File content as of revision 5:6fe4f78a6b47:

#include "mbed.h"
#include "TextLCD.h"
#include "PS_PAD.h"
#include "Motor.h"
#include "encoderKRAI.h"

#include <string>
using namespace std;

#define PI  3.14159265359
#define RAD_TO_DEG  57.2957795131

#define PULSE_TO_MM 0.1177    //rev/pulse * K_lingkaran_roda
#define L 144           // lengan roda dari pusat robot (mm)
#define Ts 2    // Time Sampling sistem 2ms
#define MAX_SPEED 0.3

Thread thread1(osPriorityNormal, OS_STACK_SIZE, NULL);
Thread thread2(osPriorityNormal, OS_STACK_SIZE, NULL);
Thread thread3(osPriorityNormal, OS_STACK_SIZE, NULL);
Thread thread4(osPriorityNormal, OS_STACK_SIZE, NULL);
Thread thread5(osPriorityNormal, OS_STACK_SIZE, NULL);

TextLCD lcd(PA_9, PC_3, PC_2, PA_8, PB_0, PC_15, TextLCD::LCD20x4); //rs,e,d4-d7
encoderKRAI enc1 (PC_14, PC_13, 11, encoderKRAI::X4_ENCODING);
encoderKRAI enc2 (PC_0, PC_1, 11, encoderKRAI::X4_ENCODING);
encoderKRAI enc3 (PB_10, PB_3, 11, encoderKRAI::X4_ENCODING);
PS_PAD ps2(PB_15,PB_14,PB_13, PC_4); //(mosi, miso, sck, ss)

Motor motor3(PB_7, PA_14, PA_15); //motor4
Motor motor2(PA_11, PA_6, PA_5); //motor2
Motor motor1(PB_6, PA_7, PB_12); //motor 3
//Motor motor1(PA_10, PB_5, PB_4);  //motor_griper

Serial pc(USBTX,USBRX);

void dataJoystick();
void lcdPrint();
void self_localization();
void motorP();
void calculate_PID();

float moving_direction( float xs, float ys, float x, float y,float theta);



/*------------buruk----------------*/
 float x = 0;
 float y = 0;
 float theta = 0;
 
 float x_prev = 0;
 float y_prev = 0;
 float theta_prev = 0;
 
 float vr = 0;
 float w = 0;
 float a = 0;
 
 //float Vx = 0;
 //float Vy = 0;
 //float W = 0;

string str;
/*---------------------------------------*/

int main()
{    
    pc.baud(115200);
    ps2.init();
    thread1.start(dataJoystick);
    thread2.start(lcdPrint);
    thread3.start(self_localization);
    thread4.start(motorP);
    thread5.start(calculate_PID);
    
    while (1)
    {      
        // baca input
/*      
        ps2.poll();
        if(ps2.read(PS_PAD::PAD_X)==1)                   a = "silang";
        else if(ps2.read(PS_PAD::PAD_CIRCLE)==1)         a = "lingkaran";
        else if(ps2.read(PS_PAD::PAD_TRIANGLE)==1)       a = "segitiga";
        else if(ps2.read(PS_PAD::PAD_SQUARE)==1)         a = "kotak";
        else                                             a = "NULL";
 */   
/*        
        //tampilkan LCD
        lcd.locate(0,0);
        lcd.printf("input joystik :");
        lcd.locate(0,1);
        lcd.printf("%s",a); 
    
        wait_ms(10);
        lcd.cls();
*/
    }
}

void dataJoystick(){
    while(true){
    ps2.poll();
    if(ps2.read(PS_PAD::PAD_X)==1)                   str =  "silang";
    else if(ps2.read(PS_PAD::PAD_CIRCLE)==1)         str = "lingkaran";
    else if(ps2.read(PS_PAD::PAD_TRIANGLE)==1)       str = "segitiga";
    else if(ps2.read(PS_PAD::PAD_SQUARE)==1)         str = "kotak";
    else                                             str = "NULL";    
    }
}

void lcdPrint(){
    while (true){
        lcd.cls();         
        lcd.locate(0,0);
        lcd.printf("input : %s", str);
        lcd.locate(0,1);
        lcd.printf("x = %.2f", x);
        lcd.locate(0,2);
        lcd.printf("y = %.2f", y);
        lcd.locate(0,3);
        //lcd.printf("theta = %.2f", theta*RAD_TO_DEG);
        lcd.printf("a = %.2f", a*RAD_TO_DEG);
        Thread::wait(100);
    }
}


void self_localization(){
    while(true){       
        float d1 = enc1.getPulses()*PULSE_TO_MM;
        float d2 = enc2.getPulses()*PULSE_TO_MM;
        float d3 = enc3.getPulses()*PULSE_TO_MM;
         
        x_prev = x;
        y_prev = y;
        theta_prev = theta;
        
        x = x_prev + (2*d1 - d2 - d3)/3*cos(theta_prev) - (-d2+d3)*0.5773*sin(theta_prev);
        y = y_prev + (2*d1 - d2 - d3)/3*sin(theta_prev) + (-d2+d3)*0.5773*cos(theta_prev);
        theta = theta_prev + (d1 + d2 + d3)/(3*L); //     //   0.132629 => 180 / (3. L. pi)
        
        //Vx = (x - x_prev)/0.002;
        //Vy = (y - y_prev)/0.002;
        //W = (theta - theta_prev)/0.002;
        
        enc1.reset();
        enc2.reset();
        enc3.reset();
        
        Thread::wait(Ts); //frekuensi sampling = 500 Hz
    }
}


void calculate_PID(){
    // konstanta PID untuk kendali Posisi (x y)
    float Kp_s = 0.05;
    float Ki_s = 0;
    float Kd_s = 0.5;
    
    // konstanta PID untuk kendali arah (theta)
    float Kp_w = 0.12;
    float Ki_w = 0.0;
    float Kd_w = 0.4;
    
    // setpoint sistem
    float x_set = 400;
    float y_set = 400;
    float theta_set = 90;
    float S_set = sqrt(x_set*x_set + y_set*y_set);
    
    // variabel tambahan
    float S_error_prev = 0;
    float theta_error_prev = 0;
    
    float sum_S_error = 0;
    float sum_theta_error = 0;
    
    while(true){
        //menghitung error posisi
        //float S = sqrt(x*x + y*y);
        //float S_error = S_set - S;
        float S_error = sqrt((x_set-x)*(x_set-x) + (y_set-y)*(y_set-y));
        //menghitung error arah
        float theta_error = theta_set - theta*RAD_TO_DEG;
        
        sum_S_error += S_error;
        sum_theta_error += theta_error;
         
        vr = Kp_s*S_error + Ki_s*Ts*sum_S_error + Kd_s*(S_error - S_error_prev)/Ts;
        w = Kp_w*theta_error + Ki_w*Ts*sum_theta_error + Kd_w*(theta_error - theta_error_prev)/Ts;
       
        a = moving_direction(x_set,y_set,x,y,theta);
        
        S_error_prev = S_error;
        theta_error_prev = theta_error;
                
        Thread::wait(Ts);
    }   
}


float moving_direction( float xs, float ys, float x, float y,float theta){
    float temp = atan((ys - y)/(xs - x)) - theta;
    
    if (xs < x)    return temp + PI;
    else            return temp;
}



void motorP() {      
        Thread::wait(1500);
        
        while(1){
           motor1.speed(MAX_SPEED*(vr*cos(a) + w));
           motor2.speed(MAX_SPEED*(vr*(-0.5*cos(a) - 0.866*sin(a)) + w));
           motor3.speed(MAX_SPEED*(vr*(-0.5*cos(a) + 0.866*sin(a)) + w));
        } 
        
        motor1.speed(0);
        motor2.speed(0);
        motor3.speed(0);
}