base ultimate + line following HYBRID
Dependencies: ESC Motor PS_PAD hadah mbed Ping
Fork of Ultimate_Hybrid by
main.cpp@0:edddd373a163, 2016-04-19 (annotated)
- Committer:
- rizqicahyo
- Date:
- Tue Apr 19 02:47:31 2016 +0000
- Revision:
- 0:edddd373a163
- Child:
- 1:fc1535231c0d
hadah
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 "PID.h" |
rizqicahyo | 0:edddd373a163 | 8 | #include "esc.h" |
rizqicahyo | 0:edddd373a163 | 9 | #include "Servo.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(PB_6, PA_7, PB_12); |
rizqicahyo | 0:edddd373a163 | 25 | Motor motor3(PA_9, PC_2, PC_3); |
rizqicahyo | 0:edddd373a163 | 26 | Motor motor4(PB_7, PA_14, PA_15); |
rizqicahyo | 0:edddd373a163 | 27 | Motor motorC1(PB_9, PA_12, PC_5); |
rizqicahyo | 0:edddd373a163 | 28 | Motor motorC2(PB_8, PB_1, PA_13); |
rizqicahyo | 0:edddd373a163 | 29 | Motor motorS(PA_10, PB_5, PB_4); |
rizqicahyo | 0:edddd373a163 | 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 | 0:edddd373a163 | 43 | //PID line follower(P, I, D, Time Sampling) |
rizqicahyo | 0:edddd373a163 | 44 | PID PID(0.992,0.000,0.81,0.001); |
rizqicahyo | 0:edddd373a163 | 45 | |
rizqicahyo | 0:edddd373a163 | 46 | //servo(PWM) |
rizqicahyo | 0:edddd373a163 | 47 | Servo servoEDF(PC_8); |
rizqicahyo | 0:edddd373a163 | 48 | |
rizqicahyo | 0:edddd373a163 | 49 | //EDF(PWM, timer) |
rizqicahyo | 0:edddd373a163 | 50 | ESC edf(PC_6,20); |
rizqicahyo | 0:edddd373a163 | 51 | |
rizqicahyo | 0:edddd373a163 | 52 | //Timer Pnuematik |
rizqicahyo | 0:edddd373a163 | 53 | Timer timer; |
rizqicahyo | 0:edddd373a163 | 54 | |
rizqicahyo | 0:edddd373a163 | 55 | /*********************************************************************************************/ |
rizqicahyo | 0:edddd373a163 | 56 | /** DEKLARASI VARIABEL, PROSEDUR, DAN FUNGSI **/ |
rizqicahyo | 0:edddd373a163 | 57 | /*********************************************************************************************/ |
rizqicahyo | 0:edddd373a163 | 58 | float gMax_speed = 1; |
rizqicahyo | 0:edddd373a163 | 59 | float v0 = 0.6; |
rizqicahyo | 0:edddd373a163 | 60 | float ax = 0.0007; |
rizqicahyo | 0:edddd373a163 | 61 | |
rizqicahyo | 0:edddd373a163 | 62 | // inisialisasi pwm awal servo |
rizqicahyo | 0:edddd373a163 | 63 | double pwm = 0.00; |
rizqicahyo | 0:edddd373a163 | 64 | |
rizqicahyo | 0:edddd373a163 | 65 | // inisialisasi sudut awal |
rizqicahyo | 0:edddd373a163 | 66 | double sudut = -85; |
rizqicahyo | 0:edddd373a163 | 67 | |
rizqicahyo | 0:edddd373a163 | 68 | // variabel kondisi pnuematik |
rizqicahyo | 0:edddd373a163 | 69 | int g = 1; |
rizqicahyo | 0:edddd373a163 | 70 | |
rizqicahyo | 0:edddd373a163 | 71 | /////// |
rizqicahyo | 0:edddd373a163 | 72 | void aktuator(); |
rizqicahyo | 0:edddd373a163 | 73 | void edf_servo(); |
rizqicahyo | 0:edddd373a163 | 74 | /*********************************************************************************************/ |
rizqicahyo | 0:edddd373a163 | 75 | /*********************************************************************************************/ |
rizqicahyo | 0:edddd373a163 | 76 | /** PROGRAM UTAMA **/ |
rizqicahyo | 0:edddd373a163 | 77 | /*********************************************************************************************/ |
rizqicahyo | 0:edddd373a163 | 78 | /*********************************************************************************************/ |
rizqicahyo | 0:edddd373a163 | 79 | int main() { |
rizqicahyo | 0:edddd373a163 | 80 | //inisiasi serial |
rizqicahyo | 0:edddd373a163 | 81 | pc.baud(115200); |
rizqicahyo | 0:edddd373a163 | 82 | com.baud(115200); |
rizqicahyo | 0:edddd373a163 | 83 | |
rizqicahyo | 0:edddd373a163 | 84 | //inisiasi joystick |
rizqicahyo | 0:edddd373a163 | 85 | ps2.init(); |
rizqicahyo | 0:edddd373a163 | 86 | |
rizqicahyo | 0:edddd373a163 | 87 | //set inisiasi servo pada posisi 0 |
rizqicahyo | 0:edddd373a163 | 88 | servoEDF.position(sudut); |
rizqicahyo | 0:edddd373a163 | 89 | |
rizqicahyo | 0:edddd373a163 | 90 | //set edf pada posisi bukan kalibrasi, yaitu set edf 0 |
rizqicahyo | 0:edddd373a163 | 91 | edf.setThrottle(0); |
rizqicahyo | 0:edddd373a163 | 92 | edf.pulse(); |
rizqicahyo | 0:edddd373a163 | 93 | |
rizqicahyo | 0:edddd373a163 | 94 | //inisiasi pnuematik |
rizqicahyo | 0:edddd373a163 | 95 | pnuematik1 = 1; |
rizqicahyo | 0:edddd373a163 | 96 | pnuematik2 = 1; |
rizqicahyo | 0:edddd373a163 | 97 | pnuematik3 = 1; |
rizqicahyo | 0:edddd373a163 | 98 | pnuematik4 = 1; |
rizqicahyo | 0:edddd373a163 | 99 | |
rizqicahyo | 0:edddd373a163 | 100 | //inisiasi PID sensor |
rizqicahyo | 0:edddd373a163 | 101 | PID.setInputLimits(-15,15); |
rizqicahyo | 0:edddd373a163 | 102 | PID.setOutputLimits(-1.0,1.0); |
rizqicahyo | 0:edddd373a163 | 103 | PID.setMode(1.0); |
rizqicahyo | 0:edddd373a163 | 104 | PID.setBias(0.0); |
rizqicahyo | 0:edddd373a163 | 105 | PID.reset(); |
rizqicahyo | 0:edddd373a163 | 106 | |
rizqicahyo | 0:edddd373a163 | 107 | //inisisasi TIMER |
rizqicahyo | 0:edddd373a163 | 108 | timer.start(); |
rizqicahyo | 0:edddd373a163 | 109 | |
rizqicahyo | 0:edddd373a163 | 110 | //kondisi robot |
rizqicahyo | 0:edddd373a163 | 111 | bool manual=true; |
rizqicahyo | 0:edddd373a163 | 112 | |
rizqicahyo | 0:edddd373a163 | 113 | |
rizqicahyo | 0:edddd373a163 | 114 | while(manual){ |
rizqicahyo | 0:edddd373a163 | 115 | |
rizqicahyo | 0:edddd373a163 | 116 | ps2.poll(); |
rizqicahyo | 0:edddd373a163 | 117 | |
rizqicahyo | 0:edddd373a163 | 118 | aktuator(); |
rizqicahyo | 0:edddd373a163 | 119 | edf_servo(); |
rizqicahyo | 0:edddd373a163 | 120 | |
rizqicahyo | 0:edddd373a163 | 121 | if(limit3==0) manual = false; |
rizqicahyo | 0:edddd373a163 | 122 | |
rizqicahyo | 0:edddd373a163 | 123 | } |
rizqicahyo | 0:edddd373a163 | 124 | |
rizqicahyo | 0:edddd373a163 | 125 | motor1.brake(1); |
rizqicahyo | 0:edddd373a163 | 126 | motor2.brake(1); |
rizqicahyo | 0:edddd373a163 | 127 | motor3.brake(1); |
rizqicahyo | 0:edddd373a163 | 128 | motor4.brake(1); |
rizqicahyo | 0:edddd373a163 | 129 | |
rizqicahyo | 0:edddd373a163 | 130 | pnuematik1=0; |
rizqicahyo | 0:edddd373a163 | 131 | wait_ms(1500); |
rizqicahyo | 0:edddd373a163 | 132 | |
rizqicahyo | 0:edddd373a163 | 133 | while(limit4!=0){ |
rizqicahyo | 0:edddd373a163 | 134 | motorC1.speed(1); |
rizqicahyo | 0:edddd373a163 | 135 | motorC2.speed(-1); |
rizqicahyo | 0:edddd373a163 | 136 | } |
rizqicahyo | 0:edddd373a163 | 137 | |
rizqicahyo | 0:edddd373a163 | 138 | motorC1.brake(1); |
rizqicahyo | 0:edddd373a163 | 139 | motorC2.brake(1); |
rizqicahyo | 0:edddd373a163 | 140 | |
rizqicahyo | 0:edddd373a163 | 141 | pnuematik3 = 0; |
rizqicahyo | 0:edddd373a163 | 142 | wait_ms(1500); |
rizqicahyo | 0:edddd373a163 | 143 | pnuematik2 = 1; |
rizqicahyo | 0:edddd373a163 | 144 | wait_ms(500); |
rizqicahyo | 0:edddd373a163 | 145 | pnuematik3 = 1; |
rizqicahyo | 0:edddd373a163 | 146 | |
rizqicahyo | 0:edddd373a163 | 147 | |
rizqicahyo | 0:edddd373a163 | 148 | |
rizqicahyo | 0:edddd373a163 | 149 | return 0; |
rizqicahyo | 0:edddd373a163 | 150 | } |
rizqicahyo | 0:edddd373a163 | 151 | |
rizqicahyo | 0:edddd373a163 | 152 | /*********************************************************************************************/ |
rizqicahyo | 0:edddd373a163 | 153 | /** ALGORITMA PROSEDUR DAN FUNGSI **/ |
rizqicahyo | 0:edddd373a163 | 154 | /*********************************************************************************************/ |
rizqicahyo | 0:edddd373a163 | 155 | void aktuator(){ |
rizqicahyo | 0:edddd373a163 | 156 | float speed = v0; |
rizqicahyo | 0:edddd373a163 | 157 | float tuning = 0.01; |
rizqicahyo | 0:edddd373a163 | 158 | if((ps2.read(PS_PAD::PAD_L1)==1) && (ps2.read(PS_PAD::PAD_R1)==0)){ |
rizqicahyo | 0:edddd373a163 | 159 | //pivot kiri |
rizqicahyo | 0:edddd373a163 | 160 | motor2.speed(speed*0.7); |
rizqicahyo | 0:edddd373a163 | 161 | motor4.speed(-speed*0.7); |
rizqicahyo | 0:edddd373a163 | 162 | motor1.speed(speed*0.7-tuning); |
rizqicahyo | 0:edddd373a163 | 163 | motor3.speed(-(speed*0.7-tuning)); |
rizqicahyo | 0:edddd373a163 | 164 | pc.printf("pivot kiri \n"); |
rizqicahyo | 0:edddd373a163 | 165 | |
rizqicahyo | 0:edddd373a163 | 166 | v0 += ax; |
rizqicahyo | 0:edddd373a163 | 167 | } |
rizqicahyo | 0:edddd373a163 | 168 | else if((ps2.read(PS_PAD::PAD_R1)==1) && (ps2.read(PS_PAD::PAD_L1)==0)){ |
rizqicahyo | 0:edddd373a163 | 169 | //pivot kanan |
rizqicahyo | 0:edddd373a163 | 170 | motor2.speed(-speed*0.7); |
rizqicahyo | 0:edddd373a163 | 171 | motor4.speed(speed*0.7); |
rizqicahyo | 0:edddd373a163 | 172 | motor1.speed(-(speed*0.7-tuning)); |
rizqicahyo | 0:edddd373a163 | 173 | motor3.speed(speed*0.7-tuning); |
rizqicahyo | 0:edddd373a163 | 174 | pc.printf("pivot kanan \n"); |
rizqicahyo | 0:edddd373a163 | 175 | |
rizqicahyo | 0:edddd373a163 | 176 | v0 += ax; |
rizqicahyo | 0:edddd373a163 | 177 | } |
rizqicahyo | 0:edddd373a163 | 178 | else if((ps2.read(PS_PAD::PAD_RIGHT)==1) && (ps2.read(PS_PAD::PAD_TOP)==1)){ |
rizqicahyo | 0:edddd373a163 | 179 | //serong atas kanan |
rizqicahyo | 0:edddd373a163 | 180 | motor2.speed(speed); |
rizqicahyo | 0:edddd373a163 | 181 | motor4.brake(1); |
rizqicahyo | 0:edddd373a163 | 182 | motor1.brake(1); |
rizqicahyo | 0:edddd373a163 | 183 | motor3.speed(speed-tuning); |
rizqicahyo | 0:edddd373a163 | 184 | pc.printf("serong atas kanan \n"); |
rizqicahyo | 0:edddd373a163 | 185 | |
rizqicahyo | 0:edddd373a163 | 186 | v0 += ax; |
rizqicahyo | 0:edddd373a163 | 187 | } |
rizqicahyo | 0:edddd373a163 | 188 | else if((ps2.read(PS_PAD::PAD_TOP)==1) && (ps2.read(PS_PAD::PAD_LEFT)==1)){ |
rizqicahyo | 0:edddd373a163 | 189 | //serong atas kiri |
rizqicahyo | 0:edddd373a163 | 190 | motor2.brake(1); |
rizqicahyo | 0:edddd373a163 | 191 | motor4.speed(-speed); |
rizqicahyo | 0:edddd373a163 | 192 | motor1.speed(-(speed-tuning)); |
rizqicahyo | 0:edddd373a163 | 193 | motor3.brake(1); |
rizqicahyo | 0:edddd373a163 | 194 | pc.printf("serong atas kiri \n"); |
rizqicahyo | 0:edddd373a163 | 195 | |
rizqicahyo | 0:edddd373a163 | 196 | v0 += ax; |
rizqicahyo | 0:edddd373a163 | 197 | } |
rizqicahyo | 0:edddd373a163 | 198 | else if((ps2.read(PS_PAD::PAD_LEFT)==1) && (ps2.read(PS_PAD::PAD_BOTTOM)==1)){ |
rizqicahyo | 0:edddd373a163 | 199 | //serong bawah kiri |
rizqicahyo | 0:edddd373a163 | 200 | motor2.speed(-speed); |
rizqicahyo | 0:edddd373a163 | 201 | motor4.brake(1); |
rizqicahyo | 0:edddd373a163 | 202 | motor1.brake(1); |
rizqicahyo | 0:edddd373a163 | 203 | motor3.speed(-(speed-tuning)); |
rizqicahyo | 0:edddd373a163 | 204 | pc.printf("serong bawah kiri \n"); |
rizqicahyo | 0:edddd373a163 | 205 | |
rizqicahyo | 0:edddd373a163 | 206 | v0 += ax; |
rizqicahyo | 0:edddd373a163 | 207 | } |
rizqicahyo | 0:edddd373a163 | 208 | else if((ps2.read(PS_PAD::PAD_BOTTOM)==1) && (ps2.read(PS_PAD::PAD_RIGHT)==1)){ |
rizqicahyo | 0:edddd373a163 | 209 | //serong bawah kanan |
rizqicahyo | 0:edddd373a163 | 210 | motor2.brake(1); |
rizqicahyo | 0:edddd373a163 | 211 | motor4.speed(speed); |
rizqicahyo | 0:edddd373a163 | 212 | motor1.speed(speed-tuning); |
rizqicahyo | 0:edddd373a163 | 213 | motor3.brake(1); |
rizqicahyo | 0:edddd373a163 | 214 | pc.printf("serong bawah kanan \n"); |
rizqicahyo | 0:edddd373a163 | 215 | |
rizqicahyo | 0:edddd373a163 | 216 | v0 += ax; |
rizqicahyo | 0:edddd373a163 | 217 | } |
rizqicahyo | 0:edddd373a163 | 218 | else if((ps2.read(PS_PAD::PAD_TOP)==1) && (ps2.read(PS_PAD::PAD_BOTTOM)==0)){ |
rizqicahyo | 0:edddd373a163 | 219 | //maju |
rizqicahyo | 0:edddd373a163 | 220 | motor1.speed(-(speed-tuning)); |
rizqicahyo | 0:edddd373a163 | 221 | motor3.speed(speed-tuning); |
rizqicahyo | 0:edddd373a163 | 222 | motor2.speed(speed); |
rizqicahyo | 0:edddd373a163 | 223 | motor4.speed(-speed); |
rizqicahyo | 0:edddd373a163 | 224 | pc.printf("maju \n"); |
rizqicahyo | 0:edddd373a163 | 225 | |
rizqicahyo | 0:edddd373a163 | 226 | v0 += ax; |
rizqicahyo | 0:edddd373a163 | 227 | } |
rizqicahyo | 0:edddd373a163 | 228 | else if((ps2.read(PS_PAD::PAD_BOTTOM)==1) && (ps2.read(PS_PAD::PAD_TOP)==0)){ |
rizqicahyo | 0:edddd373a163 | 229 | //mundur |
rizqicahyo | 0:edddd373a163 | 230 | motor1.speed(speed-tuning); |
rizqicahyo | 0:edddd373a163 | 231 | motor3.speed(-(speed-tuning)); |
rizqicahyo | 0:edddd373a163 | 232 | motor2.speed(-speed); |
rizqicahyo | 0:edddd373a163 | 233 | motor4.speed(speed); |
rizqicahyo | 0:edddd373a163 | 234 | pc.printf("mundur \n"); |
rizqicahyo | 0:edddd373a163 | 235 | |
rizqicahyo | 0:edddd373a163 | 236 | v0 += ax; |
rizqicahyo | 0:edddd373a163 | 237 | } |
rizqicahyo | 0:edddd373a163 | 238 | else if((ps2.read(PS_PAD::PAD_RIGHT)==1) && (ps2.read(PS_PAD::PAD_LEFT)==0)){ |
rizqicahyo | 0:edddd373a163 | 239 | //kanan |
rizqicahyo | 0:edddd373a163 | 240 | motor2.speed(speed); |
rizqicahyo | 0:edddd373a163 | 241 | motor4.speed(speed); |
rizqicahyo | 0:edddd373a163 | 242 | motor1.speed(speed); |
rizqicahyo | 0:edddd373a163 | 243 | motor3.speed(speed); |
rizqicahyo | 0:edddd373a163 | 244 | pc.printf("kanan \n"); |
rizqicahyo | 0:edddd373a163 | 245 | |
rizqicahyo | 0:edddd373a163 | 246 | v0 += ax; |
rizqicahyo | 0:edddd373a163 | 247 | } |
rizqicahyo | 0:edddd373a163 | 248 | else if((ps2.read(PS_PAD::PAD_RIGHT)==0) && (ps2.read(PS_PAD::PAD_LEFT)==1)){ |
rizqicahyo | 0:edddd373a163 | 249 | //kiri |
rizqicahyo | 0:edddd373a163 | 250 | motor2.speed(-speed); |
rizqicahyo | 0:edddd373a163 | 251 | motor4.speed(-speed); |
rizqicahyo | 0:edddd373a163 | 252 | motor1.speed(-speed); |
rizqicahyo | 0:edddd373a163 | 253 | motor3.speed(-speed); |
rizqicahyo | 0:edddd373a163 | 254 | pc.printf("kiri \n"); |
rizqicahyo | 0:edddd373a163 | 255 | |
rizqicahyo | 0:edddd373a163 | 256 | v0 += ax; |
rizqicahyo | 0:edddd373a163 | 257 | } |
rizqicahyo | 0:edddd373a163 | 258 | else{ |
rizqicahyo | 0:edddd373a163 | 259 | motor1.brake(1); |
rizqicahyo | 0:edddd373a163 | 260 | motor3.brake(1); |
rizqicahyo | 0:edddd373a163 | 261 | motor2.brake(1); |
rizqicahyo | 0:edddd373a163 | 262 | motor4.brake(1); |
rizqicahyo | 0:edddd373a163 | 263 | pc.printf("diam \n"); |
rizqicahyo | 0:edddd373a163 | 264 | |
rizqicahyo | 0:edddd373a163 | 265 | v0 = 0.6; |
rizqicahyo | 0:edddd373a163 | 266 | } |
rizqicahyo | 0:edddd373a163 | 267 | |
rizqicahyo | 0:edddd373a163 | 268 | if((ps2.read(PS_PAD::PAD_CIRCLE)==0) && (ps2.read(PS_PAD::PAD_TRIANGLE)==1)){ |
rizqicahyo | 0:edddd373a163 | 269 | //POWER WINDOW ATAS |
rizqicahyo | 0:edddd373a163 | 270 | motorS.speed(1); |
rizqicahyo | 0:edddd373a163 | 271 | pc.printf("up \n"); |
rizqicahyo | 0:edddd373a163 | 272 | } |
rizqicahyo | 0:edddd373a163 | 273 | else if((ps2.read(PS_PAD::PAD_CIRCLE)==1) && (ps2.read(PS_PAD::PAD_TRIANGLE)==0)){ |
rizqicahyo | 0:edddd373a163 | 274 | //POWER WINDOW BAWAH |
rizqicahyo | 0:edddd373a163 | 275 | motorS.speed(-1); |
rizqicahyo | 0:edddd373a163 | 276 | pc.printf("down \n"); |
rizqicahyo | 0:edddd373a163 | 277 | } |
rizqicahyo | 0:edddd373a163 | 278 | else{ |
rizqicahyo | 0:edddd373a163 | 279 | motorS.brake(1); |
rizqicahyo | 0:edddd373a163 | 280 | pc.printf("diam \n"); |
rizqicahyo | 0:edddd373a163 | 281 | |
rizqicahyo | 0:edddd373a163 | 282 | } |
rizqicahyo | 0:edddd373a163 | 283 | |
rizqicahyo | 0:edddd373a163 | 284 | if ((ps2.read(PS_PAD::PAD_SELECT)==1)) |
rizqicahyo | 0:edddd373a163 | 285 | { |
rizqicahyo | 0:edddd373a163 | 286 | //mekanisme ambil gripper |
rizqicahyo | 0:edddd373a163 | 287 | pc.printf("mekanisme gripper"); |
rizqicahyo | 0:edddd373a163 | 288 | if (g==1){ |
rizqicahyo | 0:edddd373a163 | 289 | pc.printf("ambil 1"); |
rizqicahyo | 0:edddd373a163 | 290 | pnuematik2 = 0; |
rizqicahyo | 0:edddd373a163 | 291 | g=2; |
rizqicahyo | 0:edddd373a163 | 292 | wait_ms(400); |
rizqicahyo | 0:edddd373a163 | 293 | } |
rizqicahyo | 0:edddd373a163 | 294 | else |
rizqicahyo | 0:edddd373a163 | 295 | { |
rizqicahyo | 0:edddd373a163 | 296 | pnuematik2 = 1; |
rizqicahyo | 0:edddd373a163 | 297 | wait_ms(400); |
rizqicahyo | 0:edddd373a163 | 298 | g=1; |
rizqicahyo | 0:edddd373a163 | 299 | } |
rizqicahyo | 0:edddd373a163 | 300 | } |
rizqicahyo | 0:edddd373a163 | 301 | } |
rizqicahyo | 0:edddd373a163 | 302 | |
rizqicahyo | 0:edddd373a163 | 303 | void edf_servo(){ |
rizqicahyo | 0:edddd373a163 | 304 | if(ps2.read(PS_PAD::PAD_X)==1){ |
rizqicahyo | 0:edddd373a163 | 305 | //PWM ++ |
rizqicahyo | 0:edddd373a163 | 306 | pwm += 0.002; |
rizqicahyo | 0:edddd373a163 | 307 | if( pwm > 0.7) pwm = 0.7; |
rizqicahyo | 0:edddd373a163 | 308 | pc.printf("gaspol \n"); |
rizqicahyo | 0:edddd373a163 | 309 | } |
rizqicahyo | 0:edddd373a163 | 310 | else if(ps2.read(PS_PAD::PAD_SQUARE)==1){ |
rizqicahyo | 0:edddd373a163 | 311 | //PWM-- |
rizqicahyo | 0:edddd373a163 | 312 | pwm -= 0.002; |
rizqicahyo | 0:edddd373a163 | 313 | |
rizqicahyo | 0:edddd373a163 | 314 | if(pwm < 0) pwm = 0.0; |
rizqicahyo | 0:edddd373a163 | 315 | pc.printf("rem ndeng \n"); |
rizqicahyo | 0:edddd373a163 | 316 | } |
rizqicahyo | 0:edddd373a163 | 317 | |
rizqicahyo | 0:edddd373a163 | 318 | if(ps2.read(PS_PAD::PAD_R2)==1){ |
rizqicahyo | 0:edddd373a163 | 319 | //SERVO -- |
rizqicahyo | 0:edddd373a163 | 320 | sudut += 0.5; |
rizqicahyo | 0:edddd373a163 | 321 | |
rizqicahyo | 0:edddd373a163 | 322 | if(sudut > 90) sudut = 90; |
rizqicahyo | 0:edddd373a163 | 323 | pc.printf("servo max \n"); |
rizqicahyo | 0:edddd373a163 | 324 | } |
rizqicahyo | 0:edddd373a163 | 325 | else if(ps2.read(PS_PAD::PAD_L2)==1){ |
rizqicahyo | 0:edddd373a163 | 326 | //SERVO ++ |
rizqicahyo | 0:edddd373a163 | 327 | sudut -= 0.5; |
rizqicahyo | 0:edddd373a163 | 328 | |
rizqicahyo | 0:edddd373a163 | 329 | if(sudut < -90) sudut = -90; |
rizqicahyo | 0:edddd373a163 | 330 | pc.printf("servo min \n"); |
rizqicahyo | 0:edddd373a163 | 331 | } |
rizqicahyo | 0:edddd373a163 | 332 | |
rizqicahyo | 0:edddd373a163 | 333 | if(ps2.read(PS_PAD::PAD_START)==1){ |
rizqicahyo | 0:edddd373a163 | 334 | |
rizqicahyo | 0:edddd373a163 | 335 | sudut = 0; |
rizqicahyo | 0:edddd373a163 | 336 | pwm = 0.25; |
rizqicahyo | 0:edddd373a163 | 337 | } |
rizqicahyo | 0:edddd373a163 | 338 | |
rizqicahyo | 0:edddd373a163 | 339 | servoEDF.position((float)sudut); |
rizqicahyo | 0:edddd373a163 | 340 | edf.setThrottle((float)pwm); |
rizqicahyo | 0:edddd373a163 | 341 | edf.pulse(); |
rizqicahyo | 0:edddd373a163 | 342 | } |