1); // pwm ,fwd, rev -Motor launcherBlk(PB_7, PA_14, PA_15); // pwm, fwd, rev -Motor powerScrew(PA_9, PA_4, PC_15); // pwm, fwd, rev +Motor launcherDpn(PA_5,PA_11,PB_12); +Motor launcherBlk(PB_3, PA_10, PC_4); +Motor powerScrew(PB_10, PB_13, PB_14); // pwm, fwd, rev /* Deklarasi Penumatik Launcher */ -DigitalOut pneumatik(PB_3, PullUp); +DigitalOut pneumatik(PA_4, PullUp); /*Dekalrasi Limit Switch */ //DigitalIn infraAtas(PC_9, PullUp); -DigitalIn limitTengah(PB_10, PullUp); -DigitalIn limitBawah(PC_8, PullUp); -DigitalIn limitBawah1(PA_5, PullUp); +DigitalIn limitTengah(PA_9, PullUp); +DigitalIn limitBawah(PC_7, PullUp); +DigitalIn limitBawah1(PC_2, PullUp); /*deklarasi PING ultrasonic*/ -Ping pingAtas(PC_9); +Ping pingAtas(PC_15); /*Deklarasi Display*/ -DigitDisplay display (D15, D4); +DigitDisplay display (PA_8, PC_8); /****************************************************/ /* Deklarasi Fungsi dan Procedure */ @@ -293,7 +293,7 @@ else if ((joystick.kotak_click)&&(!joystick.lingkaran_click)) { // Power Screw Down caseJoystick = 12; - } + } else caseJoystick = 999; return(caseJoystick); } @@ -301,10 +301,10 @@ float getTetha(){ // Fungsi untuk mendapatkan nilai tetha float busur, tetha; - busur = ((encoderBase.getPulses())/(float)(2000.0)*keliling_enc); - tetha = busur/keliling_robot*360; + // busur = ((encoderBase.getPulses())/(float)(2000.0)*keliling_enc); + // tetha = busur/keliling_robot*360; - return -(tetha); + // return -(tetha); } float pidBase(float Kp, float Ki, float Kd) @@ -318,7 +318,7 @@ void setCenter(){ // Fungsi untuk menentukan center dari robot - encoderBase.reset(); + // encoderBase.reset(); } void init_rpm (){