KRAI 2016
/
Ultimate_Hybrid
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Dependencies: ESC Motor PID PS_PAD hadah mbed
Diff: main.cpp
- Revision:
- 1:fc1535231c0d
- Parent:
- 0:edddd373a163
- Child:
- 2:df6c49846367
--- a/main.cpp Tue Apr 19 02:47:31 2016 +0000
+++ b/main.cpp Tue Apr 19 13:32:26 2016 +0000
@@ -28,6 +28,18 @@
Motor motorC2(PB_8, PB_1, PA_13);
Motor motorS(PA_10, PB_5, PB_4);
+/* coba coba
+//motor (PWM, forward, reverse)
+Motor motor1(PA_8, PB_0, PC_15);
+Motor motorC1(PA_11, PA_6, PA_5);
+//Motor motor3(PB_6, PA_7, PB_12);
+Motor motorC2(PA_9, PC_2, PC_3);
+Motor motor4(PB_7, PA_14, PA_15);
+Motor motor2(PB_9, PA_12, PC_5);
+Motor motor3(PB_8, PB_1, PA_13);
+Motor motorS(PA_10, PB_5, PB_4);
+*/
+
//pnuematik
DigitalOut pnuematik1(PC_11);
DigitalOut pnuematik2(PC_10);
@@ -57,7 +69,7 @@
/*********************************************************************************************/
float gMax_speed = 1;
float v0 = 0.6;
-float ax = 0.0007;
+float ax = 0.0005;
// inisialisasi pwm awal servo
double pwm = 0.00;
@@ -154,33 +166,39 @@
/*********************************************************************************************/
void aktuator(){
float speed = v0;
- float tuning = 0.01;
+ float tuning1 = 0.0;
+ float tuning2 = 0.23;
+ float tuning3 = 0.1;
+ float tuning4 = 0.26;
+
+ if(v0 >= gMax_speed) v0 = gMax_speed;
+
if((ps2.read(PS_PAD::PAD_L1)==1) && (ps2.read(PS_PAD::PAD_R1)==0)){
//pivot kiri
- motor2.speed(speed*0.7);
- motor4.speed(-speed*0.7);
- motor1.speed(speed*0.7-tuning);
- motor3.speed(-(speed*0.7-tuning));
+ motor2.speed((float)0.6*(speed-tuning2));
+ motor4.speed((float)-0.6*(speed-tuning4));
+ motor1.speed((float)0.6*(speed-tuning1));
+ motor3.speed((float)-0.6*(speed-tuning3));
pc.printf("pivot kiri \n");
v0 += ax;
}
else if((ps2.read(PS_PAD::PAD_R1)==1) && (ps2.read(PS_PAD::PAD_L1)==0)){
//pivot kanan
- motor2.speed(-speed*0.7);
- motor4.speed(speed*0.7);
- motor1.speed(-(speed*0.7-tuning));
- motor3.speed(speed*0.7-tuning);
+ motor2.speed((float)-0.6*(speed-tuning2));
+ motor4.speed((float)0.6*(speed-tuning4));
+ motor1.speed((float)-0.6*(speed-tuning1));
+ motor3.speed((float)0.6*(speed-tuning3));
pc.printf("pivot kanan \n");
v0 += ax;
}
else if((ps2.read(PS_PAD::PAD_RIGHT)==1) && (ps2.read(PS_PAD::PAD_TOP)==1)){
//serong atas kanan
- motor2.speed(speed);
+ motor2.speed(speed-tuning2);
motor4.brake(1);
motor1.brake(1);
- motor3.speed(speed-tuning);
+ motor3.speed(speed-tuning3);
pc.printf("serong atas kanan \n");
v0 += ax;
@@ -188,8 +206,8 @@
else if((ps2.read(PS_PAD::PAD_TOP)==1) && (ps2.read(PS_PAD::PAD_LEFT)==1)){
//serong atas kiri
motor2.brake(1);
- motor4.speed(-speed);
- motor1.speed(-(speed-tuning));
+ motor4.speed(-(speed-tuning4));
+ motor1.speed(-(speed-tuning1));
motor3.brake(1);
pc.printf("serong atas kiri \n");
@@ -197,10 +215,10 @@
}
else if((ps2.read(PS_PAD::PAD_LEFT)==1) && (ps2.read(PS_PAD::PAD_BOTTOM)==1)){
//serong bawah kiri
- motor2.speed(-speed);
+ motor2.speed(-(speed-tuning2));
motor4.brake(1);
motor1.brake(1);
- motor3.speed(-(speed-tuning));
+ motor3.speed(-(speed-tuning3));
pc.printf("serong bawah kiri \n");
v0 += ax;
@@ -208,8 +226,8 @@
else if((ps2.read(PS_PAD::PAD_BOTTOM)==1) && (ps2.read(PS_PAD::PAD_RIGHT)==1)){
//serong bawah kanan
motor2.brake(1);
- motor4.speed(speed);
- motor1.speed(speed-tuning);
+ motor4.speed(speed-tuning4);
+ motor1.speed(speed-tuning1);
motor3.brake(1);
pc.printf("serong bawah kanan \n");
@@ -217,40 +235,40 @@
}
else if((ps2.read(PS_PAD::PAD_TOP)==1) && (ps2.read(PS_PAD::PAD_BOTTOM)==0)){
//maju
- motor1.speed(-(speed-tuning));
- motor3.speed(speed-tuning);
- motor2.speed(speed);
- motor4.speed(-speed);
+ motor1.speed(-(speed-tuning1));
+ motor3.speed(speed-tuning3);
+ motor2.speed(speed-tuning2);
+ motor4.speed(-(speed-tuning4));
pc.printf("maju \n");
v0 += ax;
}
else if((ps2.read(PS_PAD::PAD_BOTTOM)==1) && (ps2.read(PS_PAD::PAD_TOP)==0)){
//mundur
- motor1.speed(speed-tuning);
- motor3.speed(-(speed-tuning));
- motor2.speed(-speed);
- motor4.speed(speed);
+ motor1.speed(speed-tuning1);
+ motor3.speed(-(speed-tuning3));
+ motor2.speed(-(speed-tuning2));
+ motor4.speed(speed-tuning4);
pc.printf("mundur \n");
v0 += ax;
}
else if((ps2.read(PS_PAD::PAD_RIGHT)==1) && (ps2.read(PS_PAD::PAD_LEFT)==0)){
//kanan
- motor2.speed(speed);
- motor4.speed(speed);
- motor1.speed(speed);
- motor3.speed(speed);
+ motor2.speed(speed-tuning2);
+ motor4.speed(speed-tuning4);
+ motor1.speed(speed-tuning1);
+ motor3.speed(speed-tuning3);
pc.printf("kanan \n");
v0 += ax;
}
else if((ps2.read(PS_PAD::PAD_RIGHT)==0) && (ps2.read(PS_PAD::PAD_LEFT)==1)){
//kiri
- motor2.speed(-speed);
- motor4.speed(-speed);
- motor1.speed(-speed);
- motor3.speed(-speed);
+ motor2.speed(-(speed-tuning2));
+ motor4.speed(-(speed-tuning4));
+ motor1.speed(-(speed-tuning1));
+ motor3.speed(-(speed-tuning3));
pc.printf("kiri \n");
v0 += ax;