base ultimate + line following HYBRID
Dependencies: ESC Motor PS_PAD hadah mbed Ping
Fork of Ultimate_Hybrid by
main.cpp@5:256f6eac0358, 2016-04-28 (annotated)
- Committer:
- rizqicahyo
- Date:
- Thu Apr 28 13:56:52 2016 +0000
- Revision:
- 5:256f6eac0358
- Parent:
- 4:7a7a8aa33fd5
update
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
rizqicahyo | 0:edddd373a163 | 1 | /*********************************************************************************************/ |
rizqicahyo | 0:edddd373a163 | 2 | /** FILE HEADER **/ |
rizqicahyo | 0:edddd373a163 | 3 | /*********************************************************************************************/ |
rizqicahyo | 0:edddd373a163 | 4 | #include "mbed.h" |
rizqicahyo | 0:edddd373a163 | 5 | #include "Motor.h" |
rizqicahyo | 0:edddd373a163 | 6 | #include "PS_PAD.h" |
rizqicahyo | 0:edddd373a163 | 7 | #include "esc.h" |
rizqicahyo | 0:edddd373a163 | 8 | #include "Servo.h" |
rizqicahyo | 4:7a7a8aa33fd5 | 9 | #include "Ping.h" |
rizqicahyo | 0:edddd373a163 | 10 | |
rizqicahyo | 0:edddd373a163 | 11 | /*********************************************************************************************/ |
rizqicahyo | 0:edddd373a163 | 12 | /** DEKLARASI INPUT OUTPUT **/ |
rizqicahyo | 0:edddd373a163 | 13 | /*********************************************************************************************/ |
rizqicahyo | 0:edddd373a163 | 14 | //serial |
rizqicahyo | 0:edddd373a163 | 15 | Serial pc(USBTX,USBRX); //debug |
rizqicahyo | 0:edddd373a163 | 16 | Serial com(PA_0,PA_1); //sensor |
rizqicahyo | 0:edddd373a163 | 17 | |
rizqicahyo | 0:edddd373a163 | 18 | //joystick PS2 |
rizqicahyo | 0:edddd373a163 | 19 | PS_PAD ps2(PB_15,PB_14,PB_13, PC_4); //(mosi, miso, sck, ss) |
rizqicahyo | 0:edddd373a163 | 20 | |
rizqicahyo | 0:edddd373a163 | 21 | //motor (PWM, forward, reverse) |
rizqicahyo | 0:edddd373a163 | 22 | Motor motor1(PA_8, PB_0, PC_15); |
rizqicahyo | 0:edddd373a163 | 23 | Motor motor2(PA_11, PA_6, PA_5); |
rizqicahyo | 0:edddd373a163 | 24 | Motor motor3(PA_9, PC_2, PC_3); |
rizqicahyo | 3:43d4cb3ece1b | 25 | Motor motor4(PA_10, PB_5, PB_4); |
rizqicahyo | 4:7a7a8aa33fd5 | 26 | Motor motorC2(PB_7, PA_14, PA_15); |
rizqicahyo | 0:edddd373a163 | 27 | Motor motorC1(PB_9, PA_12, PC_5); |
rizqicahyo | 4:7a7a8aa33fd5 | 28 | Motor motorS(PB_8, PB_1, PA_13); |
rizqicahyo | 3:43d4cb3ece1b | 29 | //Motor motor4(PB_6, PA_7, PB_12); |
Najib_irvani | 1:fc1535231c0d | 30 | |
rizqicahyo | 0:edddd373a163 | 31 | //pnuematik |
rizqicahyo | 0:edddd373a163 | 32 | DigitalOut pnuematik1(PC_11); |
rizqicahyo | 0:edddd373a163 | 33 | DigitalOut pnuematik2(PC_10); |
rizqicahyo | 0:edddd373a163 | 34 | DigitalOut pnuematik3(PD_2); |
rizqicahyo | 0:edddd373a163 | 35 | DigitalOut pnuematik4(PC_12); |
rizqicahyo | 0:edddd373a163 | 36 | |
rizqicahyo | 0:edddd373a163 | 37 | //Limit Switch |
rizqicahyo | 0:edddd373a163 | 38 | DigitalIn limit1(PC_13 ,PullUp); |
rizqicahyo | 0:edddd373a163 | 39 | DigitalIn limit2(PC_14 ,PullUp); |
rizqicahyo | 0:edddd373a163 | 40 | DigitalIn limit3(PC_1 ,PullUp); |
rizqicahyo | 0:edddd373a163 | 41 | DigitalIn limit4(PC_0 ,PullUp); |
rizqicahyo | 0:edddd373a163 | 42 | |
rizqicahyo | 3:43d4cb3ece1b | 43 | DigitalIn field(PB_10 ,PullUp); |
rizqicahyo | 3:43d4cb3ece1b | 44 | |
rizqicahyo | 3:43d4cb3ece1b | 45 | //laser pointer |
rizqicahyo | 3:43d4cb3ece1b | 46 | DigitalOut laser(PB_3); |
rizqicahyo | 0:edddd373a163 | 47 | |
rizqicahyo | 0:edddd373a163 | 48 | //servo(PWM) |
rizqicahyo | 0:edddd373a163 | 49 | Servo servoEDF(PC_8); |
rizqicahyo | 0:edddd373a163 | 50 | |
rizqicahyo | 0:edddd373a163 | 51 | //EDF(PWM, timer) |
rizqicahyo | 0:edddd373a163 | 52 | ESC edf(PC_6,20); |
rizqicahyo | 0:edddd373a163 | 53 | |
rizqicahyo | 3:43d4cb3ece1b | 54 | //Timer |
rizqicahyo | 3:43d4cb3ece1b | 55 | Ticker timer; |
rizqicahyo | 2:df6c49846367 | 56 | |
rizqicahyo | 4:7a7a8aa33fd5 | 57 | //Sensor Ping |
rizqicahyo | 4:7a7a8aa33fd5 | 58 | Ping ping(PB_2); |
rizqicahyo | 0:edddd373a163 | 59 | |
rizqicahyo | 0:edddd373a163 | 60 | /*********************************************************************************************/ |
rizqicahyo | 0:edddd373a163 | 61 | /** DEKLARASI VARIABEL, PROSEDUR, DAN FUNGSI **/ |
rizqicahyo | 0:edddd373a163 | 62 | /*********************************************************************************************/ |
rizqicahyo | 3:43d4cb3ece1b | 63 | const float gMax_speed = 0.85; |
rizqicahyo | 3:43d4cb3ece1b | 64 | //const float gMin_speed = 0.1; |
rizqicahyo | 3:43d4cb3ece1b | 65 | const float v0 = 0.4; |
rizqicahyo | 3:43d4cb3ece1b | 66 | const float ax = 0.0007; |
rizqicahyo | 3:43d4cb3ece1b | 67 | float vcurr = v0; |
rizqicahyo | 2:df6c49846367 | 68 | |
rizqicahyo | 2:df6c49846367 | 69 | const float tuning1 = 0.0; |
rizqicahyo | 3:43d4cb3ece1b | 70 | const float tuning2 = 0.04; |
rizqicahyo | 3:43d4cb3ece1b | 71 | const float tuning3 = 0.0; |
rizqicahyo | 3:43d4cb3ece1b | 72 | const float tuning4 = 0.04; |
rizqicahyo | 2:df6c49846367 | 73 | |
rizqicahyo | 3:43d4cb3ece1b | 74 | const float driver0 = 1; |
rizqicahyo | 4:7a7a8aa33fd5 | 75 | const float driver1 = 0.82; |
rizqicahyo | 4:7a7a8aa33fd5 | 76 | const float driver2 = 0.6; |
rizqicahyo | 4:7a7a8aa33fd5 | 77 | const float driver3 = 0.15; |
rizqicahyo | 2:df6c49846367 | 78 | |
rizqicahyo | 0:edddd373a163 | 79 | |
rizqicahyo | 0:edddd373a163 | 80 | // inisialisasi pwm awal servo |
rizqicahyo | 0:edddd373a163 | 81 | double pwm = 0.00; |
rizqicahyo | 0:edddd373a163 | 82 | |
rizqicahyo | 0:edddd373a163 | 83 | // inisialisasi sudut awal |
rizqicahyo | 0:edddd373a163 | 84 | double sudut = -85; |
rizqicahyo | 0:edddd373a163 | 85 | |
rizqicahyo | 0:edddd373a163 | 86 | // variabel kondisi pnuematik |
rizqicahyo | 0:edddd373a163 | 87 | int g = 1; |
rizqicahyo | 0:edddd373a163 | 88 | |
rizqicahyo | 2:df6c49846367 | 89 | //slider auto |
rizqicahyo | 2:df6c49846367 | 90 | int c =0; |
rizqicahyo | 2:df6c49846367 | 91 | int batas_delay = 270; |
rizqicahyo | 2:df6c49846367 | 92 | |
rizqicahyo | 2:df6c49846367 | 93 | //data sensor garis dan line following |
rizqicahyo | 2:df6c49846367 | 94 | int datasensor[6]; |
rizqicahyo | 2:df6c49846367 | 95 | int over; |
rizqicahyo | 3:43d4cb3ece1b | 96 | int g_flag; |
rizqicahyo | 2:df6c49846367 | 97 | |
rizqicahyo | 4:7a7a8aa33fd5 | 98 | |
rizqicahyo | 3:43d4cb3ece1b | 99 | void aktuator(int f); |
rizqicahyo | 0:edddd373a163 | 100 | void edf_servo(); |
rizqicahyo | 4:7a7a8aa33fd5 | 101 | |
rizqicahyo | 2:df6c49846367 | 102 | void init_sensor(); |
rizqicahyo | 3:43d4cb3ece1b | 103 | void linetracer(float speed); |
rizqicahyo | 3:43d4cb3ece1b | 104 | void flag_sensor(); |
rizqicahyo | 2:df6c49846367 | 105 | |
rizqicahyo | 4:7a7a8aa33fd5 | 106 | float read_jarak(); |
rizqicahyo | 4:7a7a8aa33fd5 | 107 | |
rizqicahyo | 0:edddd373a163 | 108 | /*********************************************************************************************/ |
rizqicahyo | 0:edddd373a163 | 109 | /*********************************************************************************************/ |
rizqicahyo | 0:edddd373a163 | 110 | /** PROGRAM UTAMA **/ |
rizqicahyo | 0:edddd373a163 | 111 | /*********************************************************************************************/ |
rizqicahyo | 0:edddd373a163 | 112 | /*********************************************************************************************/ |
rizqicahyo | 0:edddd373a163 | 113 | int main() { |
rizqicahyo | 0:edddd373a163 | 114 | //inisiasi serial |
rizqicahyo | 0:edddd373a163 | 115 | pc.baud(115200); |
rizqicahyo | 0:edddd373a163 | 116 | com.baud(115200); |
rizqicahyo | 0:edddd373a163 | 117 | |
rizqicahyo | 3:43d4cb3ece1b | 118 | if(field == 1) sudut = -85; |
rizqicahyo | 3:43d4cb3ece1b | 119 | else sudut = 85; |
rizqicahyo | 3:43d4cb3ece1b | 120 | |
rizqicahyo | 0:edddd373a163 | 121 | //inisiasi joystick |
rizqicahyo | 0:edddd373a163 | 122 | ps2.init(); |
rizqicahyo | 0:edddd373a163 | 123 | |
rizqicahyo | 0:edddd373a163 | 124 | //set inisiasi servo pada posisi 0 |
rizqicahyo | 0:edddd373a163 | 125 | servoEDF.position(sudut); |
rizqicahyo | 0:edddd373a163 | 126 | |
rizqicahyo | 0:edddd373a163 | 127 | //set edf pada posisi bukan kalibrasi, yaitu set edf 0 |
rizqicahyo | 0:edddd373a163 | 128 | edf.setThrottle(0); |
rizqicahyo | 0:edddd373a163 | 129 | edf.pulse(); |
rizqicahyo | 0:edddd373a163 | 130 | |
rizqicahyo | 3:43d4cb3ece1b | 131 | //inisisasi laser |
rizqicahyo | 3:43d4cb3ece1b | 132 | laser = 1; |
rizqicahyo | 3:43d4cb3ece1b | 133 | |
rizqicahyo | 0:edddd373a163 | 134 | //inisiasi pnuematik |
rizqicahyo | 0:edddd373a163 | 135 | pnuematik1 = 1; |
rizqicahyo | 0:edddd373a163 | 136 | pnuematik2 = 1; |
rizqicahyo | 4:7a7a8aa33fd5 | 137 | pnuematik3 = 1; |
rizqicahyo | 4:7a7a8aa33fd5 | 138 | pnuematik4 = 1; |
rizqicahyo | 0:edddd373a163 | 139 | |
rizqicahyo | 0:edddd373a163 | 140 | //inisisasi TIMER |
rizqicahyo | 3:43d4cb3ece1b | 141 | timer.attach(&flag_sensor,0.0005); |
rizqicahyo | 3:43d4cb3ece1b | 142 | timer.detach(); |
rizqicahyo | 0:edddd373a163 | 143 | |
rizqicahyo | 0:edddd373a163 | 144 | //kondisi robot |
rizqicahyo | 2:df6c49846367 | 145 | bool manual=true; |
rizqicahyo | 3:43d4cb3ece1b | 146 | bool pool= false; |
rizqicahyo | 4:7a7a8aa33fd5 | 147 | |
rizqicahyo | 4:7a7a8aa33fd5 | 148 | //running manual |
rizqicahyo | 0:edddd373a163 | 149 | while(manual){ |
rizqicahyo | 0:edddd373a163 | 150 | |
rizqicahyo | 0:edddd373a163 | 151 | ps2.poll(); |
rizqicahyo | 0:edddd373a163 | 152 | |
rizqicahyo | 3:43d4cb3ece1b | 153 | aktuator(field); |
rizqicahyo | 0:edddd373a163 | 154 | edf_servo(); |
rizqicahyo | 0:edddd373a163 | 155 | |
rizqicahyo | 4:7a7a8aa33fd5 | 156 | if(limit4==0) manual = false; |
rizqicahyo | 0:edddd373a163 | 157 | |
rizqicahyo | 0:edddd373a163 | 158 | } |
rizqicahyo | 0:edddd373a163 | 159 | |
rizqicahyo | 4:7a7a8aa33fd5 | 160 | //running otomatis |
rizqicahyo | 3:43d4cb3ece1b | 161 | timer.attach(&flag_sensor,0.0005); |
rizqicahyo | 3:43d4cb3ece1b | 162 | |
rizqicahyo | 3:43d4cb3ece1b | 163 | while(!pool){ |
rizqicahyo | 3:43d4cb3ece1b | 164 | init_sensor(); |
rizqicahyo | 3:43d4cb3ece1b | 165 | |
rizqicahyo | 4:7a7a8aa33fd5 | 166 | if(vcurr > 0.4) vcurr = (float) 0.4; |
rizqicahyo | 4:7a7a8aa33fd5 | 167 | //else if (vcurr < 0.2) vcurr = (float) 0.2; |
rizqicahyo | 3:43d4cb3ece1b | 168 | |
rizqicahyo | 3:43d4cb3ece1b | 169 | linetracer(vcurr); |
rizqicahyo | 3:43d4cb3ece1b | 170 | //laser = 1; |
rizqicahyo | 3:43d4cb3ece1b | 171 | |
rizqicahyo | 4:7a7a8aa33fd5 | 172 | if((limit3==0) || (read_jarak() <= 9.0)) pool=true; |
rizqicahyo | 3:43d4cb3ece1b | 173 | |
rizqicahyo | 4:7a7a8aa33fd5 | 174 | //if(read_jarak() <= 45.0) vcurr -= ax; |
rizqicahyo | 4:7a7a8aa33fd5 | 175 | //else vcurr += ax; |
rizqicahyo | 4:7a7a8aa33fd5 | 176 | vcurr += ax; |
rizqicahyo | 5:256f6eac0358 | 177 | |
rizqicahyo | 5:256f6eac0358 | 178 | for(int i=0; i<6; i++){ |
rizqicahyo | 5:256f6eac0358 | 179 | printf("%d ",datasensor[i]); |
rizqicahyo | 5:256f6eac0358 | 180 | } |
rizqicahyo | 5:256f6eac0358 | 181 | printf("%d \n",g_flag); |
rizqicahyo | 5:256f6eac0358 | 182 | |
rizqicahyo | 3:43d4cb3ece1b | 183 | } |
rizqicahyo | 5:256f6eac0358 | 184 | motor1.brake(0); |
rizqicahyo | 5:256f6eac0358 | 185 | motor2.brake(0); |
rizqicahyo | 5:256f6eac0358 | 186 | motor3.brake(0); |
rizqicahyo | 5:256f6eac0358 | 187 | motor4.brake(0); |
rizqicahyo | 0:edddd373a163 | 188 | |
rizqicahyo | 3:43d4cb3ece1b | 189 | timer.detach(); |
rizqicahyo | 3:43d4cb3ece1b | 190 | |
rizqicahyo | 0:edddd373a163 | 191 | pnuematik1=0; |
rizqicahyo | 0:edddd373a163 | 192 | wait_ms(1500); |
rizqicahyo | 4:7a7a8aa33fd5 | 193 | |
rizqicahyo | 0:edddd373a163 | 194 | while(limit4!=0){ |
rizqicahyo | 4:7a7a8aa33fd5 | 195 | motorC1.speed(0.95); |
rizqicahyo | 0:edddd373a163 | 196 | motorC2.speed(-1); |
rizqicahyo | 0:edddd373a163 | 197 | } |
rizqicahyo | 0:edddd373a163 | 198 | |
rizqicahyo | 0:edddd373a163 | 199 | motorC1.brake(1); |
rizqicahyo | 0:edddd373a163 | 200 | motorC2.brake(1); |
rizqicahyo | 0:edddd373a163 | 201 | |
rizqicahyo | 3:43d4cb3ece1b | 202 | if(field==1){ |
rizqicahyo | 3:43d4cb3ece1b | 203 | pnuematik3 = 0; |
rizqicahyo | 3:43d4cb3ece1b | 204 | wait_ms(1500); |
rizqicahyo | 3:43d4cb3ece1b | 205 | pnuematik2 = 1; |
rizqicahyo | 3:43d4cb3ece1b | 206 | wait_ms(500); |
rizqicahyo | 3:43d4cb3ece1b | 207 | pnuematik3 = 1; |
rizqicahyo | 3:43d4cb3ece1b | 208 | } |
rizqicahyo | 3:43d4cb3ece1b | 209 | else{ |
rizqicahyo | 3:43d4cb3ece1b | 210 | pnuematik4 = 0; |
rizqicahyo | 3:43d4cb3ece1b | 211 | wait_ms(1500); |
rizqicahyo | 3:43d4cb3ece1b | 212 | pnuematik2 = 1; |
rizqicahyo | 3:43d4cb3ece1b | 213 | wait_ms(500); |
rizqicahyo | 3:43d4cb3ece1b | 214 | pnuematik4 = 1; |
rizqicahyo | 3:43d4cb3ece1b | 215 | } |
rizqicahyo | 0:edddd373a163 | 216 | |
rizqicahyo | 0:edddd373a163 | 217 | return 0; |
rizqicahyo | 0:edddd373a163 | 218 | } |
rizqicahyo | 0:edddd373a163 | 219 | |
rizqicahyo | 0:edddd373a163 | 220 | /*********************************************************************************************/ |
rizqicahyo | 0:edddd373a163 | 221 | /** ALGORITMA PROSEDUR DAN FUNGSI **/ |
rizqicahyo | 0:edddd373a163 | 222 | /*********************************************************************************************/ |
rizqicahyo | 3:43d4cb3ece1b | 223 | void aktuator(int f){ |
rizqicahyo | 2:df6c49846367 | 224 | float speed = vcurr; |
rizqicahyo | 2:df6c49846367 | 225 | |
rizqicahyo | 2:df6c49846367 | 226 | if(vcurr >= gMax_speed) vcurr = gMax_speed; |
Najib_irvani | 1:fc1535231c0d | 227 | |
rizqicahyo | 3:43d4cb3ece1b | 228 | if(f == 1){ |
rizqicahyo | 0:edddd373a163 | 229 | if((ps2.read(PS_PAD::PAD_L1)==1) && (ps2.read(PS_PAD::PAD_R1)==0)){ |
rizqicahyo | 0:edddd373a163 | 230 | //pivot kiri |
rizqicahyo | 3:43d4cb3ece1b | 231 | motor2.speed((float)0.5*(speed-tuning2)); |
rizqicahyo | 3:43d4cb3ece1b | 232 | motor4.speed((float)-0.5*(speed-tuning4)); |
rizqicahyo | 3:43d4cb3ece1b | 233 | motor1.speed((float)0.5*(speed-tuning1)); |
rizqicahyo | 3:43d4cb3ece1b | 234 | motor3.speed((float)-0.5*(speed-tuning3)); |
rizqicahyo | 0:edddd373a163 | 235 | pc.printf("pivot kiri \n"); |
rizqicahyo | 0:edddd373a163 | 236 | |
rizqicahyo | 2:df6c49846367 | 237 | vcurr += ax; |
rizqicahyo | 0:edddd373a163 | 238 | } |
rizqicahyo | 0:edddd373a163 | 239 | else if((ps2.read(PS_PAD::PAD_R1)==1) && (ps2.read(PS_PAD::PAD_L1)==0)){ |
rizqicahyo | 0:edddd373a163 | 240 | //pivot kanan |
rizqicahyo | 3:43d4cb3ece1b | 241 | motor2.speed((float)-0.5*(speed-tuning2)); |
rizqicahyo | 3:43d4cb3ece1b | 242 | motor4.speed((float)0.5*(speed-tuning4)); |
rizqicahyo | 3:43d4cb3ece1b | 243 | motor1.speed((float)-0.5*(speed-tuning1)); |
rizqicahyo | 3:43d4cb3ece1b | 244 | motor3.speed((float)0.5*(speed-tuning3)); |
rizqicahyo | 0:edddd373a163 | 245 | pc.printf("pivot kanan \n"); |
rizqicahyo | 0:edddd373a163 | 246 | |
rizqicahyo | 2:df6c49846367 | 247 | vcurr += ax; |
rizqicahyo | 0:edddd373a163 | 248 | } |
rizqicahyo | 0:edddd373a163 | 249 | else if((ps2.read(PS_PAD::PAD_RIGHT)==1) && (ps2.read(PS_PAD::PAD_TOP)==1)){ |
rizqicahyo | 0:edddd373a163 | 250 | //serong atas kanan |
Najib_irvani | 1:fc1535231c0d | 251 | motor2.speed(speed-tuning2); |
rizqicahyo | 0:edddd373a163 | 252 | motor4.brake(1); |
rizqicahyo | 0:edddd373a163 | 253 | motor1.brake(1); |
Najib_irvani | 1:fc1535231c0d | 254 | motor3.speed(speed-tuning3); |
rizqicahyo | 0:edddd373a163 | 255 | pc.printf("serong atas kanan \n"); |
rizqicahyo | 0:edddd373a163 | 256 | |
rizqicahyo | 2:df6c49846367 | 257 | vcurr += ax; |
rizqicahyo | 0:edddd373a163 | 258 | } |
rizqicahyo | 0:edddd373a163 | 259 | else if((ps2.read(PS_PAD::PAD_TOP)==1) && (ps2.read(PS_PAD::PAD_LEFT)==1)){ |
rizqicahyo | 0:edddd373a163 | 260 | //serong atas kiri |
rizqicahyo | 0:edddd373a163 | 261 | motor2.brake(1); |
Najib_irvani | 1:fc1535231c0d | 262 | motor4.speed(-(speed-tuning4)); |
Najib_irvani | 1:fc1535231c0d | 263 | motor1.speed(-(speed-tuning1)); |
rizqicahyo | 0:edddd373a163 | 264 | motor3.brake(1); |
rizqicahyo | 0:edddd373a163 | 265 | pc.printf("serong atas kiri \n"); |
rizqicahyo | 0:edddd373a163 | 266 | |
rizqicahyo | 2:df6c49846367 | 267 | vcurr += ax; |
rizqicahyo | 0:edddd373a163 | 268 | } |
rizqicahyo | 0:edddd373a163 | 269 | else if((ps2.read(PS_PAD::PAD_LEFT)==1) && (ps2.read(PS_PAD::PAD_BOTTOM)==1)){ |
rizqicahyo | 0:edddd373a163 | 270 | //serong bawah kiri |
Najib_irvani | 1:fc1535231c0d | 271 | motor2.speed(-(speed-tuning2)); |
rizqicahyo | 0:edddd373a163 | 272 | motor4.brake(1); |
rizqicahyo | 0:edddd373a163 | 273 | motor1.brake(1); |
Najib_irvani | 1:fc1535231c0d | 274 | motor3.speed(-(speed-tuning3)); |
rizqicahyo | 0:edddd373a163 | 275 | pc.printf("serong bawah kiri \n"); |
rizqicahyo | 0:edddd373a163 | 276 | |
rizqicahyo | 2:df6c49846367 | 277 | vcurr += ax; |
rizqicahyo | 0:edddd373a163 | 278 | } |
rizqicahyo | 0:edddd373a163 | 279 | else if((ps2.read(PS_PAD::PAD_BOTTOM)==1) && (ps2.read(PS_PAD::PAD_RIGHT)==1)){ |
rizqicahyo | 0:edddd373a163 | 280 | //serong bawah kanan |
rizqicahyo | 0:edddd373a163 | 281 | motor2.brake(1); |
Najib_irvani | 1:fc1535231c0d | 282 | motor4.speed(speed-tuning4); |
Najib_irvani | 1:fc1535231c0d | 283 | motor1.speed(speed-tuning1); |
rizqicahyo | 0:edddd373a163 | 284 | motor3.brake(1); |
rizqicahyo | 0:edddd373a163 | 285 | pc.printf("serong bawah kanan \n"); |
rizqicahyo | 0:edddd373a163 | 286 | |
rizqicahyo | 2:df6c49846367 | 287 | vcurr += ax; |
rizqicahyo | 0:edddd373a163 | 288 | } |
rizqicahyo | 0:edddd373a163 | 289 | else if((ps2.read(PS_PAD::PAD_TOP)==1) && (ps2.read(PS_PAD::PAD_BOTTOM)==0)){ |
rizqicahyo | 0:edddd373a163 | 290 | //maju |
Najib_irvani | 1:fc1535231c0d | 291 | motor1.speed(-(speed-tuning1)); |
Najib_irvani | 1:fc1535231c0d | 292 | motor3.speed(speed-tuning3); |
Najib_irvani | 1:fc1535231c0d | 293 | motor2.speed(speed-tuning2); |
Najib_irvani | 1:fc1535231c0d | 294 | motor4.speed(-(speed-tuning4)); |
rizqicahyo | 0:edddd373a163 | 295 | pc.printf("maju \n"); |
rizqicahyo | 0:edddd373a163 | 296 | |
rizqicahyo | 2:df6c49846367 | 297 | vcurr += ax; |
rizqicahyo | 0:edddd373a163 | 298 | } |
rizqicahyo | 0:edddd373a163 | 299 | else if((ps2.read(PS_PAD::PAD_BOTTOM)==1) && (ps2.read(PS_PAD::PAD_TOP)==0)){ |
rizqicahyo | 0:edddd373a163 | 300 | //mundur |
Najib_irvani | 1:fc1535231c0d | 301 | motor1.speed(speed-tuning1); |
Najib_irvani | 1:fc1535231c0d | 302 | motor3.speed(-(speed-tuning3)); |
Najib_irvani | 1:fc1535231c0d | 303 | motor2.speed(-(speed-tuning2)); |
Najib_irvani | 1:fc1535231c0d | 304 | motor4.speed(speed-tuning4); |
rizqicahyo | 0:edddd373a163 | 305 | pc.printf("mundur \n"); |
rizqicahyo | 0:edddd373a163 | 306 | |
rizqicahyo | 2:df6c49846367 | 307 | vcurr += ax; |
rizqicahyo | 0:edddd373a163 | 308 | } |
rizqicahyo | 0:edddd373a163 | 309 | else if((ps2.read(PS_PAD::PAD_RIGHT)==1) && (ps2.read(PS_PAD::PAD_LEFT)==0)){ |
rizqicahyo | 0:edddd373a163 | 310 | //kanan |
Najib_irvani | 1:fc1535231c0d | 311 | motor2.speed(speed-tuning2); |
Najib_irvani | 1:fc1535231c0d | 312 | motor4.speed(speed-tuning4); |
Najib_irvani | 1:fc1535231c0d | 313 | motor1.speed(speed-tuning1); |
Najib_irvani | 1:fc1535231c0d | 314 | motor3.speed(speed-tuning3); |
rizqicahyo | 0:edddd373a163 | 315 | pc.printf("kanan \n"); |
rizqicahyo | 0:edddd373a163 | 316 | |
rizqicahyo | 2:df6c49846367 | 317 | vcurr += ax; |
rizqicahyo | 0:edddd373a163 | 318 | } |
rizqicahyo | 0:edddd373a163 | 319 | else if((ps2.read(PS_PAD::PAD_RIGHT)==0) && (ps2.read(PS_PAD::PAD_LEFT)==1)){ |
rizqicahyo | 0:edddd373a163 | 320 | //kiri |
Najib_irvani | 1:fc1535231c0d | 321 | motor2.speed(-(speed-tuning2)); |
Najib_irvani | 1:fc1535231c0d | 322 | motor4.speed(-(speed-tuning4)); |
Najib_irvani | 1:fc1535231c0d | 323 | motor1.speed(-(speed-tuning1)); |
Najib_irvani | 1:fc1535231c0d | 324 | motor3.speed(-(speed-tuning3)); |
rizqicahyo | 0:edddd373a163 | 325 | pc.printf("kiri \n"); |
rizqicahyo | 0:edddd373a163 | 326 | |
rizqicahyo | 2:df6c49846367 | 327 | vcurr += ax; |
rizqicahyo | 0:edddd373a163 | 328 | } |
rizqicahyo | 0:edddd373a163 | 329 | else{ |
rizqicahyo | 0:edddd373a163 | 330 | motor1.brake(1); |
rizqicahyo | 0:edddd373a163 | 331 | motor3.brake(1); |
rizqicahyo | 0:edddd373a163 | 332 | motor2.brake(1); |
rizqicahyo | 0:edddd373a163 | 333 | motor4.brake(1); |
rizqicahyo | 0:edddd373a163 | 334 | pc.printf("diam \n"); |
rizqicahyo | 0:edddd373a163 | 335 | |
rizqicahyo | 2:df6c49846367 | 336 | vcurr = v0; |
rizqicahyo | 0:edddd373a163 | 337 | } |
rizqicahyo | 3:43d4cb3ece1b | 338 | } |
rizqicahyo | 3:43d4cb3ece1b | 339 | else{ |
rizqicahyo | 3:43d4cb3ece1b | 340 | if((ps2.read(PS_PAD::PAD_L1)==1) && (ps2.read(PS_PAD::PAD_R1)==0)){ |
rizqicahyo | 3:43d4cb3ece1b | 341 | //pivot kiri |
rizqicahyo | 3:43d4cb3ece1b | 342 | motor2.speed((float)0.5*(speed-tuning2)); |
rizqicahyo | 3:43d4cb3ece1b | 343 | motor4.speed((float)-0.5*(speed-tuning4)); |
rizqicahyo | 3:43d4cb3ece1b | 344 | motor1.speed((float)0.5*(speed-tuning1)); |
rizqicahyo | 3:43d4cb3ece1b | 345 | motor3.speed((float)-0.5*(speed-tuning3)); |
rizqicahyo | 3:43d4cb3ece1b | 346 | pc.printf("pivot kiri \n"); |
rizqicahyo | 3:43d4cb3ece1b | 347 | |
rizqicahyo | 3:43d4cb3ece1b | 348 | vcurr += ax; |
rizqicahyo | 3:43d4cb3ece1b | 349 | } |
rizqicahyo | 3:43d4cb3ece1b | 350 | else if((ps2.read(PS_PAD::PAD_R1)==1) && (ps2.read(PS_PAD::PAD_L1)==0)){ |
rizqicahyo | 3:43d4cb3ece1b | 351 | //pivot kanan |
rizqicahyo | 3:43d4cb3ece1b | 352 | motor2.speed((float)-0.5*(speed-tuning2)); |
rizqicahyo | 3:43d4cb3ece1b | 353 | motor4.speed((float)0.5*(speed-tuning4)); |
rizqicahyo | 3:43d4cb3ece1b | 354 | motor1.speed((float)-0.5*(speed-tuning1)); |
rizqicahyo | 3:43d4cb3ece1b | 355 | motor3.speed((float)0.5*(speed-tuning3)); |
rizqicahyo | 3:43d4cb3ece1b | 356 | pc.printf("pivot kanan \n"); |
rizqicahyo | 2:df6c49846367 | 357 | |
rizqicahyo | 3:43d4cb3ece1b | 358 | vcurr += ax; |
rizqicahyo | 3:43d4cb3ece1b | 359 | } |
rizqicahyo | 3:43d4cb3ece1b | 360 | else if((ps2.read(PS_PAD::PAD_RIGHT)==1) && (ps2.read(PS_PAD::PAD_TOP)==1)){ |
rizqicahyo | 3:43d4cb3ece1b | 361 | //serong atas kanan |
rizqicahyo | 3:43d4cb3ece1b | 362 | motor2.speed(-(speed-tuning2)); |
rizqicahyo | 3:43d4cb3ece1b | 363 | motor4.brake(1); |
rizqicahyo | 3:43d4cb3ece1b | 364 | motor1.brake(1); |
rizqicahyo | 3:43d4cb3ece1b | 365 | motor3.speed(-(speed-tuning3)); |
rizqicahyo | 3:43d4cb3ece1b | 366 | pc.printf("serong atas kanan \n"); |
rizqicahyo | 2:df6c49846367 | 367 | |
rizqicahyo | 3:43d4cb3ece1b | 368 | vcurr += ax; |
rizqicahyo | 3:43d4cb3ece1b | 369 | } |
rizqicahyo | 3:43d4cb3ece1b | 370 | else if((ps2.read(PS_PAD::PAD_TOP)==1) && (ps2.read(PS_PAD::PAD_LEFT)==1)){ |
rizqicahyo | 3:43d4cb3ece1b | 371 | //serong atas kiri |
rizqicahyo | 3:43d4cb3ece1b | 372 | motor2.brake(1); |
rizqicahyo | 3:43d4cb3ece1b | 373 | motor4.speed(speed-tuning4); |
rizqicahyo | 3:43d4cb3ece1b | 374 | motor1.speed(speed-tuning1); |
rizqicahyo | 3:43d4cb3ece1b | 375 | motor3.brake(1); |
rizqicahyo | 3:43d4cb3ece1b | 376 | pc.printf("serong atas kiri \n"); |
rizqicahyo | 3:43d4cb3ece1b | 377 | |
rizqicahyo | 3:43d4cb3ece1b | 378 | vcurr += ax; |
rizqicahyo | 3:43d4cb3ece1b | 379 | } |
rizqicahyo | 3:43d4cb3ece1b | 380 | else if((ps2.read(PS_PAD::PAD_LEFT)==1) && (ps2.read(PS_PAD::PAD_BOTTOM)==1)){ |
rizqicahyo | 3:43d4cb3ece1b | 381 | //serong bawah kiri |
rizqicahyo | 3:43d4cb3ece1b | 382 | motor2.speed(speed-tuning2); |
rizqicahyo | 3:43d4cb3ece1b | 383 | motor4.brake(1); |
rizqicahyo | 3:43d4cb3ece1b | 384 | motor1.brake(1); |
rizqicahyo | 3:43d4cb3ece1b | 385 | motor3.speed(speed-tuning3); |
rizqicahyo | 3:43d4cb3ece1b | 386 | pc.printf("serong bawah kiri \n"); |
rizqicahyo | 2:df6c49846367 | 387 | |
rizqicahyo | 3:43d4cb3ece1b | 388 | vcurr += ax; |
rizqicahyo | 0:edddd373a163 | 389 | } |
rizqicahyo | 3:43d4cb3ece1b | 390 | else if((ps2.read(PS_PAD::PAD_BOTTOM)==1) && (ps2.read(PS_PAD::PAD_RIGHT)==1)){ |
rizqicahyo | 3:43d4cb3ece1b | 391 | //serong bawah kanan |
rizqicahyo | 3:43d4cb3ece1b | 392 | motor2.brake(1); |
rizqicahyo | 3:43d4cb3ece1b | 393 | motor4.speed(-(speed-tuning4)); |
rizqicahyo | 3:43d4cb3ece1b | 394 | motor1.speed(-(speed-tuning1)); |
rizqicahyo | 3:43d4cb3ece1b | 395 | motor3.brake(1); |
rizqicahyo | 3:43d4cb3ece1b | 396 | pc.printf("serong bawah kanan \n"); |
rizqicahyo | 3:43d4cb3ece1b | 397 | |
rizqicahyo | 3:43d4cb3ece1b | 398 | vcurr += ax; |
rizqicahyo | 3:43d4cb3ece1b | 399 | } |
rizqicahyo | 3:43d4cb3ece1b | 400 | else if((ps2.read(PS_PAD::PAD_TOP)==1) && (ps2.read(PS_PAD::PAD_BOTTOM)==0)){ |
rizqicahyo | 3:43d4cb3ece1b | 401 | //maju |
rizqicahyo | 3:43d4cb3ece1b | 402 | motor1.speed(speed-tuning1); |
rizqicahyo | 3:43d4cb3ece1b | 403 | motor3.speed(-(speed-tuning3)); |
rizqicahyo | 3:43d4cb3ece1b | 404 | motor2.speed(-(speed-tuning2)); |
rizqicahyo | 3:43d4cb3ece1b | 405 | motor4.speed(speed-tuning4); |
rizqicahyo | 3:43d4cb3ece1b | 406 | pc.printf("maju \n"); |
rizqicahyo | 2:df6c49846367 | 407 | |
rizqicahyo | 3:43d4cb3ece1b | 408 | vcurr += ax; |
rizqicahyo | 3:43d4cb3ece1b | 409 | } |
rizqicahyo | 3:43d4cb3ece1b | 410 | else if((ps2.read(PS_PAD::PAD_BOTTOM)==1) && (ps2.read(PS_PAD::PAD_TOP)==0)){ |
rizqicahyo | 3:43d4cb3ece1b | 411 | //mundur |
rizqicahyo | 3:43d4cb3ece1b | 412 | motor1.speed(-(speed-tuning1)); |
rizqicahyo | 3:43d4cb3ece1b | 413 | motor3.speed(speed-tuning3); |
rizqicahyo | 3:43d4cb3ece1b | 414 | motor2.speed(speed-tuning2); |
rizqicahyo | 3:43d4cb3ece1b | 415 | motor4.speed(-(speed-tuning4)); |
rizqicahyo | 3:43d4cb3ece1b | 416 | pc.printf("mundur \n"); |
rizqicahyo | 2:df6c49846367 | 417 | |
rizqicahyo | 3:43d4cb3ece1b | 418 | vcurr += ax; |
rizqicahyo | 3:43d4cb3ece1b | 419 | } |
rizqicahyo | 3:43d4cb3ece1b | 420 | else if((ps2.read(PS_PAD::PAD_RIGHT)==1) && (ps2.read(PS_PAD::PAD_LEFT)==0)){ |
rizqicahyo | 3:43d4cb3ece1b | 421 | //kanan |
rizqicahyo | 3:43d4cb3ece1b | 422 | motor2.speed(-(speed-tuning2)); |
rizqicahyo | 3:43d4cb3ece1b | 423 | motor4.speed(-(speed-tuning4)); |
rizqicahyo | 3:43d4cb3ece1b | 424 | motor1.speed(-(speed-tuning1)); |
rizqicahyo | 3:43d4cb3ece1b | 425 | motor3.speed(-(speed-tuning3)); |
rizqicahyo | 3:43d4cb3ece1b | 426 | pc.printf("kanan \n"); |
rizqicahyo | 3:43d4cb3ece1b | 427 | |
rizqicahyo | 3:43d4cb3ece1b | 428 | vcurr += ax; |
rizqicahyo | 3:43d4cb3ece1b | 429 | } |
rizqicahyo | 3:43d4cb3ece1b | 430 | else if((ps2.read(PS_PAD::PAD_RIGHT)==0) && (ps2.read(PS_PAD::PAD_LEFT)==1)){ |
rizqicahyo | 3:43d4cb3ece1b | 431 | //kiri |
rizqicahyo | 3:43d4cb3ece1b | 432 | motor2.speed(speed-tuning2); |
rizqicahyo | 3:43d4cb3ece1b | 433 | motor4.speed(speed-tuning4); |
rizqicahyo | 3:43d4cb3ece1b | 434 | motor1.speed(speed-tuning1); |
rizqicahyo | 3:43d4cb3ece1b | 435 | motor3.speed(speed-tuning3); |
rizqicahyo | 3:43d4cb3ece1b | 436 | pc.printf("kiri \n"); |
rizqicahyo | 3:43d4cb3ece1b | 437 | |
rizqicahyo | 3:43d4cb3ece1b | 438 | vcurr += ax; |
rizqicahyo | 0:edddd373a163 | 439 | } |
rizqicahyo | 0:edddd373a163 | 440 | else{ |
rizqicahyo | 3:43d4cb3ece1b | 441 | motor1.brake(1); |
rizqicahyo | 3:43d4cb3ece1b | 442 | motor3.brake(1); |
rizqicahyo | 3:43d4cb3ece1b | 443 | motor2.brake(1); |
rizqicahyo | 3:43d4cb3ece1b | 444 | motor4.brake(1); |
rizqicahyo | 3:43d4cb3ece1b | 445 | pc.printf("diam \n"); |
rizqicahyo | 0:edddd373a163 | 446 | |
rizqicahyo | 3:43d4cb3ece1b | 447 | vcurr = v0; |
rizqicahyo | 3:43d4cb3ece1b | 448 | } |
rizqicahyo | 3:43d4cb3ece1b | 449 | |
rizqicahyo | 3:43d4cb3ece1b | 450 | } |
rizqicahyo | 3:43d4cb3ece1b | 451 | |
rizqicahyo | 3:43d4cb3ece1b | 452 | if((ps2.read(PS_PAD::PAD_CIRCLE)==0) && (ps2.read(PS_PAD::PAD_TRIANGLE)==1)){ |
rizqicahyo | 3:43d4cb3ece1b | 453 | //POWER WINDOW ATAS |
rizqicahyo | 3:43d4cb3ece1b | 454 | motorS.speed(1); |
rizqicahyo | 3:43d4cb3ece1b | 455 | if (limit1 == 0){ |
rizqicahyo | 3:43d4cb3ece1b | 456 | motorS.brake(1); |
rizqicahyo | 3:43d4cb3ece1b | 457 | } |
rizqicahyo | 3:43d4cb3ece1b | 458 | |
rizqicahyo | 3:43d4cb3ece1b | 459 | |
rizqicahyo | 3:43d4cb3ece1b | 460 | pc.printf("up \n"); |
rizqicahyo | 3:43d4cb3ece1b | 461 | c++; |
rizqicahyo | 3:43d4cb3ece1b | 462 | } |
rizqicahyo | 3:43d4cb3ece1b | 463 | else if((ps2.read(PS_PAD::PAD_CIRCLE)==1) && (ps2.read(PS_PAD::PAD_TRIANGLE)==0)){ |
rizqicahyo | 3:43d4cb3ece1b | 464 | //POWER WINDOW BAWAH |
rizqicahyo | 3:43d4cb3ece1b | 465 | motorS.speed(-0.5); |
rizqicahyo | 3:43d4cb3ece1b | 466 | |
rizqicahyo | 3:43d4cb3ece1b | 467 | if (limit2 ==0){ |
rizqicahyo | 2:df6c49846367 | 468 | motorS.brake(1); |
rizqicahyo | 2:df6c49846367 | 469 | } |
rizqicahyo | 3:43d4cb3ece1b | 470 | |
rizqicahyo | 3:43d4cb3ece1b | 471 | pc.printf("down \n"); |
rizqicahyo | 3:43d4cb3ece1b | 472 | c--; |
rizqicahyo | 3:43d4cb3ece1b | 473 | } |
rizqicahyo | 3:43d4cb3ece1b | 474 | else{ |
rizqicahyo | 3:43d4cb3ece1b | 475 | motorS.brake(1); |
rizqicahyo | 3:43d4cb3ece1b | 476 | if ((c <= batas_delay) && (c>=-batas_delay)){ |
rizqicahyo | 3:43d4cb3ece1b | 477 | c=0; |
rizqicahyo | 2:df6c49846367 | 478 | } |
rizqicahyo | 3:43d4cb3ece1b | 479 | |
rizqicahyo | 3:43d4cb3ece1b | 480 | pc.printf("diam \n"); |
rizqicahyo | 3:43d4cb3ece1b | 481 | } |
rizqicahyo | 3:43d4cb3ece1b | 482 | |
rizqicahyo | 3:43d4cb3ece1b | 483 | if((c > batas_delay) && (limit1 == 0)){ |
rizqicahyo | 3:43d4cb3ece1b | 484 | c = 0; |
rizqicahyo | 3:43d4cb3ece1b | 485 | motorS.brake(1); |
rizqicahyo | 3:43d4cb3ece1b | 486 | } |
rizqicahyo | 3:43d4cb3ece1b | 487 | else if((c < -batas_delay) && (limit2 == 0)){ |
rizqicahyo | 3:43d4cb3ece1b | 488 | c = 0; |
rizqicahyo | 3:43d4cb3ece1b | 489 | motorS.brake(1); |
rizqicahyo | 3:43d4cb3ece1b | 490 | } |
rizqicahyo | 3:43d4cb3ece1b | 491 | else if( (c > batas_delay) && (limit1 != 0)){ |
rizqicahyo | 3:43d4cb3ece1b | 492 | motorS.speed(1); |
rizqicahyo | 3:43d4cb3ece1b | 493 | } |
rizqicahyo | 3:43d4cb3ece1b | 494 | else if ((c<-batas_delay) && (limit2 != 0)){ |
rizqicahyo | 3:43d4cb3ece1b | 495 | motorS.speed(-0.7); |
rizqicahyo | 3:43d4cb3ece1b | 496 | } |
rizqicahyo | 2:df6c49846367 | 497 | |
rizqicahyo | 0:edddd373a163 | 498 | |
rizqicahyo | 3:43d4cb3ece1b | 499 | if ((ps2.read(PS_PAD::PAD_SELECT)==1)) |
rizqicahyo | 3:43d4cb3ece1b | 500 | { |
rizqicahyo | 0:edddd373a163 | 501 | //mekanisme ambil gripper |
rizqicahyo | 0:edddd373a163 | 502 | pc.printf("mekanisme gripper"); |
rizqicahyo | 0:edddd373a163 | 503 | if (g==1){ |
rizqicahyo | 0:edddd373a163 | 504 | pc.printf("ambil 1"); |
rizqicahyo | 0:edddd373a163 | 505 | pnuematik2 = 0; |
rizqicahyo | 0:edddd373a163 | 506 | g=2; |
rizqicahyo | 0:edddd373a163 | 507 | wait_ms(400); |
rizqicahyo | 0:edddd373a163 | 508 | } |
rizqicahyo | 0:edddd373a163 | 509 | else |
rizqicahyo | 0:edddd373a163 | 510 | { |
rizqicahyo | 0:edddd373a163 | 511 | pnuematik2 = 1; |
rizqicahyo | 0:edddd373a163 | 512 | wait_ms(400); |
rizqicahyo | 0:edddd373a163 | 513 | g=1; |
rizqicahyo | 0:edddd373a163 | 514 | } |
rizqicahyo | 3:43d4cb3ece1b | 515 | } |
rizqicahyo | 0:edddd373a163 | 516 | } |
rizqicahyo | 0:edddd373a163 | 517 | |
rizqicahyo | 0:edddd373a163 | 518 | void edf_servo(){ |
rizqicahyo | 0:edddd373a163 | 519 | if(ps2.read(PS_PAD::PAD_X)==1){ |
rizqicahyo | 0:edddd373a163 | 520 | //PWM ++ |
rizqicahyo | 2:df6c49846367 | 521 | pwm += 0.0007; |
rizqicahyo | 4:7a7a8aa33fd5 | 522 | if( pwm > 0.8) pwm = 0.8; |
rizqicahyo | 0:edddd373a163 | 523 | pc.printf("gaspol \n"); |
rizqicahyo | 0:edddd373a163 | 524 | } |
rizqicahyo | 0:edddd373a163 | 525 | else if(ps2.read(PS_PAD::PAD_SQUARE)==1){ |
rizqicahyo | 0:edddd373a163 | 526 | //PWM-- |
rizqicahyo | 2:df6c49846367 | 527 | pwm -= 0.0007; |
rizqicahyo | 0:edddd373a163 | 528 | |
rizqicahyo | 0:edddd373a163 | 529 | if(pwm < 0) pwm = 0.0; |
rizqicahyo | 0:edddd373a163 | 530 | pc.printf("rem ndeng \n"); |
rizqicahyo | 0:edddd373a163 | 531 | } |
rizqicahyo | 0:edddd373a163 | 532 | |
rizqicahyo | 0:edddd373a163 | 533 | if(ps2.read(PS_PAD::PAD_R2)==1){ |
rizqicahyo | 0:edddd373a163 | 534 | //SERVO -- |
rizqicahyo | 0:edddd373a163 | 535 | sudut += 0.5; |
rizqicahyo | 0:edddd373a163 | 536 | |
rizqicahyo | 0:edddd373a163 | 537 | if(sudut > 90) sudut = 90; |
rizqicahyo | 0:edddd373a163 | 538 | pc.printf("servo max \n"); |
rizqicahyo | 0:edddd373a163 | 539 | } |
rizqicahyo | 0:edddd373a163 | 540 | else if(ps2.read(PS_PAD::PAD_L2)==1){ |
rizqicahyo | 0:edddd373a163 | 541 | //SERVO ++ |
rizqicahyo | 0:edddd373a163 | 542 | sudut -= 0.5; |
rizqicahyo | 0:edddd373a163 | 543 | |
rizqicahyo | 0:edddd373a163 | 544 | if(sudut < -90) sudut = -90; |
rizqicahyo | 0:edddd373a163 | 545 | pc.printf("servo min \n"); |
rizqicahyo | 0:edddd373a163 | 546 | } |
rizqicahyo | 0:edddd373a163 | 547 | |
rizqicahyo | 0:edddd373a163 | 548 | if(ps2.read(PS_PAD::PAD_START)==1){ |
rizqicahyo | 0:edddd373a163 | 549 | |
rizqicahyo | 0:edddd373a163 | 550 | sudut = 0; |
rizqicahyo | 3:43d4cb3ece1b | 551 | pwm = 0.22; |
rizqicahyo | 0:edddd373a163 | 552 | } |
rizqicahyo | 3:43d4cb3ece1b | 553 | |
rizqicahyo | 3:43d4cb3ece1b | 554 | |
rizqicahyo | 0:edddd373a163 | 555 | servoEDF.position((float)sudut); |
rizqicahyo | 0:edddd373a163 | 556 | edf.setThrottle((float)pwm); |
rizqicahyo | 0:edddd373a163 | 557 | edf.pulse(); |
rizqicahyo | 2:df6c49846367 | 558 | } |
rizqicahyo | 2:df6c49846367 | 559 | |
rizqicahyo | 4:7a7a8aa33fd5 | 560 | /////////////////////////////////////////LINE FOLLOWER///////////////////////// |
rizqicahyo | 3:43d4cb3ece1b | 561 | |
rizqicahyo | 2:df6c49846367 | 562 | void init_sensor(){ |
rizqicahyo | 2:df6c49846367 | 563 | char data; |
rizqicahyo | 2:df6c49846367 | 564 | if(com.readable()){ |
rizqicahyo | 2:df6c49846367 | 565 | data = com.getc(); |
rizqicahyo | 2:df6c49846367 | 566 | |
rizqicahyo | 2:df6c49846367 | 567 | for(int i=0; i<6; i++){ |
rizqicahyo | 2:df6c49846367 | 568 | datasensor[i] = (data >> i) & 1; |
rizqicahyo | 2:df6c49846367 | 569 | } |
rizqicahyo | 2:df6c49846367 | 570 | } |
rizqicahyo | 2:df6c49846367 | 571 | } |
rizqicahyo | 2:df6c49846367 | 572 | |
rizqicahyo | 3:43d4cb3ece1b | 573 | void linetracer(float speed){ |
rizqicahyo | 2:df6c49846367 | 574 | float speed1,speed2,speed3,speed4; |
rizqicahyo | 3:43d4cb3ece1b | 575 | |
rizqicahyo | 2:df6c49846367 | 576 | //////////////////logic dari PV (present Value)///////////////////////// |
rizqicahyo | 3:43d4cb3ece1b | 577 | if(datasensor[2] && datasensor[3]){ |
rizqicahyo | 3:43d4cb3ece1b | 578 | speed1 = speed*driver0; |
rizqicahyo | 3:43d4cb3ece1b | 579 | speed2 = speed*driver0; |
rizqicahyo | 3:43d4cb3ece1b | 580 | speed3 = speed*driver0; |
rizqicahyo | 3:43d4cb3ece1b | 581 | speed4 = speed*driver0; |
rizqicahyo | 2:df6c49846367 | 582 | } |
rizqicahyo | 3:43d4cb3ece1b | 583 | else if(datasensor[2]){ |
rizqicahyo | 3:43d4cb3ece1b | 584 | speed1 = speed*driver1; |
rizqicahyo | 3:43d4cb3ece1b | 585 | speed2 = speed*driver0; |
rizqicahyo | 3:43d4cb3ece1b | 586 | speed3 = speed*driver0; |
rizqicahyo | 3:43d4cb3ece1b | 587 | speed4 = speed*driver1; |
rizqicahyo | 2:df6c49846367 | 588 | } |
rizqicahyo | 3:43d4cb3ece1b | 589 | else if(datasensor[3]){ |
rizqicahyo | 3:43d4cb3ece1b | 590 | speed1 = speed*driver0; |
rizqicahyo | 3:43d4cb3ece1b | 591 | speed2 = speed*driver1; |
rizqicahyo | 3:43d4cb3ece1b | 592 | speed3 = speed*driver1; |
rizqicahyo | 3:43d4cb3ece1b | 593 | speed4 = speed*driver0; |
rizqicahyo | 2:df6c49846367 | 594 | } |
rizqicahyo | 2:df6c49846367 | 595 | else if(datasensor[1]){ |
rizqicahyo | 3:43d4cb3ece1b | 596 | speed1 = speed*driver2; |
rizqicahyo | 3:43d4cb3ece1b | 597 | speed2 = speed*driver0; |
rizqicahyo | 3:43d4cb3ece1b | 598 | speed3 = speed*driver0; |
rizqicahyo | 3:43d4cb3ece1b | 599 | speed4 = speed*driver2; |
rizqicahyo | 2:df6c49846367 | 600 | } |
rizqicahyo | 2:df6c49846367 | 601 | else if(datasensor[4]){ |
rizqicahyo | 3:43d4cb3ece1b | 602 | speed1 = speed*driver0; |
rizqicahyo | 3:43d4cb3ece1b | 603 | speed2 = speed*driver2; |
rizqicahyo | 3:43d4cb3ece1b | 604 | speed3 = speed*driver2; |
rizqicahyo | 3:43d4cb3ece1b | 605 | speed4 = speed*driver0; |
rizqicahyo | 2:df6c49846367 | 606 | } |
rizqicahyo | 3:43d4cb3ece1b | 607 | else if(datasensor[0]){ |
rizqicahyo | 3:43d4cb3ece1b | 608 | speed1 = speed*driver3; |
rizqicahyo | 3:43d4cb3ece1b | 609 | speed2 = speed*driver0; |
rizqicahyo | 3:43d4cb3ece1b | 610 | speed3 = speed*driver0; |
rizqicahyo | 3:43d4cb3ece1b | 611 | speed4 = speed*driver3; |
rizqicahyo | 2:df6c49846367 | 612 | } |
rizqicahyo | 3:43d4cb3ece1b | 613 | else if(datasensor[5]){ |
rizqicahyo | 3:43d4cb3ece1b | 614 | speed1 = speed*driver0; |
rizqicahyo | 3:43d4cb3ece1b | 615 | speed2 = speed*driver3; |
rizqicahyo | 3:43d4cb3ece1b | 616 | speed3 = speed*driver3; |
rizqicahyo | 3:43d4cb3ece1b | 617 | speed4 = speed*driver0; |
rizqicahyo | 2:df6c49846367 | 618 | } |
rizqicahyo | 3:43d4cb3ece1b | 619 | |
rizqicahyo | 2:df6c49846367 | 620 | else |
rizqicahyo | 2:df6c49846367 | 621 | { |
rizqicahyo | 3:43d4cb3ece1b | 622 | if(g_flag == 0){ |
rizqicahyo | 3:43d4cb3ece1b | 623 | speed1 = speed*driver0; |
rizqicahyo | 3:43d4cb3ece1b | 624 | speed2 = speed*driver0; |
rizqicahyo | 3:43d4cb3ece1b | 625 | speed3 = speed*driver0; |
rizqicahyo | 3:43d4cb3ece1b | 626 | speed4 = speed*driver0; |
rizqicahyo | 3:43d4cb3ece1b | 627 | } |
rizqicahyo | 3:43d4cb3ece1b | 628 | else if(g_flag == 3){ |
rizqicahyo | 3:43d4cb3ece1b | 629 | speed1 = speed*driver1; |
rizqicahyo | 3:43d4cb3ece1b | 630 | speed2 = speed*driver0; |
rizqicahyo | 3:43d4cb3ece1b | 631 | speed3 = speed*driver0; |
rizqicahyo | 3:43d4cb3ece1b | 632 | speed4 = speed*driver1; |
rizqicahyo | 3:43d4cb3ece1b | 633 | } |
rizqicahyo | 3:43d4cb3ece1b | 634 | else if(g_flag == 4){ |
rizqicahyo | 3:43d4cb3ece1b | 635 | speed1 = speed*driver0; |
rizqicahyo | 3:43d4cb3ece1b | 636 | speed2 = speed*driver1; |
rizqicahyo | 3:43d4cb3ece1b | 637 | speed3 = speed*driver1; |
rizqicahyo | 3:43d4cb3ece1b | 638 | speed4 = speed*driver0; |
rizqicahyo | 2:df6c49846367 | 639 | } |
rizqicahyo | 3:43d4cb3ece1b | 640 | else if(g_flag == 2){ |
rizqicahyo | 3:43d4cb3ece1b | 641 | speed1 = speed*driver2; |
rizqicahyo | 3:43d4cb3ece1b | 642 | speed2 = speed*driver0; |
rizqicahyo | 3:43d4cb3ece1b | 643 | speed3 = speed*driver0; |
rizqicahyo | 3:43d4cb3ece1b | 644 | speed4 = speed*driver2; |
rizqicahyo | 3:43d4cb3ece1b | 645 | } |
rizqicahyo | 3:43d4cb3ece1b | 646 | else if(g_flag == 5){ |
rizqicahyo | 3:43d4cb3ece1b | 647 | speed1 = speed*driver0; |
rizqicahyo | 3:43d4cb3ece1b | 648 | speed2 = speed*driver2; |
rizqicahyo | 3:43d4cb3ece1b | 649 | speed3 = speed*driver2; |
rizqicahyo | 3:43d4cb3ece1b | 650 | speed4 = speed*driver0; |
rizqicahyo | 3:43d4cb3ece1b | 651 | } |
rizqicahyo | 3:43d4cb3ece1b | 652 | else if(g_flag == 1){ |
rizqicahyo | 3:43d4cb3ece1b | 653 | speed1 = -speed*driver2; |
rizqicahyo | 3:43d4cb3ece1b | 654 | speed2 = speed*driver2; |
rizqicahyo | 3:43d4cb3ece1b | 655 | speed3 = speed*driver2; |
rizqicahyo | 3:43d4cb3ece1b | 656 | speed4 = -speed*driver2; |
rizqicahyo | 3:43d4cb3ece1b | 657 | } |
rizqicahyo | 3:43d4cb3ece1b | 658 | else if(g_flag == 6){ |
rizqicahyo | 3:43d4cb3ece1b | 659 | speed1 = speed*driver2; |
rizqicahyo | 3:43d4cb3ece1b | 660 | speed2 = -speed*driver2; |
rizqicahyo | 3:43d4cb3ece1b | 661 | speed3 = -speed*driver2; |
rizqicahyo | 3:43d4cb3ece1b | 662 | speed4 = speed*driver2; |
rizqicahyo | 2:df6c49846367 | 663 | } |
rizqicahyo | 2:df6c49846367 | 664 | } |
rizqicahyo | 2:df6c49846367 | 665 | |
rizqicahyo | 4:7a7a8aa33fd5 | 666 | motor1.speed(-(float)(speed1-0.04)); |
rizqicahyo | 4:7a7a8aa33fd5 | 667 | motor2.speed(-(float)(speed2-0.04)); |
rizqicahyo | 4:7a7a8aa33fd5 | 668 | motor3.speed(-(float)(speed3-0.0)); |
rizqicahyo | 4:7a7a8aa33fd5 | 669 | motor4.speed(-(float)(speed4-0.0)); |
rizqicahyo | 3:43d4cb3ece1b | 670 | |
rizqicahyo | 3:43d4cb3ece1b | 671 | } |
rizqicahyo | 3:43d4cb3ece1b | 672 | |
rizqicahyo | 3:43d4cb3ece1b | 673 | void flag_sensor(){ |
rizqicahyo | 3:43d4cb3ece1b | 674 | if((datasensor[2] == 1) && (datasensor[3] == 1)) g_flag = 0; |
rizqicahyo | 3:43d4cb3ece1b | 675 | else if(datasensor[2] == 1) g_flag = 3; |
rizqicahyo | 3:43d4cb3ece1b | 676 | else if(datasensor[3] == 1) g_flag = 4; |
rizqicahyo | 3:43d4cb3ece1b | 677 | else if(datasensor[1] == 1) g_flag = 2; |
rizqicahyo | 3:43d4cb3ece1b | 678 | else if(datasensor[4] == 1) g_flag = 5; |
rizqicahyo | 3:43d4cb3ece1b | 679 | else if(datasensor[0] == 1) g_flag = 1; |
rizqicahyo | 3:43d4cb3ece1b | 680 | else if(datasensor[5] == 1) g_flag = 6; |
rizqicahyo | 4:7a7a8aa33fd5 | 681 | } |
rizqicahyo | 4:7a7a8aa33fd5 | 682 | |
rizqicahyo | 4:7a7a8aa33fd5 | 683 | |
rizqicahyo | 4:7a7a8aa33fd5 | 684 | ////////////////////////SENSOR PING/////////////////////////////////////// |
rizqicahyo | 4:7a7a8aa33fd5 | 685 | float read_jarak() { |
rizqicahyo | 4:7a7a8aa33fd5 | 686 | float jarak; |
rizqicahyo | 4:7a7a8aa33fd5 | 687 | |
rizqicahyo | 4:7a7a8aa33fd5 | 688 | ping.Send(); |
rizqicahyo | 4:7a7a8aa33fd5 | 689 | wait_ms(45); |
rizqicahyo | 4:7a7a8aa33fd5 | 690 | jarak = ping.Read_cm()/2; |
rizqicahyo | 4:7a7a8aa33fd5 | 691 | return jarak; |
rizqicahyo | 0:edddd373a163 | 692 | } |