base ultimate + line following HYBRID
Dependencies: ESC Motor PS_PAD hadah mbed Ping
Fork of Ultimate_Hybrid by
main.cpp@1:fc1535231c0d, 2016-04-19 (annotated)
- Committer:
- Najib_irvani
- Date:
- Tue Apr 19 13:32:26 2016 +0000
- Revision:
- 1:fc1535231c0d
- Parent:
- 0:edddd373a163
- Child:
- 2:df6c49846367
update tunning
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 | |
Najib_irvani | 1:fc1535231c0d | 31 | /* coba coba |
Najib_irvani | 1:fc1535231c0d | 32 | //motor (PWM, forward, reverse) |
Najib_irvani | 1:fc1535231c0d | 33 | Motor motor1(PA_8, PB_0, PC_15); |
Najib_irvani | 1:fc1535231c0d | 34 | Motor motorC1(PA_11, PA_6, PA_5); |
Najib_irvani | 1:fc1535231c0d | 35 | //Motor motor3(PB_6, PA_7, PB_12); |
Najib_irvani | 1:fc1535231c0d | 36 | Motor motorC2(PA_9, PC_2, PC_3); |
Najib_irvani | 1:fc1535231c0d | 37 | Motor motor4(PB_7, PA_14, PA_15); |
Najib_irvani | 1:fc1535231c0d | 38 | Motor motor2(PB_9, PA_12, PC_5); |
Najib_irvani | 1:fc1535231c0d | 39 | Motor motor3(PB_8, PB_1, PA_13); |
Najib_irvani | 1:fc1535231c0d | 40 | Motor motorS(PA_10, PB_5, PB_4); |
Najib_irvani | 1:fc1535231c0d | 41 | */ |
Najib_irvani | 1:fc1535231c0d | 42 | |
rizqicahyo | 0:edddd373a163 | 43 | //pnuematik |
rizqicahyo | 0:edddd373a163 | 44 | DigitalOut pnuematik1(PC_11); |
rizqicahyo | 0:edddd373a163 | 45 | DigitalOut pnuematik2(PC_10); |
rizqicahyo | 0:edddd373a163 | 46 | DigitalOut pnuematik3(PD_2); |
rizqicahyo | 0:edddd373a163 | 47 | DigitalOut pnuematik4(PC_12); |
rizqicahyo | 0:edddd373a163 | 48 | |
rizqicahyo | 0:edddd373a163 | 49 | //Limit Switch |
rizqicahyo | 0:edddd373a163 | 50 | DigitalIn limit1(PC_13 ,PullUp); |
rizqicahyo | 0:edddd373a163 | 51 | DigitalIn limit2(PC_14 ,PullUp); |
rizqicahyo | 0:edddd373a163 | 52 | DigitalIn limit3(PC_1 ,PullUp); |
rizqicahyo | 0:edddd373a163 | 53 | DigitalIn limit4(PC_0 ,PullUp); |
rizqicahyo | 0:edddd373a163 | 54 | |
rizqicahyo | 0:edddd373a163 | 55 | //PID line follower(P, I, D, Time Sampling) |
rizqicahyo | 0:edddd373a163 | 56 | PID PID(0.992,0.000,0.81,0.001); |
rizqicahyo | 0:edddd373a163 | 57 | |
rizqicahyo | 0:edddd373a163 | 58 | //servo(PWM) |
rizqicahyo | 0:edddd373a163 | 59 | Servo servoEDF(PC_8); |
rizqicahyo | 0:edddd373a163 | 60 | |
rizqicahyo | 0:edddd373a163 | 61 | //EDF(PWM, timer) |
rizqicahyo | 0:edddd373a163 | 62 | ESC edf(PC_6,20); |
rizqicahyo | 0:edddd373a163 | 63 | |
rizqicahyo | 0:edddd373a163 | 64 | //Timer Pnuematik |
rizqicahyo | 0:edddd373a163 | 65 | Timer timer; |
rizqicahyo | 0:edddd373a163 | 66 | |
rizqicahyo | 0:edddd373a163 | 67 | /*********************************************************************************************/ |
rizqicahyo | 0:edddd373a163 | 68 | /** DEKLARASI VARIABEL, PROSEDUR, DAN FUNGSI **/ |
rizqicahyo | 0:edddd373a163 | 69 | /*********************************************************************************************/ |
rizqicahyo | 0:edddd373a163 | 70 | float gMax_speed = 1; |
rizqicahyo | 0:edddd373a163 | 71 | float v0 = 0.6; |
Najib_irvani | 1:fc1535231c0d | 72 | float ax = 0.0005; |
rizqicahyo | 0:edddd373a163 | 73 | |
rizqicahyo | 0:edddd373a163 | 74 | // inisialisasi pwm awal servo |
rizqicahyo | 0:edddd373a163 | 75 | double pwm = 0.00; |
rizqicahyo | 0:edddd373a163 | 76 | |
rizqicahyo | 0:edddd373a163 | 77 | // inisialisasi sudut awal |
rizqicahyo | 0:edddd373a163 | 78 | double sudut = -85; |
rizqicahyo | 0:edddd373a163 | 79 | |
rizqicahyo | 0:edddd373a163 | 80 | // variabel kondisi pnuematik |
rizqicahyo | 0:edddd373a163 | 81 | int g = 1; |
rizqicahyo | 0:edddd373a163 | 82 | |
rizqicahyo | 0:edddd373a163 | 83 | /////// |
rizqicahyo | 0:edddd373a163 | 84 | void aktuator(); |
rizqicahyo | 0:edddd373a163 | 85 | void edf_servo(); |
rizqicahyo | 0:edddd373a163 | 86 | /*********************************************************************************************/ |
rizqicahyo | 0:edddd373a163 | 87 | /*********************************************************************************************/ |
rizqicahyo | 0:edddd373a163 | 88 | /** PROGRAM UTAMA **/ |
rizqicahyo | 0:edddd373a163 | 89 | /*********************************************************************************************/ |
rizqicahyo | 0:edddd373a163 | 90 | /*********************************************************************************************/ |
rizqicahyo | 0:edddd373a163 | 91 | int main() { |
rizqicahyo | 0:edddd373a163 | 92 | //inisiasi serial |
rizqicahyo | 0:edddd373a163 | 93 | pc.baud(115200); |
rizqicahyo | 0:edddd373a163 | 94 | com.baud(115200); |
rizqicahyo | 0:edddd373a163 | 95 | |
rizqicahyo | 0:edddd373a163 | 96 | //inisiasi joystick |
rizqicahyo | 0:edddd373a163 | 97 | ps2.init(); |
rizqicahyo | 0:edddd373a163 | 98 | |
rizqicahyo | 0:edddd373a163 | 99 | //set inisiasi servo pada posisi 0 |
rizqicahyo | 0:edddd373a163 | 100 | servoEDF.position(sudut); |
rizqicahyo | 0:edddd373a163 | 101 | |
rizqicahyo | 0:edddd373a163 | 102 | //set edf pada posisi bukan kalibrasi, yaitu set edf 0 |
rizqicahyo | 0:edddd373a163 | 103 | edf.setThrottle(0); |
rizqicahyo | 0:edddd373a163 | 104 | edf.pulse(); |
rizqicahyo | 0:edddd373a163 | 105 | |
rizqicahyo | 0:edddd373a163 | 106 | //inisiasi pnuematik |
rizqicahyo | 0:edddd373a163 | 107 | pnuematik1 = 1; |
rizqicahyo | 0:edddd373a163 | 108 | pnuematik2 = 1; |
rizqicahyo | 0:edddd373a163 | 109 | pnuematik3 = 1; |
rizqicahyo | 0:edddd373a163 | 110 | pnuematik4 = 1; |
rizqicahyo | 0:edddd373a163 | 111 | |
rizqicahyo | 0:edddd373a163 | 112 | //inisiasi PID sensor |
rizqicahyo | 0:edddd373a163 | 113 | PID.setInputLimits(-15,15); |
rizqicahyo | 0:edddd373a163 | 114 | PID.setOutputLimits(-1.0,1.0); |
rizqicahyo | 0:edddd373a163 | 115 | PID.setMode(1.0); |
rizqicahyo | 0:edddd373a163 | 116 | PID.setBias(0.0); |
rizqicahyo | 0:edddd373a163 | 117 | PID.reset(); |
rizqicahyo | 0:edddd373a163 | 118 | |
rizqicahyo | 0:edddd373a163 | 119 | //inisisasi TIMER |
rizqicahyo | 0:edddd373a163 | 120 | timer.start(); |
rizqicahyo | 0:edddd373a163 | 121 | |
rizqicahyo | 0:edddd373a163 | 122 | //kondisi robot |
rizqicahyo | 0:edddd373a163 | 123 | bool manual=true; |
rizqicahyo | 0:edddd373a163 | 124 | |
rizqicahyo | 0:edddd373a163 | 125 | |
rizqicahyo | 0:edddd373a163 | 126 | while(manual){ |
rizqicahyo | 0:edddd373a163 | 127 | |
rizqicahyo | 0:edddd373a163 | 128 | ps2.poll(); |
rizqicahyo | 0:edddd373a163 | 129 | |
rizqicahyo | 0:edddd373a163 | 130 | aktuator(); |
rizqicahyo | 0:edddd373a163 | 131 | edf_servo(); |
rizqicahyo | 0:edddd373a163 | 132 | |
rizqicahyo | 0:edddd373a163 | 133 | if(limit3==0) manual = false; |
rizqicahyo | 0:edddd373a163 | 134 | |
rizqicahyo | 0:edddd373a163 | 135 | } |
rizqicahyo | 0:edddd373a163 | 136 | |
rizqicahyo | 0:edddd373a163 | 137 | motor1.brake(1); |
rizqicahyo | 0:edddd373a163 | 138 | motor2.brake(1); |
rizqicahyo | 0:edddd373a163 | 139 | motor3.brake(1); |
rizqicahyo | 0:edddd373a163 | 140 | motor4.brake(1); |
rizqicahyo | 0:edddd373a163 | 141 | |
rizqicahyo | 0:edddd373a163 | 142 | pnuematik1=0; |
rizqicahyo | 0:edddd373a163 | 143 | wait_ms(1500); |
rizqicahyo | 0:edddd373a163 | 144 | |
rizqicahyo | 0:edddd373a163 | 145 | while(limit4!=0){ |
rizqicahyo | 0:edddd373a163 | 146 | motorC1.speed(1); |
rizqicahyo | 0:edddd373a163 | 147 | motorC2.speed(-1); |
rizqicahyo | 0:edddd373a163 | 148 | } |
rizqicahyo | 0:edddd373a163 | 149 | |
rizqicahyo | 0:edddd373a163 | 150 | motorC1.brake(1); |
rizqicahyo | 0:edddd373a163 | 151 | motorC2.brake(1); |
rizqicahyo | 0:edddd373a163 | 152 | |
rizqicahyo | 0:edddd373a163 | 153 | pnuematik3 = 0; |
rizqicahyo | 0:edddd373a163 | 154 | wait_ms(1500); |
rizqicahyo | 0:edddd373a163 | 155 | pnuematik2 = 1; |
rizqicahyo | 0:edddd373a163 | 156 | wait_ms(500); |
rizqicahyo | 0:edddd373a163 | 157 | pnuematik3 = 1; |
rizqicahyo | 0:edddd373a163 | 158 | |
rizqicahyo | 0:edddd373a163 | 159 | |
rizqicahyo | 0:edddd373a163 | 160 | |
rizqicahyo | 0:edddd373a163 | 161 | return 0; |
rizqicahyo | 0:edddd373a163 | 162 | } |
rizqicahyo | 0:edddd373a163 | 163 | |
rizqicahyo | 0:edddd373a163 | 164 | /*********************************************************************************************/ |
rizqicahyo | 0:edddd373a163 | 165 | /** ALGORITMA PROSEDUR DAN FUNGSI **/ |
rizqicahyo | 0:edddd373a163 | 166 | /*********************************************************************************************/ |
rizqicahyo | 0:edddd373a163 | 167 | void aktuator(){ |
rizqicahyo | 0:edddd373a163 | 168 | float speed = v0; |
Najib_irvani | 1:fc1535231c0d | 169 | float tuning1 = 0.0; |
Najib_irvani | 1:fc1535231c0d | 170 | float tuning2 = 0.23; |
Najib_irvani | 1:fc1535231c0d | 171 | float tuning3 = 0.1; |
Najib_irvani | 1:fc1535231c0d | 172 | float tuning4 = 0.26; |
Najib_irvani | 1:fc1535231c0d | 173 | |
Najib_irvani | 1:fc1535231c0d | 174 | if(v0 >= gMax_speed) v0 = gMax_speed; |
Najib_irvani | 1:fc1535231c0d | 175 | |
rizqicahyo | 0:edddd373a163 | 176 | if((ps2.read(PS_PAD::PAD_L1)==1) && (ps2.read(PS_PAD::PAD_R1)==0)){ |
rizqicahyo | 0:edddd373a163 | 177 | //pivot kiri |
Najib_irvani | 1:fc1535231c0d | 178 | motor2.speed((float)0.6*(speed-tuning2)); |
Najib_irvani | 1:fc1535231c0d | 179 | motor4.speed((float)-0.6*(speed-tuning4)); |
Najib_irvani | 1:fc1535231c0d | 180 | motor1.speed((float)0.6*(speed-tuning1)); |
Najib_irvani | 1:fc1535231c0d | 181 | motor3.speed((float)-0.6*(speed-tuning3)); |
rizqicahyo | 0:edddd373a163 | 182 | pc.printf("pivot kiri \n"); |
rizqicahyo | 0:edddd373a163 | 183 | |
rizqicahyo | 0:edddd373a163 | 184 | v0 += ax; |
rizqicahyo | 0:edddd373a163 | 185 | } |
rizqicahyo | 0:edddd373a163 | 186 | else if((ps2.read(PS_PAD::PAD_R1)==1) && (ps2.read(PS_PAD::PAD_L1)==0)){ |
rizqicahyo | 0:edddd373a163 | 187 | //pivot kanan |
Najib_irvani | 1:fc1535231c0d | 188 | motor2.speed((float)-0.6*(speed-tuning2)); |
Najib_irvani | 1:fc1535231c0d | 189 | motor4.speed((float)0.6*(speed-tuning4)); |
Najib_irvani | 1:fc1535231c0d | 190 | motor1.speed((float)-0.6*(speed-tuning1)); |
Najib_irvani | 1:fc1535231c0d | 191 | motor3.speed((float)0.6*(speed-tuning3)); |
rizqicahyo | 0:edddd373a163 | 192 | pc.printf("pivot kanan \n"); |
rizqicahyo | 0:edddd373a163 | 193 | |
rizqicahyo | 0:edddd373a163 | 194 | v0 += ax; |
rizqicahyo | 0:edddd373a163 | 195 | } |
rizqicahyo | 0:edddd373a163 | 196 | else if((ps2.read(PS_PAD::PAD_RIGHT)==1) && (ps2.read(PS_PAD::PAD_TOP)==1)){ |
rizqicahyo | 0:edddd373a163 | 197 | //serong atas kanan |
Najib_irvani | 1:fc1535231c0d | 198 | motor2.speed(speed-tuning2); |
rizqicahyo | 0:edddd373a163 | 199 | motor4.brake(1); |
rizqicahyo | 0:edddd373a163 | 200 | motor1.brake(1); |
Najib_irvani | 1:fc1535231c0d | 201 | motor3.speed(speed-tuning3); |
rizqicahyo | 0:edddd373a163 | 202 | pc.printf("serong atas kanan \n"); |
rizqicahyo | 0:edddd373a163 | 203 | |
rizqicahyo | 0:edddd373a163 | 204 | v0 += ax; |
rizqicahyo | 0:edddd373a163 | 205 | } |
rizqicahyo | 0:edddd373a163 | 206 | else if((ps2.read(PS_PAD::PAD_TOP)==1) && (ps2.read(PS_PAD::PAD_LEFT)==1)){ |
rizqicahyo | 0:edddd373a163 | 207 | //serong atas kiri |
rizqicahyo | 0:edddd373a163 | 208 | motor2.brake(1); |
Najib_irvani | 1:fc1535231c0d | 209 | motor4.speed(-(speed-tuning4)); |
Najib_irvani | 1:fc1535231c0d | 210 | motor1.speed(-(speed-tuning1)); |
rizqicahyo | 0:edddd373a163 | 211 | motor3.brake(1); |
rizqicahyo | 0:edddd373a163 | 212 | pc.printf("serong atas kiri \n"); |
rizqicahyo | 0:edddd373a163 | 213 | |
rizqicahyo | 0:edddd373a163 | 214 | v0 += ax; |
rizqicahyo | 0:edddd373a163 | 215 | } |
rizqicahyo | 0:edddd373a163 | 216 | else if((ps2.read(PS_PAD::PAD_LEFT)==1) && (ps2.read(PS_PAD::PAD_BOTTOM)==1)){ |
rizqicahyo | 0:edddd373a163 | 217 | //serong bawah kiri |
Najib_irvani | 1:fc1535231c0d | 218 | motor2.speed(-(speed-tuning2)); |
rizqicahyo | 0:edddd373a163 | 219 | motor4.brake(1); |
rizqicahyo | 0:edddd373a163 | 220 | motor1.brake(1); |
Najib_irvani | 1:fc1535231c0d | 221 | motor3.speed(-(speed-tuning3)); |
rizqicahyo | 0:edddd373a163 | 222 | pc.printf("serong bawah kiri \n"); |
rizqicahyo | 0:edddd373a163 | 223 | |
rizqicahyo | 0:edddd373a163 | 224 | v0 += ax; |
rizqicahyo | 0:edddd373a163 | 225 | } |
rizqicahyo | 0:edddd373a163 | 226 | else if((ps2.read(PS_PAD::PAD_BOTTOM)==1) && (ps2.read(PS_PAD::PAD_RIGHT)==1)){ |
rizqicahyo | 0:edddd373a163 | 227 | //serong bawah kanan |
rizqicahyo | 0:edddd373a163 | 228 | motor2.brake(1); |
Najib_irvani | 1:fc1535231c0d | 229 | motor4.speed(speed-tuning4); |
Najib_irvani | 1:fc1535231c0d | 230 | motor1.speed(speed-tuning1); |
rizqicahyo | 0:edddd373a163 | 231 | motor3.brake(1); |
rizqicahyo | 0:edddd373a163 | 232 | pc.printf("serong bawah kanan \n"); |
rizqicahyo | 0:edddd373a163 | 233 | |
rizqicahyo | 0:edddd373a163 | 234 | v0 += ax; |
rizqicahyo | 0:edddd373a163 | 235 | } |
rizqicahyo | 0:edddd373a163 | 236 | else if((ps2.read(PS_PAD::PAD_TOP)==1) && (ps2.read(PS_PAD::PAD_BOTTOM)==0)){ |
rizqicahyo | 0:edddd373a163 | 237 | //maju |
Najib_irvani | 1:fc1535231c0d | 238 | motor1.speed(-(speed-tuning1)); |
Najib_irvani | 1:fc1535231c0d | 239 | motor3.speed(speed-tuning3); |
Najib_irvani | 1:fc1535231c0d | 240 | motor2.speed(speed-tuning2); |
Najib_irvani | 1:fc1535231c0d | 241 | motor4.speed(-(speed-tuning4)); |
rizqicahyo | 0:edddd373a163 | 242 | pc.printf("maju \n"); |
rizqicahyo | 0:edddd373a163 | 243 | |
rizqicahyo | 0:edddd373a163 | 244 | v0 += ax; |
rizqicahyo | 0:edddd373a163 | 245 | } |
rizqicahyo | 0:edddd373a163 | 246 | else if((ps2.read(PS_PAD::PAD_BOTTOM)==1) && (ps2.read(PS_PAD::PAD_TOP)==0)){ |
rizqicahyo | 0:edddd373a163 | 247 | //mundur |
Najib_irvani | 1:fc1535231c0d | 248 | motor1.speed(speed-tuning1); |
Najib_irvani | 1:fc1535231c0d | 249 | motor3.speed(-(speed-tuning3)); |
Najib_irvani | 1:fc1535231c0d | 250 | motor2.speed(-(speed-tuning2)); |
Najib_irvani | 1:fc1535231c0d | 251 | motor4.speed(speed-tuning4); |
rizqicahyo | 0:edddd373a163 | 252 | pc.printf("mundur \n"); |
rizqicahyo | 0:edddd373a163 | 253 | |
rizqicahyo | 0:edddd373a163 | 254 | v0 += ax; |
rizqicahyo | 0:edddd373a163 | 255 | } |
rizqicahyo | 0:edddd373a163 | 256 | else if((ps2.read(PS_PAD::PAD_RIGHT)==1) && (ps2.read(PS_PAD::PAD_LEFT)==0)){ |
rizqicahyo | 0:edddd373a163 | 257 | //kanan |
Najib_irvani | 1:fc1535231c0d | 258 | motor2.speed(speed-tuning2); |
Najib_irvani | 1:fc1535231c0d | 259 | motor4.speed(speed-tuning4); |
Najib_irvani | 1:fc1535231c0d | 260 | motor1.speed(speed-tuning1); |
Najib_irvani | 1:fc1535231c0d | 261 | motor3.speed(speed-tuning3); |
rizqicahyo | 0:edddd373a163 | 262 | pc.printf("kanan \n"); |
rizqicahyo | 0:edddd373a163 | 263 | |
rizqicahyo | 0:edddd373a163 | 264 | v0 += ax; |
rizqicahyo | 0:edddd373a163 | 265 | } |
rizqicahyo | 0:edddd373a163 | 266 | else if((ps2.read(PS_PAD::PAD_RIGHT)==0) && (ps2.read(PS_PAD::PAD_LEFT)==1)){ |
rizqicahyo | 0:edddd373a163 | 267 | //kiri |
Najib_irvani | 1:fc1535231c0d | 268 | motor2.speed(-(speed-tuning2)); |
Najib_irvani | 1:fc1535231c0d | 269 | motor4.speed(-(speed-tuning4)); |
Najib_irvani | 1:fc1535231c0d | 270 | motor1.speed(-(speed-tuning1)); |
Najib_irvani | 1:fc1535231c0d | 271 | motor3.speed(-(speed-tuning3)); |
rizqicahyo | 0:edddd373a163 | 272 | pc.printf("kiri \n"); |
rizqicahyo | 0:edddd373a163 | 273 | |
rizqicahyo | 0:edddd373a163 | 274 | v0 += ax; |
rizqicahyo | 0:edddd373a163 | 275 | } |
rizqicahyo | 0:edddd373a163 | 276 | else{ |
rizqicahyo | 0:edddd373a163 | 277 | motor1.brake(1); |
rizqicahyo | 0:edddd373a163 | 278 | motor3.brake(1); |
rizqicahyo | 0:edddd373a163 | 279 | motor2.brake(1); |
rizqicahyo | 0:edddd373a163 | 280 | motor4.brake(1); |
rizqicahyo | 0:edddd373a163 | 281 | pc.printf("diam \n"); |
rizqicahyo | 0:edddd373a163 | 282 | |
rizqicahyo | 0:edddd373a163 | 283 | v0 = 0.6; |
rizqicahyo | 0:edddd373a163 | 284 | } |
rizqicahyo | 0:edddd373a163 | 285 | |
rizqicahyo | 0:edddd373a163 | 286 | if((ps2.read(PS_PAD::PAD_CIRCLE)==0) && (ps2.read(PS_PAD::PAD_TRIANGLE)==1)){ |
rizqicahyo | 0:edddd373a163 | 287 | //POWER WINDOW ATAS |
rizqicahyo | 0:edddd373a163 | 288 | motorS.speed(1); |
rizqicahyo | 0:edddd373a163 | 289 | pc.printf("up \n"); |
rizqicahyo | 0:edddd373a163 | 290 | } |
rizqicahyo | 0:edddd373a163 | 291 | else if((ps2.read(PS_PAD::PAD_CIRCLE)==1) && (ps2.read(PS_PAD::PAD_TRIANGLE)==0)){ |
rizqicahyo | 0:edddd373a163 | 292 | //POWER WINDOW BAWAH |
rizqicahyo | 0:edddd373a163 | 293 | motorS.speed(-1); |
rizqicahyo | 0:edddd373a163 | 294 | pc.printf("down \n"); |
rizqicahyo | 0:edddd373a163 | 295 | } |
rizqicahyo | 0:edddd373a163 | 296 | else{ |
rizqicahyo | 0:edddd373a163 | 297 | motorS.brake(1); |
rizqicahyo | 0:edddd373a163 | 298 | pc.printf("diam \n"); |
rizqicahyo | 0:edddd373a163 | 299 | |
rizqicahyo | 0:edddd373a163 | 300 | } |
rizqicahyo | 0:edddd373a163 | 301 | |
rizqicahyo | 0:edddd373a163 | 302 | if ((ps2.read(PS_PAD::PAD_SELECT)==1)) |
rizqicahyo | 0:edddd373a163 | 303 | { |
rizqicahyo | 0:edddd373a163 | 304 | //mekanisme ambil gripper |
rizqicahyo | 0:edddd373a163 | 305 | pc.printf("mekanisme gripper"); |
rizqicahyo | 0:edddd373a163 | 306 | if (g==1){ |
rizqicahyo | 0:edddd373a163 | 307 | pc.printf("ambil 1"); |
rizqicahyo | 0:edddd373a163 | 308 | pnuematik2 = 0; |
rizqicahyo | 0:edddd373a163 | 309 | g=2; |
rizqicahyo | 0:edddd373a163 | 310 | wait_ms(400); |
rizqicahyo | 0:edddd373a163 | 311 | } |
rizqicahyo | 0:edddd373a163 | 312 | else |
rizqicahyo | 0:edddd373a163 | 313 | { |
rizqicahyo | 0:edddd373a163 | 314 | pnuematik2 = 1; |
rizqicahyo | 0:edddd373a163 | 315 | wait_ms(400); |
rizqicahyo | 0:edddd373a163 | 316 | g=1; |
rizqicahyo | 0:edddd373a163 | 317 | } |
rizqicahyo | 0:edddd373a163 | 318 | } |
rizqicahyo | 0:edddd373a163 | 319 | } |
rizqicahyo | 0:edddd373a163 | 320 | |
rizqicahyo | 0:edddd373a163 | 321 | void edf_servo(){ |
rizqicahyo | 0:edddd373a163 | 322 | if(ps2.read(PS_PAD::PAD_X)==1){ |
rizqicahyo | 0:edddd373a163 | 323 | //PWM ++ |
rizqicahyo | 0:edddd373a163 | 324 | pwm += 0.002; |
rizqicahyo | 0:edddd373a163 | 325 | if( pwm > 0.7) pwm = 0.7; |
rizqicahyo | 0:edddd373a163 | 326 | pc.printf("gaspol \n"); |
rizqicahyo | 0:edddd373a163 | 327 | } |
rizqicahyo | 0:edddd373a163 | 328 | else if(ps2.read(PS_PAD::PAD_SQUARE)==1){ |
rizqicahyo | 0:edddd373a163 | 329 | //PWM-- |
rizqicahyo | 0:edddd373a163 | 330 | pwm -= 0.002; |
rizqicahyo | 0:edddd373a163 | 331 | |
rizqicahyo | 0:edddd373a163 | 332 | if(pwm < 0) pwm = 0.0; |
rizqicahyo | 0:edddd373a163 | 333 | pc.printf("rem ndeng \n"); |
rizqicahyo | 0:edddd373a163 | 334 | } |
rizqicahyo | 0:edddd373a163 | 335 | |
rizqicahyo | 0:edddd373a163 | 336 | if(ps2.read(PS_PAD::PAD_R2)==1){ |
rizqicahyo | 0:edddd373a163 | 337 | //SERVO -- |
rizqicahyo | 0:edddd373a163 | 338 | sudut += 0.5; |
rizqicahyo | 0:edddd373a163 | 339 | |
rizqicahyo | 0:edddd373a163 | 340 | if(sudut > 90) sudut = 90; |
rizqicahyo | 0:edddd373a163 | 341 | pc.printf("servo max \n"); |
rizqicahyo | 0:edddd373a163 | 342 | } |
rizqicahyo | 0:edddd373a163 | 343 | else if(ps2.read(PS_PAD::PAD_L2)==1){ |
rizqicahyo | 0:edddd373a163 | 344 | //SERVO ++ |
rizqicahyo | 0:edddd373a163 | 345 | sudut -= 0.5; |
rizqicahyo | 0:edddd373a163 | 346 | |
rizqicahyo | 0:edddd373a163 | 347 | if(sudut < -90) sudut = -90; |
rizqicahyo | 0:edddd373a163 | 348 | pc.printf("servo min \n"); |
rizqicahyo | 0:edddd373a163 | 349 | } |
rizqicahyo | 0:edddd373a163 | 350 | |
rizqicahyo | 0:edddd373a163 | 351 | if(ps2.read(PS_PAD::PAD_START)==1){ |
rizqicahyo | 0:edddd373a163 | 352 | |
rizqicahyo | 0:edddd373a163 | 353 | sudut = 0; |
rizqicahyo | 0:edddd373a163 | 354 | pwm = 0.25; |
rizqicahyo | 0:edddd373a163 | 355 | } |
rizqicahyo | 0:edddd373a163 | 356 | |
rizqicahyo | 0:edddd373a163 | 357 | servoEDF.position((float)sudut); |
rizqicahyo | 0:edddd373a163 | 358 | edf.setThrottle((float)pwm); |
rizqicahyo | 0:edddd373a163 | 359 | edf.pulse(); |
rizqicahyo | 0:edddd373a163 | 360 | } |