![](/media/cache/group/LOGO-GARUDAGO_UntukBackground.jpg.50x50_q85.jpg)
base hybrid board baru
Dependencies: Motor NewTextLCD PID PS_PAD mbed millis ESC base_rekam_darurat
Revision 5:34be90fa6d27, committed 2016-02-19
- Comitter:
- Najib_irvani
- Date:
- Fri Feb 19 12:49:34 2016 +0000
- Parent:
- 4:65d65a108b68
- Commit message:
- base darurat V1
Changed in this revision
main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Thu Feb 18 09:18:39 2016 +0000 +++ b/main.cpp Fri Feb 19 12:49:34 2016 +0000 @@ -1,17 +1,3 @@ -/*********************************************************************************************/ -/** GARUDAGO-ITB (KRAI2016) **/ -/** #ROADTOBANGKOK! **/ -/** **/ -/** MAIN PROGRAM ROBOT HYBRID SEMI OTOMATIS **/ -/** **/ -/** **/ -/** Created by : **/ -/** Rizqi Cahyo Yuwono **/ -/** EL'14 - 13214090 **/ -/** **/ -/** Last Update : 19 Desember 2015, 06.10 WIB **/ -/*********************************************************************************************/ - /*********************************************************************************************/ /** FILE HEADER **/ /*********************************************************************************************/ @@ -66,8 +52,11 @@ DigitalOut pnuematik_lengan(PC_10); DigitalOut pnuematik_gripper(PC_11); +DigitalOut pnuematik_atas(PD_2); +DigitalOut pnuematik_bawah(PC_12); Servo servo_gripper(PB_9); +//Deklarasi Input Limit Switch /* // Sensor @@ -87,7 +76,7 @@ DigitalOut calibrate(PA_15); */ -DigitalIn button(USER_BUTTON); +//DigitalIn button(USER_BUTTON); //bool sensor[13]; @@ -107,6 +96,9 @@ float gMin_speed=-0.05; //nilai minimum kecepatan motor float gTuning = 0.16; +float gripper_up = 1; +float gripper_down = 0.2; + unsigned char gMode=0; //variabel mode driving (manual = 0 otomatis = 1) unsigned char gCase=0; //variabel keadaan proses @@ -114,7 +106,8 @@ int over=0; int lapangan = 1; - +bool state_atas = 0; +bool state_bawah = 0; /*********************************************************************************************/ /** DEKLARASI PROSEDUR DAN FUNGSI **/ @@ -127,6 +120,7 @@ /*********************************************************************************************/ /*********************************************************************************************/ + void ambil(int c){ switch (c) { @@ -134,7 +128,7 @@ servo_gripper.position(170); pc.printf("grip lost"); wait_ms(25); - pnuematik_lengan=1; + pnuematik_lengan=0; wait_ms(500); break; @@ -147,7 +141,7 @@ wait_ms(1000); pnuematik_gripper=1; wait_ms(800); - pnuematik_lengan=0; + pnuematik_lengan=1; wait_ms(200); break; } @@ -201,8 +195,10 @@ float speed; servo_gripper.position(140); - pnuematik_lengan=0; + pnuematik_lengan=1; pnuematik_gripper=1; + pnuematik_atas = state_atas; + pnuematik_bawah = state_bawah; while(1) { @@ -220,7 +216,7 @@ //MOTOR BELAKANG speed = gMax_speed; - motor1.speed(-(speed-gTuning)); + motor1.speed(-speed); motor2.speed(-speed); pc.printf("mundur \n"); } @@ -279,12 +275,22 @@ if(ps2.read(PS_PAD::ANALOG_LY)<=-100){ //POWER WINDOW ATAS - gripper.speed(1); + + gripper.speed(gripper_up); pc.printf("up \n"); } else if(ps2.read(PS_PAD::ANALOG_LY)>=100){ - //POWER WINDOW BAWAH - gripper.speed(-0.2); + //POWER WINDOW BAWAH + if ((state_atas==1) || (state_bawah==1)) + { + gripper_down = 1; + } + else + { + gripper_down = 0.2; + } + + gripper.speed(-gripper_down); pc.printf("down \n"); } else @@ -316,13 +322,30 @@ sudut += 3; pc.printf("servo max \n"); } + + //gripper pole + + if ((ps2.read(PS_PAD::PAD_L2)==1)) + { + state_atas = !state_atas; + pnuematik_atas= state_atas; + wait_ms(300); + } + else if ((ps2.read(PS_PAD::PAD_R2)==1)) + { + state_bawah = !state_bawah; + pnuematik_bawah = state_bawah; + wait_ms(300); + } + + init_servo(lapangan); init_pwm(); myservo.position(sudut); wait_ms(25); //edf.setThrottle(pwm); //edf.pulse(); - //wait_ms(25); + //wait_ms(25); } } \ No newline at end of file