KRAI 2016
base buat latihan
Dependencies: ESC Motor NewTextLCD PID PS_PAD Ping Servo mbed millis
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Base_Hybrid_Latihan_Ok_Hajar
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KRAI 2016
Revision 8:3cc68df2bebf, committed 2016-03-21
- Comitter:
- Najib_irvani
- Date:
- Mon Mar 21 12:10:27 2016 +0000
- Parent:
- 7:4d6a73d924ff
- Commit message:
- update board baru
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Ping.lib Mon Mar 21 12:10:27 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/rosienej/code/Ping/#6996f66161d7
--- a/Servo.lib Fri Mar 18 22:45:08 2016 +0000 +++ b/Servo.lib Mon Mar 21 12:10:27 2016 +0000 @@ -1,1 +1,1 @@ -https://developer.mbed.org/teams/KRAI-2016/code/base_rekam_darurat/#1d2ce8e2e7aa +https://developer.mbed.org/users/Najib_irvani/code/Servo/#1d4b7e891f79
--- a/main.cpp Fri Mar 18 22:45:08 2016 +0000
+++ b/main.cpp Mon Mar 21 12:10:27 2016 +0000
@@ -9,6 +9,7 @@
#include "millis.h"
#include "esc.h"
#include "Servo.h"
+#include "Ping.h"
@@ -18,22 +19,39 @@
// serial pc
Serial pc(USBTX,USBRX);
-// joystick PS2
-PS_PAD ps2(PB_15,PB_14,PB_13, PB_12); //(mosi, miso, sck, ss) default board lama
+//sensor ping
+Ping pinger(PA_1);
+//read jarak
+int read_ping(){
+ pinger.Send();
+ wait_ms(30);
+ return ((pinger.Read_cm())/2);
+}
+// joystick PS2
+PS_PAD ps2(PB_15,PB_14,PB_13, PC_4); //(mosi, miso, sck, ss) default board lama pb_12
+/*
// Motor(pwm, fwd, rev)
-Motor gripper(PC_6, PC_9, PC_8); //PB_6, PB_8, PB_9
+Motor gripper(PC_6, PC_8, PC_9); //PB_6, PB_8, PB_9
//Motor slider(PC_6, PC_9, PC_8);
Motor motor2(PB_3, PB_4, PB_5); //kanan
Motor motor1(PA_8, PC_7, PA_9); //kiri
+*/
+Motor gripper(PA_10, PB_3, PB_5); //PB_6, PB_8, PB_9
+//Motor slider(PC_6, PC_9, PC_8);
+Motor motor2(PA_11, PB_12, PA_7); //kanan
+Motor motor1(PA_8, PB_4, PB_1); //kiri
+
+DigitalOut limit0(PC_0,PullUp);
+DigitalOut limit1(PC_1,PullUp);
/*********************************************************************************************/
/** DEKLARASI VARIABEL GLOBAL **/
/*********************************************************************************************/
-float gMax_speed=0.80; //nilai maksimum kecepatan motor
+float gMax_speed=0.83; //nilai maksimum kecepatan motor
float gMin_speed=-0.05; //nilai minimum kecepatan motor
-float gTuning = 0.09;
+float gTuning = 0.14;
// tambahan power
// inisialisasi pwm awal servo
@@ -47,7 +65,7 @@
unsigned char i; // variabel iterasi
int over=0;
-int lapangan = 1;
+int lapangan = 0;
unsigned char gMode=0; //variabel mode driving (manual = 0 otomatis = 1)
unsigned char gCase=0; //variabel keadaan proses
@@ -65,19 +83,19 @@
/*********************************************************************************************/
void init_servo(int i){
if (i){
- if (sudut>90){
- sudut=90;
+ if (sudut>60){
+ sudut=60;
}
- if (sudut<0){
- sudut=0;
+ if (sudut<-60){
+ sudut=-60;
}
} else {
- if (sudut>0){
- sudut=0;
+ if (sudut>60){
+ sudut=60;
}
- if (sudut<-90){
- sudut=-90;
+ if (sudut<-60){
+ sudut=-60;
}
}
}
@@ -97,10 +115,11 @@
//inisialisasi joystick
ps2.init();
//tambahan power
- ESC edf(PB_8,20); //pwm esc
- Servo myservo(PB_9); //pwm servo
+ ESC edf(PC_6,20); //pwm esc PB_8
+ Servo myservo(PC_8); //pwm servo PB_9
//set inisialisasi servo pada posisi 0
- myservo.position(sudut);
+ myservo.position(0);
+
//set edf pada posisi bukan kalibrasi, yaitu set edf 0
edf.setThrottle(pwm);
edf.pulse();
@@ -116,7 +135,7 @@
//init_sensor();
if((ps2.read(PS_PAD::PAD_TOP)==1) && (ps2.read(PS_PAD::PAD_L1)==1)){
speed = gMax_speed;
- motor1.brake(1);
+ motor1.brake(0.2);
motor2.speed(speed-0.05);
pc.printf("maju serong kiri\n");
@@ -124,7 +143,7 @@
else if((ps2.read(PS_PAD::PAD_TOP)==1) && (ps2.read(PS_PAD::PAD_R1)==1)){
speed = gMax_speed;
motor1.speed(speed-gTuning-0.05);
- motor2.brake(1);
+ motor2.brake(0.2);
pc.printf("maju serong kanan\n");
}
@@ -174,15 +193,15 @@
else if((ps2.read(PS_PAD::PAD_L1)==1) && (ps2.read(PS_PAD::PAD_R1)==0)){
//pivot kiri
speed = gMax_speed;
- motor1.speed(-(speed*0.9-gTuning));
- motor2.speed(speed*0.9);
+ motor1.speed(-(speed*0.95-gTuning));
+ motor2.speed(speed*0.95);
pc.printf("pivot kiri \n");
}
else if((ps2.read(PS_PAD::PAD_R1)==1) && (ps2.read(PS_PAD::PAD_L1)==0)){
//pivot kanan
speed = gMax_speed;
- motor1.speed(speed*0.9-gTuning);
- motor2.speed(-speed*0.9 );
+ motor1.speed(speed*0.95-gTuning);
+ motor2.speed(-speed*0.95 );
pc.printf("pivot kanan \n");
}
@@ -196,15 +215,22 @@
if((ps2.read(PS_PAD::PAD_CIRCLE)==0) && (ps2.read(PS_PAD::PAD_TRIANGLE)==1)){
//POWER WINDOW ATAS
+ gripper.speed(1);
- gripper.speed(1);
+ if (limit0 == 0){
+ gripper.brake(1);
+ }
pc.printf("up \n");
}
else if((ps2.read(PS_PAD::PAD_CIRCLE)==1) && (ps2.read(PS_PAD::PAD_TRIANGLE)==0)){
//POWER WINDOW BAWAH
-
gripper.speed(-1);
+
+ if (limit1 ==0){
+ gripper.brake(1);
+ }
+
pc.printf("down \n");
}
else{
@@ -227,12 +253,12 @@
if(ps2.read(PS_PAD::PAD_L2)==1){
//SERVO --
- sudut -= 3;
+ sudut += 3;
pc.printf("servo min \n");
}
else if(ps2.read(PS_PAD::PAD_R2)==1){
//SERVO ++
- sudut += 3;
+ sudut -= 3;
pc.printf("servo max \n");
}
@@ -240,10 +266,8 @@
init_pwm();
edf.setThrottle(pwm);
edf.pulse();
+ wait_ms(25);
myservo.position(sudut);
- wait_ms(25);
-
-
}
}
\ No newline at end of file