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base ultimate + line following HYBRID
Dependencies: ESC Motor PS_PAD hadah mbed Ping
Fork of Ultimate_Hybrid by
main.cpp@3:43d4cb3ece1b, 2016-04-26 (annotated)
- Committer:
- rizqicahyo
- Date:
- Tue Apr 26 14:57:35 2016 +0000
- Revision:
- 3:43d4cb3ece1b
- Parent:
- 2:df6c49846367
- Child:
- 4:7a7a8aa33fd5
update LF + tuning, tambah switch lapangan
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 | 0:edddd373a163 | 9 | |
rizqicahyo | 0:edddd373a163 | 10 | /*********************************************************************************************/ |
rizqicahyo | 0:edddd373a163 | 11 | /** DEKLARASI INPUT OUTPUT **/ |
rizqicahyo | 0:edddd373a163 | 12 | /*********************************************************************************************/ |
rizqicahyo | 0:edddd373a163 | 13 | //serial |
rizqicahyo | 0:edddd373a163 | 14 | Serial pc(USBTX,USBRX); //debug |
rizqicahyo | 0:edddd373a163 | 15 | Serial com(PA_0,PA_1); //sensor |
rizqicahyo | 0:edddd373a163 | 16 | |
rizqicahyo | 0:edddd373a163 | 17 | //joystick PS2 |
rizqicahyo | 0:edddd373a163 | 18 | PS_PAD ps2(PB_15,PB_14,PB_13, PC_4); //(mosi, miso, sck, ss) |
rizqicahyo | 0:edddd373a163 | 19 | |
rizqicahyo | 0:edddd373a163 | 20 | //motor (PWM, forward, reverse) |
rizqicahyo | 0:edddd373a163 | 21 | Motor motor1(PA_8, PB_0, PC_15); |
rizqicahyo | 0:edddd373a163 | 22 | Motor motor2(PA_11, PA_6, PA_5); |
rizqicahyo | 0:edddd373a163 | 23 | Motor motor3(PA_9, PC_2, PC_3); |
rizqicahyo | 3:43d4cb3ece1b | 24 | Motor motor4(PA_10, PB_5, PB_4); |
rizqicahyo | 3:43d4cb3ece1b | 25 | Motor motorS(PB_7, PA_14, PA_15); |
rizqicahyo | 0:edddd373a163 | 26 | Motor motorC1(PB_9, PA_12, PC_5); |
rizqicahyo | 0:edddd373a163 | 27 | Motor motorC2(PB_8, PB_1, PA_13); |
rizqicahyo | 3:43d4cb3ece1b | 28 | //Motor motor4(PB_6, PA_7, PB_12); |
Najib_irvani | 1:fc1535231c0d | 29 | |
rizqicahyo | 0:edddd373a163 | 30 | //pnuematik |
rizqicahyo | 0:edddd373a163 | 31 | DigitalOut pnuematik1(PC_11); |
rizqicahyo | 0:edddd373a163 | 32 | DigitalOut pnuematik2(PC_10); |
rizqicahyo | 0:edddd373a163 | 33 | DigitalOut pnuematik3(PD_2); |
rizqicahyo | 0:edddd373a163 | 34 | DigitalOut pnuematik4(PC_12); |
rizqicahyo | 0:edddd373a163 | 35 | |
rizqicahyo | 0:edddd373a163 | 36 | //Limit Switch |
rizqicahyo | 0:edddd373a163 | 37 | DigitalIn limit1(PC_13 ,PullUp); |
rizqicahyo | 0:edddd373a163 | 38 | DigitalIn limit2(PC_14 ,PullUp); |
rizqicahyo | 0:edddd373a163 | 39 | DigitalIn limit3(PC_1 ,PullUp); |
rizqicahyo | 0:edddd373a163 | 40 | DigitalIn limit4(PC_0 ,PullUp); |
rizqicahyo | 0:edddd373a163 | 41 | |
rizqicahyo | 3:43d4cb3ece1b | 42 | DigitalIn field(PB_10 ,PullUp); |
rizqicahyo | 3:43d4cb3ece1b | 43 | |
rizqicahyo | 3:43d4cb3ece1b | 44 | //laser pointer |
rizqicahyo | 3:43d4cb3ece1b | 45 | DigitalOut laser(PB_3); |
rizqicahyo | 0:edddd373a163 | 46 | |
rizqicahyo | 0:edddd373a163 | 47 | //servo(PWM) |
rizqicahyo | 0:edddd373a163 | 48 | Servo servoEDF(PC_8); |
rizqicahyo | 0:edddd373a163 | 49 | |
rizqicahyo | 0:edddd373a163 | 50 | //EDF(PWM, timer) |
rizqicahyo | 0:edddd373a163 | 51 | ESC edf(PC_6,20); |
rizqicahyo | 0:edddd373a163 | 52 | |
rizqicahyo | 3:43d4cb3ece1b | 53 | //Timer |
rizqicahyo | 3:43d4cb3ece1b | 54 | Ticker timer; |
rizqicahyo | 2:df6c49846367 | 55 | |
rizqicahyo | 2:df6c49846367 | 56 | |
rizqicahyo | 0:edddd373a163 | 57 | |
rizqicahyo | 0:edddd373a163 | 58 | /*********************************************************************************************/ |
rizqicahyo | 0:edddd373a163 | 59 | /** DEKLARASI VARIABEL, PROSEDUR, DAN FUNGSI **/ |
rizqicahyo | 0:edddd373a163 | 60 | /*********************************************************************************************/ |
rizqicahyo | 3:43d4cb3ece1b | 61 | const float gMax_speed = 0.85; |
rizqicahyo | 3:43d4cb3ece1b | 62 | //const float gMin_speed = 0.1; |
rizqicahyo | 3:43d4cb3ece1b | 63 | const float v0 = 0.4; |
rizqicahyo | 3:43d4cb3ece1b | 64 | const float ax = 0.0007; |
rizqicahyo | 3:43d4cb3ece1b | 65 | float vcurr = v0; |
rizqicahyo | 2:df6c49846367 | 66 | |
rizqicahyo | 2:df6c49846367 | 67 | const float tuning1 = 0.0; |
rizqicahyo | 3:43d4cb3ece1b | 68 | const float tuning2 = 0.04; |
rizqicahyo | 3:43d4cb3ece1b | 69 | const float tuning3 = 0.0; |
rizqicahyo | 3:43d4cb3ece1b | 70 | const float tuning4 = 0.04; |
rizqicahyo | 2:df6c49846367 | 71 | |
rizqicahyo | 3:43d4cb3ece1b | 72 | const float driver0 = 1; |
rizqicahyo | 3:43d4cb3ece1b | 73 | const float driver1 = 0.85; |
rizqicahyo | 3:43d4cb3ece1b | 74 | const float driver2 = 0.65; |
rizqicahyo | 3:43d4cb3ece1b | 75 | const float driver3 = 0.2; |
rizqicahyo | 2:df6c49846367 | 76 | |
rizqicahyo | 0:edddd373a163 | 77 | |
rizqicahyo | 0:edddd373a163 | 78 | // inisialisasi pwm awal servo |
rizqicahyo | 0:edddd373a163 | 79 | double pwm = 0.00; |
rizqicahyo | 0:edddd373a163 | 80 | |
rizqicahyo | 0:edddd373a163 | 81 | // inisialisasi sudut awal |
rizqicahyo | 0:edddd373a163 | 82 | double sudut = -85; |
rizqicahyo | 0:edddd373a163 | 83 | |
rizqicahyo | 0:edddd373a163 | 84 | // variabel kondisi pnuematik |
rizqicahyo | 0:edddd373a163 | 85 | int g = 1; |
rizqicahyo | 0:edddd373a163 | 86 | |
rizqicahyo | 2:df6c49846367 | 87 | //slider auto |
rizqicahyo | 2:df6c49846367 | 88 | int c =0; |
rizqicahyo | 2:df6c49846367 | 89 | int batas_delay = 270; |
rizqicahyo | 2:df6c49846367 | 90 | |
rizqicahyo | 2:df6c49846367 | 91 | //data sensor garis dan line following |
rizqicahyo | 2:df6c49846367 | 92 | int datasensor[6]; |
rizqicahyo | 2:df6c49846367 | 93 | int over; |
rizqicahyo | 3:43d4cb3ece1b | 94 | int g_flag; |
rizqicahyo | 2:df6c49846367 | 95 | |
rizqicahyo | 0:edddd373a163 | 96 | /////// |
rizqicahyo | 3:43d4cb3ece1b | 97 | void aktuator(int f); |
rizqicahyo | 0:edddd373a163 | 98 | void edf_servo(); |
rizqicahyo | 2:df6c49846367 | 99 | void init_sensor(); |
rizqicahyo | 3:43d4cb3ece1b | 100 | void linetracer(float speed); |
rizqicahyo | 3:43d4cb3ece1b | 101 | void flag_sensor(); |
rizqicahyo | 2:df6c49846367 | 102 | |
rizqicahyo | 0:edddd373a163 | 103 | /*********************************************************************************************/ |
rizqicahyo | 0:edddd373a163 | 104 | /*********************************************************************************************/ |
rizqicahyo | 0:edddd373a163 | 105 | /** PROGRAM UTAMA **/ |
rizqicahyo | 0:edddd373a163 | 106 | /*********************************************************************************************/ |
rizqicahyo | 0:edddd373a163 | 107 | /*********************************************************************************************/ |
rizqicahyo | 0:edddd373a163 | 108 | int main() { |
rizqicahyo | 0:edddd373a163 | 109 | //inisiasi serial |
rizqicahyo | 0:edddd373a163 | 110 | pc.baud(115200); |
rizqicahyo | 0:edddd373a163 | 111 | com.baud(115200); |
rizqicahyo | 0:edddd373a163 | 112 | |
rizqicahyo | 3:43d4cb3ece1b | 113 | if(field == 1) sudut = -85; |
rizqicahyo | 3:43d4cb3ece1b | 114 | else sudut = 85; |
rizqicahyo | 3:43d4cb3ece1b | 115 | |
rizqicahyo | 0:edddd373a163 | 116 | //inisiasi joystick |
rizqicahyo | 0:edddd373a163 | 117 | ps2.init(); |
rizqicahyo | 0:edddd373a163 | 118 | |
rizqicahyo | 0:edddd373a163 | 119 | //set inisiasi servo pada posisi 0 |
rizqicahyo | 0:edddd373a163 | 120 | servoEDF.position(sudut); |
rizqicahyo | 0:edddd373a163 | 121 | |
rizqicahyo | 0:edddd373a163 | 122 | //set edf pada posisi bukan kalibrasi, yaitu set edf 0 |
rizqicahyo | 0:edddd373a163 | 123 | edf.setThrottle(0); |
rizqicahyo | 0:edddd373a163 | 124 | edf.pulse(); |
rizqicahyo | 0:edddd373a163 | 125 | |
rizqicahyo | 3:43d4cb3ece1b | 126 | //inisisasi laser |
rizqicahyo | 3:43d4cb3ece1b | 127 | laser = 1; |
rizqicahyo | 3:43d4cb3ece1b | 128 | |
rizqicahyo | 0:edddd373a163 | 129 | //inisiasi pnuematik |
rizqicahyo | 0:edddd373a163 | 130 | pnuematik1 = 1; |
rizqicahyo | 0:edddd373a163 | 131 | pnuematik2 = 1; |
rizqicahyo | 3:43d4cb3ece1b | 132 | pnuematik3 = 0; |
rizqicahyo | 3:43d4cb3ece1b | 133 | pnuematik4 = 0; |
rizqicahyo | 0:edddd373a163 | 134 | |
rizqicahyo | 0:edddd373a163 | 135 | //inisisasi TIMER |
rizqicahyo | 3:43d4cb3ece1b | 136 | timer.attach(&flag_sensor,0.0005); |
rizqicahyo | 3:43d4cb3ece1b | 137 | timer.detach(); |
rizqicahyo | 0:edddd373a163 | 138 | |
rizqicahyo | 0:edddd373a163 | 139 | //kondisi robot |
rizqicahyo | 2:df6c49846367 | 140 | bool manual=true; |
rizqicahyo | 3:43d4cb3ece1b | 141 | bool pool= false; |
rizqicahyo | 3:43d4cb3ece1b | 142 | |
rizqicahyo | 0:edddd373a163 | 143 | while(manual){ |
rizqicahyo | 0:edddd373a163 | 144 | |
rizqicahyo | 0:edddd373a163 | 145 | ps2.poll(); |
rizqicahyo | 0:edddd373a163 | 146 | |
rizqicahyo | 3:43d4cb3ece1b | 147 | aktuator(field); |
rizqicahyo | 0:edddd373a163 | 148 | edf_servo(); |
rizqicahyo | 0:edddd373a163 | 149 | |
rizqicahyo | 3:43d4cb3ece1b | 150 | if(ps2.read(PS_PAD::ANALOG_LEFT)==1) manual = false; |
rizqicahyo | 0:edddd373a163 | 151 | |
rizqicahyo | 0:edddd373a163 | 152 | } |
rizqicahyo | 0:edddd373a163 | 153 | |
rizqicahyo | 3:43d4cb3ece1b | 154 | timer.attach(&flag_sensor,0.0005); |
rizqicahyo | 3:43d4cb3ece1b | 155 | |
rizqicahyo | 3:43d4cb3ece1b | 156 | while(!pool){ |
rizqicahyo | 3:43d4cb3ece1b | 157 | init_sensor(); |
rizqicahyo | 3:43d4cb3ece1b | 158 | |
rizqicahyo | 3:43d4cb3ece1b | 159 | if(vcurr > 0.3) vcurr = (float) 0.3; |
rizqicahyo | 3:43d4cb3ece1b | 160 | |
rizqicahyo | 3:43d4cb3ece1b | 161 | linetracer(vcurr); |
rizqicahyo | 3:43d4cb3ece1b | 162 | //laser = 1; |
rizqicahyo | 3:43d4cb3ece1b | 163 | |
rizqicahyo | 3:43d4cb3ece1b | 164 | vcurr+=ax; |
rizqicahyo | 3:43d4cb3ece1b | 165 | |
rizqicahyo | 3:43d4cb3ece1b | 166 | if(limit3==0) pool=true; |
rizqicahyo | 3:43d4cb3ece1b | 167 | |
rizqicahyo | 3:43d4cb3ece1b | 168 | } |
rizqicahyo | 0:edddd373a163 | 169 | motor1.brake(1); |
rizqicahyo | 0:edddd373a163 | 170 | motor2.brake(1); |
rizqicahyo | 0:edddd373a163 | 171 | motor3.brake(1); |
rizqicahyo | 0:edddd373a163 | 172 | motor4.brake(1); |
rizqicahyo | 0:edddd373a163 | 173 | |
rizqicahyo | 3:43d4cb3ece1b | 174 | timer.detach(); |
rizqicahyo | 3:43d4cb3ece1b | 175 | |
rizqicahyo | 0:edddd373a163 | 176 | pnuematik1=0; |
rizqicahyo | 0:edddd373a163 | 177 | wait_ms(1500); |
rizqicahyo | 3:43d4cb3ece1b | 178 | |
rizqicahyo | 0:edddd373a163 | 179 | while(limit4!=0){ |
rizqicahyo | 0:edddd373a163 | 180 | motorC1.speed(1); |
rizqicahyo | 0:edddd373a163 | 181 | motorC2.speed(-1); |
rizqicahyo | 0:edddd373a163 | 182 | } |
rizqicahyo | 0:edddd373a163 | 183 | |
rizqicahyo | 0:edddd373a163 | 184 | motorC1.brake(1); |
rizqicahyo | 0:edddd373a163 | 185 | motorC2.brake(1); |
rizqicahyo | 0:edddd373a163 | 186 | |
rizqicahyo | 3:43d4cb3ece1b | 187 | if(field==1){ |
rizqicahyo | 3:43d4cb3ece1b | 188 | pnuematik3 = 0; |
rizqicahyo | 3:43d4cb3ece1b | 189 | wait_ms(1500); |
rizqicahyo | 3:43d4cb3ece1b | 190 | pnuematik2 = 1; |
rizqicahyo | 3:43d4cb3ece1b | 191 | wait_ms(500); |
rizqicahyo | 3:43d4cb3ece1b | 192 | pnuematik3 = 1; |
rizqicahyo | 3:43d4cb3ece1b | 193 | } |
rizqicahyo | 3:43d4cb3ece1b | 194 | else{ |
rizqicahyo | 3:43d4cb3ece1b | 195 | pnuematik4 = 0; |
rizqicahyo | 3:43d4cb3ece1b | 196 | wait_ms(1500); |
rizqicahyo | 3:43d4cb3ece1b | 197 | pnuematik2 = 1; |
rizqicahyo | 3:43d4cb3ece1b | 198 | wait_ms(500); |
rizqicahyo | 3:43d4cb3ece1b | 199 | pnuematik4 = 1; |
rizqicahyo | 3:43d4cb3ece1b | 200 | } |
rizqicahyo | 0:edddd373a163 | 201 | |
rizqicahyo | 0:edddd373a163 | 202 | return 0; |
rizqicahyo | 0:edddd373a163 | 203 | } |
rizqicahyo | 0:edddd373a163 | 204 | |
rizqicahyo | 0:edddd373a163 | 205 | /*********************************************************************************************/ |
rizqicahyo | 0:edddd373a163 | 206 | /** ALGORITMA PROSEDUR DAN FUNGSI **/ |
rizqicahyo | 0:edddd373a163 | 207 | /*********************************************************************************************/ |
rizqicahyo | 3:43d4cb3ece1b | 208 | void aktuator(int f){ |
rizqicahyo | 2:df6c49846367 | 209 | float speed = vcurr; |
rizqicahyo | 2:df6c49846367 | 210 | |
rizqicahyo | 2:df6c49846367 | 211 | if(vcurr >= gMax_speed) vcurr = gMax_speed; |
Najib_irvani | 1:fc1535231c0d | 212 | |
rizqicahyo | 3:43d4cb3ece1b | 213 | if(f == 1){ |
rizqicahyo | 0:edddd373a163 | 214 | if((ps2.read(PS_PAD::PAD_L1)==1) && (ps2.read(PS_PAD::PAD_R1)==0)){ |
rizqicahyo | 0:edddd373a163 | 215 | //pivot kiri |
rizqicahyo | 3:43d4cb3ece1b | 216 | motor2.speed((float)0.5*(speed-tuning2)); |
rizqicahyo | 3:43d4cb3ece1b | 217 | motor4.speed((float)-0.5*(speed-tuning4)); |
rizqicahyo | 3:43d4cb3ece1b | 218 | motor1.speed((float)0.5*(speed-tuning1)); |
rizqicahyo | 3:43d4cb3ece1b | 219 | motor3.speed((float)-0.5*(speed-tuning3)); |
rizqicahyo | 0:edddd373a163 | 220 | pc.printf("pivot kiri \n"); |
rizqicahyo | 0:edddd373a163 | 221 | |
rizqicahyo | 2:df6c49846367 | 222 | vcurr += ax; |
rizqicahyo | 0:edddd373a163 | 223 | } |
rizqicahyo | 0:edddd373a163 | 224 | else if((ps2.read(PS_PAD::PAD_R1)==1) && (ps2.read(PS_PAD::PAD_L1)==0)){ |
rizqicahyo | 0:edddd373a163 | 225 | //pivot kanan |
rizqicahyo | 3:43d4cb3ece1b | 226 | motor2.speed((float)-0.5*(speed-tuning2)); |
rizqicahyo | 3:43d4cb3ece1b | 227 | motor4.speed((float)0.5*(speed-tuning4)); |
rizqicahyo | 3:43d4cb3ece1b | 228 | motor1.speed((float)-0.5*(speed-tuning1)); |
rizqicahyo | 3:43d4cb3ece1b | 229 | motor3.speed((float)0.5*(speed-tuning3)); |
rizqicahyo | 0:edddd373a163 | 230 | pc.printf("pivot kanan \n"); |
rizqicahyo | 0:edddd373a163 | 231 | |
rizqicahyo | 2:df6c49846367 | 232 | vcurr += ax; |
rizqicahyo | 0:edddd373a163 | 233 | } |
rizqicahyo | 0:edddd373a163 | 234 | else if((ps2.read(PS_PAD::PAD_RIGHT)==1) && (ps2.read(PS_PAD::PAD_TOP)==1)){ |
rizqicahyo | 0:edddd373a163 | 235 | //serong atas kanan |
Najib_irvani | 1:fc1535231c0d | 236 | motor2.speed(speed-tuning2); |
rizqicahyo | 0:edddd373a163 | 237 | motor4.brake(1); |
rizqicahyo | 0:edddd373a163 | 238 | motor1.brake(1); |
Najib_irvani | 1:fc1535231c0d | 239 | motor3.speed(speed-tuning3); |
rizqicahyo | 0:edddd373a163 | 240 | pc.printf("serong atas kanan \n"); |
rizqicahyo | 0:edddd373a163 | 241 | |
rizqicahyo | 2:df6c49846367 | 242 | vcurr += ax; |
rizqicahyo | 0:edddd373a163 | 243 | } |
rizqicahyo | 0:edddd373a163 | 244 | else if((ps2.read(PS_PAD::PAD_TOP)==1) && (ps2.read(PS_PAD::PAD_LEFT)==1)){ |
rizqicahyo | 0:edddd373a163 | 245 | //serong atas kiri |
rizqicahyo | 0:edddd373a163 | 246 | motor2.brake(1); |
Najib_irvani | 1:fc1535231c0d | 247 | motor4.speed(-(speed-tuning4)); |
Najib_irvani | 1:fc1535231c0d | 248 | motor1.speed(-(speed-tuning1)); |
rizqicahyo | 0:edddd373a163 | 249 | motor3.brake(1); |
rizqicahyo | 0:edddd373a163 | 250 | pc.printf("serong atas kiri \n"); |
rizqicahyo | 0:edddd373a163 | 251 | |
rizqicahyo | 2:df6c49846367 | 252 | vcurr += ax; |
rizqicahyo | 0:edddd373a163 | 253 | } |
rizqicahyo | 0:edddd373a163 | 254 | else if((ps2.read(PS_PAD::PAD_LEFT)==1) && (ps2.read(PS_PAD::PAD_BOTTOM)==1)){ |
rizqicahyo | 0:edddd373a163 | 255 | //serong bawah kiri |
Najib_irvani | 1:fc1535231c0d | 256 | motor2.speed(-(speed-tuning2)); |
rizqicahyo | 0:edddd373a163 | 257 | motor4.brake(1); |
rizqicahyo | 0:edddd373a163 | 258 | motor1.brake(1); |
Najib_irvani | 1:fc1535231c0d | 259 | motor3.speed(-(speed-tuning3)); |
rizqicahyo | 0:edddd373a163 | 260 | pc.printf("serong bawah kiri \n"); |
rizqicahyo | 0:edddd373a163 | 261 | |
rizqicahyo | 2:df6c49846367 | 262 | vcurr += ax; |
rizqicahyo | 0:edddd373a163 | 263 | } |
rizqicahyo | 0:edddd373a163 | 264 | else if((ps2.read(PS_PAD::PAD_BOTTOM)==1) && (ps2.read(PS_PAD::PAD_RIGHT)==1)){ |
rizqicahyo | 0:edddd373a163 | 265 | //serong bawah kanan |
rizqicahyo | 0:edddd373a163 | 266 | motor2.brake(1); |
Najib_irvani | 1:fc1535231c0d | 267 | motor4.speed(speed-tuning4); |
Najib_irvani | 1:fc1535231c0d | 268 | motor1.speed(speed-tuning1); |
rizqicahyo | 0:edddd373a163 | 269 | motor3.brake(1); |
rizqicahyo | 0:edddd373a163 | 270 | pc.printf("serong bawah kanan \n"); |
rizqicahyo | 0:edddd373a163 | 271 | |
rizqicahyo | 2:df6c49846367 | 272 | vcurr += ax; |
rizqicahyo | 0:edddd373a163 | 273 | } |
rizqicahyo | 0:edddd373a163 | 274 | else if((ps2.read(PS_PAD::PAD_TOP)==1) && (ps2.read(PS_PAD::PAD_BOTTOM)==0)){ |
rizqicahyo | 0:edddd373a163 | 275 | //maju |
Najib_irvani | 1:fc1535231c0d | 276 | motor1.speed(-(speed-tuning1)); |
Najib_irvani | 1:fc1535231c0d | 277 | motor3.speed(speed-tuning3); |
Najib_irvani | 1:fc1535231c0d | 278 | motor2.speed(speed-tuning2); |
Najib_irvani | 1:fc1535231c0d | 279 | motor4.speed(-(speed-tuning4)); |
rizqicahyo | 0:edddd373a163 | 280 | pc.printf("maju \n"); |
rizqicahyo | 0:edddd373a163 | 281 | |
rizqicahyo | 2:df6c49846367 | 282 | vcurr += ax; |
rizqicahyo | 0:edddd373a163 | 283 | } |
rizqicahyo | 0:edddd373a163 | 284 | else if((ps2.read(PS_PAD::PAD_BOTTOM)==1) && (ps2.read(PS_PAD::PAD_TOP)==0)){ |
rizqicahyo | 0:edddd373a163 | 285 | //mundur |
Najib_irvani | 1:fc1535231c0d | 286 | motor1.speed(speed-tuning1); |
Najib_irvani | 1:fc1535231c0d | 287 | motor3.speed(-(speed-tuning3)); |
Najib_irvani | 1:fc1535231c0d | 288 | motor2.speed(-(speed-tuning2)); |
Najib_irvani | 1:fc1535231c0d | 289 | motor4.speed(speed-tuning4); |
rizqicahyo | 0:edddd373a163 | 290 | pc.printf("mundur \n"); |
rizqicahyo | 0:edddd373a163 | 291 | |
rizqicahyo | 2:df6c49846367 | 292 | vcurr += ax; |
rizqicahyo | 0:edddd373a163 | 293 | } |
rizqicahyo | 0:edddd373a163 | 294 | else if((ps2.read(PS_PAD::PAD_RIGHT)==1) && (ps2.read(PS_PAD::PAD_LEFT)==0)){ |
rizqicahyo | 0:edddd373a163 | 295 | //kanan |
Najib_irvani | 1:fc1535231c0d | 296 | motor2.speed(speed-tuning2); |
Najib_irvani | 1:fc1535231c0d | 297 | motor4.speed(speed-tuning4); |
Najib_irvani | 1:fc1535231c0d | 298 | motor1.speed(speed-tuning1); |
Najib_irvani | 1:fc1535231c0d | 299 | motor3.speed(speed-tuning3); |
rizqicahyo | 0:edddd373a163 | 300 | pc.printf("kanan \n"); |
rizqicahyo | 0:edddd373a163 | 301 | |
rizqicahyo | 2:df6c49846367 | 302 | vcurr += ax; |
rizqicahyo | 0:edddd373a163 | 303 | } |
rizqicahyo | 0:edddd373a163 | 304 | else if((ps2.read(PS_PAD::PAD_RIGHT)==0) && (ps2.read(PS_PAD::PAD_LEFT)==1)){ |
rizqicahyo | 0:edddd373a163 | 305 | //kiri |
Najib_irvani | 1:fc1535231c0d | 306 | motor2.speed(-(speed-tuning2)); |
Najib_irvani | 1:fc1535231c0d | 307 | motor4.speed(-(speed-tuning4)); |
Najib_irvani | 1:fc1535231c0d | 308 | motor1.speed(-(speed-tuning1)); |
Najib_irvani | 1:fc1535231c0d | 309 | motor3.speed(-(speed-tuning3)); |
rizqicahyo | 0:edddd373a163 | 310 | pc.printf("kiri \n"); |
rizqicahyo | 0:edddd373a163 | 311 | |
rizqicahyo | 2:df6c49846367 | 312 | vcurr += ax; |
rizqicahyo | 0:edddd373a163 | 313 | } |
rizqicahyo | 0:edddd373a163 | 314 | else{ |
rizqicahyo | 0:edddd373a163 | 315 | motor1.brake(1); |
rizqicahyo | 0:edddd373a163 | 316 | motor3.brake(1); |
rizqicahyo | 0:edddd373a163 | 317 | motor2.brake(1); |
rizqicahyo | 0:edddd373a163 | 318 | motor4.brake(1); |
rizqicahyo | 0:edddd373a163 | 319 | pc.printf("diam \n"); |
rizqicahyo | 0:edddd373a163 | 320 | |
rizqicahyo | 2:df6c49846367 | 321 | vcurr = v0; |
rizqicahyo | 0:edddd373a163 | 322 | } |
rizqicahyo | 3:43d4cb3ece1b | 323 | } |
rizqicahyo | 3:43d4cb3ece1b | 324 | else{ |
rizqicahyo | 3:43d4cb3ece1b | 325 | if((ps2.read(PS_PAD::PAD_L1)==1) && (ps2.read(PS_PAD::PAD_R1)==0)){ |
rizqicahyo | 3:43d4cb3ece1b | 326 | //pivot kiri |
rizqicahyo | 3:43d4cb3ece1b | 327 | motor2.speed((float)0.5*(speed-tuning2)); |
rizqicahyo | 3:43d4cb3ece1b | 328 | motor4.speed((float)-0.5*(speed-tuning4)); |
rizqicahyo | 3:43d4cb3ece1b | 329 | motor1.speed((float)0.5*(speed-tuning1)); |
rizqicahyo | 3:43d4cb3ece1b | 330 | motor3.speed((float)-0.5*(speed-tuning3)); |
rizqicahyo | 3:43d4cb3ece1b | 331 | pc.printf("pivot kiri \n"); |
rizqicahyo | 3:43d4cb3ece1b | 332 | |
rizqicahyo | 3:43d4cb3ece1b | 333 | vcurr += ax; |
rizqicahyo | 3:43d4cb3ece1b | 334 | } |
rizqicahyo | 3:43d4cb3ece1b | 335 | else if((ps2.read(PS_PAD::PAD_R1)==1) && (ps2.read(PS_PAD::PAD_L1)==0)){ |
rizqicahyo | 3:43d4cb3ece1b | 336 | //pivot kanan |
rizqicahyo | 3:43d4cb3ece1b | 337 | motor2.speed((float)-0.5*(speed-tuning2)); |
rizqicahyo | 3:43d4cb3ece1b | 338 | motor4.speed((float)0.5*(speed-tuning4)); |
rizqicahyo | 3:43d4cb3ece1b | 339 | motor1.speed((float)-0.5*(speed-tuning1)); |
rizqicahyo | 3:43d4cb3ece1b | 340 | motor3.speed((float)0.5*(speed-tuning3)); |
rizqicahyo | 3:43d4cb3ece1b | 341 | pc.printf("pivot kanan \n"); |
rizqicahyo | 2:df6c49846367 | 342 | |
rizqicahyo | 3:43d4cb3ece1b | 343 | vcurr += ax; |
rizqicahyo | 3:43d4cb3ece1b | 344 | } |
rizqicahyo | 3:43d4cb3ece1b | 345 | else if((ps2.read(PS_PAD::PAD_RIGHT)==1) && (ps2.read(PS_PAD::PAD_TOP)==1)){ |
rizqicahyo | 3:43d4cb3ece1b | 346 | //serong atas kanan |
rizqicahyo | 3:43d4cb3ece1b | 347 | motor2.speed(-(speed-tuning2)); |
rizqicahyo | 3:43d4cb3ece1b | 348 | motor4.brake(1); |
rizqicahyo | 3:43d4cb3ece1b | 349 | motor1.brake(1); |
rizqicahyo | 3:43d4cb3ece1b | 350 | motor3.speed(-(speed-tuning3)); |
rizqicahyo | 3:43d4cb3ece1b | 351 | pc.printf("serong atas kanan \n"); |
rizqicahyo | 2:df6c49846367 | 352 | |
rizqicahyo | 3:43d4cb3ece1b | 353 | vcurr += ax; |
rizqicahyo | 3:43d4cb3ece1b | 354 | } |
rizqicahyo | 3:43d4cb3ece1b | 355 | else if((ps2.read(PS_PAD::PAD_TOP)==1) && (ps2.read(PS_PAD::PAD_LEFT)==1)){ |
rizqicahyo | 3:43d4cb3ece1b | 356 | //serong atas kiri |
rizqicahyo | 3:43d4cb3ece1b | 357 | motor2.brake(1); |
rizqicahyo | 3:43d4cb3ece1b | 358 | motor4.speed(speed-tuning4); |
rizqicahyo | 3:43d4cb3ece1b | 359 | motor1.speed(speed-tuning1); |
rizqicahyo | 3:43d4cb3ece1b | 360 | motor3.brake(1); |
rizqicahyo | 3:43d4cb3ece1b | 361 | pc.printf("serong atas kiri \n"); |
rizqicahyo | 3:43d4cb3ece1b | 362 | |
rizqicahyo | 3:43d4cb3ece1b | 363 | vcurr += ax; |
rizqicahyo | 3:43d4cb3ece1b | 364 | } |
rizqicahyo | 3:43d4cb3ece1b | 365 | else if((ps2.read(PS_PAD::PAD_LEFT)==1) && (ps2.read(PS_PAD::PAD_BOTTOM)==1)){ |
rizqicahyo | 3:43d4cb3ece1b | 366 | //serong bawah kiri |
rizqicahyo | 3:43d4cb3ece1b | 367 | motor2.speed(speed-tuning2); |
rizqicahyo | 3:43d4cb3ece1b | 368 | motor4.brake(1); |
rizqicahyo | 3:43d4cb3ece1b | 369 | motor1.brake(1); |
rizqicahyo | 3:43d4cb3ece1b | 370 | motor3.speed(speed-tuning3); |
rizqicahyo | 3:43d4cb3ece1b | 371 | pc.printf("serong bawah kiri \n"); |
rizqicahyo | 2:df6c49846367 | 372 | |
rizqicahyo | 3:43d4cb3ece1b | 373 | vcurr += ax; |
rizqicahyo | 0:edddd373a163 | 374 | } |
rizqicahyo | 3:43d4cb3ece1b | 375 | else if((ps2.read(PS_PAD::PAD_BOTTOM)==1) && (ps2.read(PS_PAD::PAD_RIGHT)==1)){ |
rizqicahyo | 3:43d4cb3ece1b | 376 | //serong bawah kanan |
rizqicahyo | 3:43d4cb3ece1b | 377 | motor2.brake(1); |
rizqicahyo | 3:43d4cb3ece1b | 378 | motor4.speed(-(speed-tuning4)); |
rizqicahyo | 3:43d4cb3ece1b | 379 | motor1.speed(-(speed-tuning1)); |
rizqicahyo | 3:43d4cb3ece1b | 380 | motor3.brake(1); |
rizqicahyo | 3:43d4cb3ece1b | 381 | pc.printf("serong bawah kanan \n"); |
rizqicahyo | 3:43d4cb3ece1b | 382 | |
rizqicahyo | 3:43d4cb3ece1b | 383 | vcurr += ax; |
rizqicahyo | 3:43d4cb3ece1b | 384 | } |
rizqicahyo | 3:43d4cb3ece1b | 385 | else if((ps2.read(PS_PAD::PAD_TOP)==1) && (ps2.read(PS_PAD::PAD_BOTTOM)==0)){ |
rizqicahyo | 3:43d4cb3ece1b | 386 | //maju |
rizqicahyo | 3:43d4cb3ece1b | 387 | motor1.speed(speed-tuning1); |
rizqicahyo | 3:43d4cb3ece1b | 388 | motor3.speed(-(speed-tuning3)); |
rizqicahyo | 3:43d4cb3ece1b | 389 | motor2.speed(-(speed-tuning2)); |
rizqicahyo | 3:43d4cb3ece1b | 390 | motor4.speed(speed-tuning4); |
rizqicahyo | 3:43d4cb3ece1b | 391 | pc.printf("maju \n"); |
rizqicahyo | 2:df6c49846367 | 392 | |
rizqicahyo | 3:43d4cb3ece1b | 393 | vcurr += ax; |
rizqicahyo | 3:43d4cb3ece1b | 394 | } |
rizqicahyo | 3:43d4cb3ece1b | 395 | else if((ps2.read(PS_PAD::PAD_BOTTOM)==1) && (ps2.read(PS_PAD::PAD_TOP)==0)){ |
rizqicahyo | 3:43d4cb3ece1b | 396 | //mundur |
rizqicahyo | 3:43d4cb3ece1b | 397 | motor1.speed(-(speed-tuning1)); |
rizqicahyo | 3:43d4cb3ece1b | 398 | motor3.speed(speed-tuning3); |
rizqicahyo | 3:43d4cb3ece1b | 399 | motor2.speed(speed-tuning2); |
rizqicahyo | 3:43d4cb3ece1b | 400 | motor4.speed(-(speed-tuning4)); |
rizqicahyo | 3:43d4cb3ece1b | 401 | pc.printf("mundur \n"); |
rizqicahyo | 2:df6c49846367 | 402 | |
rizqicahyo | 3:43d4cb3ece1b | 403 | vcurr += ax; |
rizqicahyo | 3:43d4cb3ece1b | 404 | } |
rizqicahyo | 3:43d4cb3ece1b | 405 | else if((ps2.read(PS_PAD::PAD_RIGHT)==1) && (ps2.read(PS_PAD::PAD_LEFT)==0)){ |
rizqicahyo | 3:43d4cb3ece1b | 406 | //kanan |
rizqicahyo | 3:43d4cb3ece1b | 407 | motor2.speed(-(speed-tuning2)); |
rizqicahyo | 3:43d4cb3ece1b | 408 | motor4.speed(-(speed-tuning4)); |
rizqicahyo | 3:43d4cb3ece1b | 409 | motor1.speed(-(speed-tuning1)); |
rizqicahyo | 3:43d4cb3ece1b | 410 | motor3.speed(-(speed-tuning3)); |
rizqicahyo | 3:43d4cb3ece1b | 411 | pc.printf("kanan \n"); |
rizqicahyo | 3:43d4cb3ece1b | 412 | |
rizqicahyo | 3:43d4cb3ece1b | 413 | vcurr += ax; |
rizqicahyo | 3:43d4cb3ece1b | 414 | } |
rizqicahyo | 3:43d4cb3ece1b | 415 | else if((ps2.read(PS_PAD::PAD_RIGHT)==0) && (ps2.read(PS_PAD::PAD_LEFT)==1)){ |
rizqicahyo | 3:43d4cb3ece1b | 416 | //kiri |
rizqicahyo | 3:43d4cb3ece1b | 417 | motor2.speed(speed-tuning2); |
rizqicahyo | 3:43d4cb3ece1b | 418 | motor4.speed(speed-tuning4); |
rizqicahyo | 3:43d4cb3ece1b | 419 | motor1.speed(speed-tuning1); |
rizqicahyo | 3:43d4cb3ece1b | 420 | motor3.speed(speed-tuning3); |
rizqicahyo | 3:43d4cb3ece1b | 421 | pc.printf("kiri \n"); |
rizqicahyo | 3:43d4cb3ece1b | 422 | |
rizqicahyo | 3:43d4cb3ece1b | 423 | vcurr += ax; |
rizqicahyo | 0:edddd373a163 | 424 | } |
rizqicahyo | 0:edddd373a163 | 425 | else{ |
rizqicahyo | 3:43d4cb3ece1b | 426 | motor1.brake(1); |
rizqicahyo | 3:43d4cb3ece1b | 427 | motor3.brake(1); |
rizqicahyo | 3:43d4cb3ece1b | 428 | motor2.brake(1); |
rizqicahyo | 3:43d4cb3ece1b | 429 | motor4.brake(1); |
rizqicahyo | 3:43d4cb3ece1b | 430 | pc.printf("diam \n"); |
rizqicahyo | 0:edddd373a163 | 431 | |
rizqicahyo | 3:43d4cb3ece1b | 432 | vcurr = v0; |
rizqicahyo | 3:43d4cb3ece1b | 433 | } |
rizqicahyo | 3:43d4cb3ece1b | 434 | |
rizqicahyo | 3:43d4cb3ece1b | 435 | } |
rizqicahyo | 3:43d4cb3ece1b | 436 | |
rizqicahyo | 3:43d4cb3ece1b | 437 | if((ps2.read(PS_PAD::PAD_CIRCLE)==0) && (ps2.read(PS_PAD::PAD_TRIANGLE)==1)){ |
rizqicahyo | 3:43d4cb3ece1b | 438 | //POWER WINDOW ATAS |
rizqicahyo | 3:43d4cb3ece1b | 439 | motorS.speed(1); |
rizqicahyo | 3:43d4cb3ece1b | 440 | if (limit1 == 0){ |
rizqicahyo | 3:43d4cb3ece1b | 441 | motorS.brake(1); |
rizqicahyo | 3:43d4cb3ece1b | 442 | } |
rizqicahyo | 3:43d4cb3ece1b | 443 | |
rizqicahyo | 3:43d4cb3ece1b | 444 | |
rizqicahyo | 3:43d4cb3ece1b | 445 | pc.printf("up \n"); |
rizqicahyo | 3:43d4cb3ece1b | 446 | c++; |
rizqicahyo | 3:43d4cb3ece1b | 447 | } |
rizqicahyo | 3:43d4cb3ece1b | 448 | else if((ps2.read(PS_PAD::PAD_CIRCLE)==1) && (ps2.read(PS_PAD::PAD_TRIANGLE)==0)){ |
rizqicahyo | 3:43d4cb3ece1b | 449 | //POWER WINDOW BAWAH |
rizqicahyo | 3:43d4cb3ece1b | 450 | motorS.speed(-0.5); |
rizqicahyo | 3:43d4cb3ece1b | 451 | |
rizqicahyo | 3:43d4cb3ece1b | 452 | if (limit2 ==0){ |
rizqicahyo | 2:df6c49846367 | 453 | motorS.brake(1); |
rizqicahyo | 2:df6c49846367 | 454 | } |
rizqicahyo | 3:43d4cb3ece1b | 455 | |
rizqicahyo | 3:43d4cb3ece1b | 456 | pc.printf("down \n"); |
rizqicahyo | 3:43d4cb3ece1b | 457 | c--; |
rizqicahyo | 3:43d4cb3ece1b | 458 | } |
rizqicahyo | 3:43d4cb3ece1b | 459 | else{ |
rizqicahyo | 3:43d4cb3ece1b | 460 | motorS.brake(1); |
rizqicahyo | 3:43d4cb3ece1b | 461 | if ((c <= batas_delay) && (c>=-batas_delay)){ |
rizqicahyo | 3:43d4cb3ece1b | 462 | c=0; |
rizqicahyo | 2:df6c49846367 | 463 | } |
rizqicahyo | 3:43d4cb3ece1b | 464 | |
rizqicahyo | 3:43d4cb3ece1b | 465 | pc.printf("diam \n"); |
rizqicahyo | 3:43d4cb3ece1b | 466 | } |
rizqicahyo | 3:43d4cb3ece1b | 467 | |
rizqicahyo | 3:43d4cb3ece1b | 468 | if((c > batas_delay) && (limit1 == 0)){ |
rizqicahyo | 3:43d4cb3ece1b | 469 | c = 0; |
rizqicahyo | 3:43d4cb3ece1b | 470 | motorS.brake(1); |
rizqicahyo | 3:43d4cb3ece1b | 471 | } |
rizqicahyo | 3:43d4cb3ece1b | 472 | else if((c < -batas_delay) && (limit2 == 0)){ |
rizqicahyo | 3:43d4cb3ece1b | 473 | c = 0; |
rizqicahyo | 3:43d4cb3ece1b | 474 | motorS.brake(1); |
rizqicahyo | 3:43d4cb3ece1b | 475 | } |
rizqicahyo | 3:43d4cb3ece1b | 476 | else if( (c > batas_delay) && (limit1 != 0)){ |
rizqicahyo | 3:43d4cb3ece1b | 477 | motorS.speed(1); |
rizqicahyo | 3:43d4cb3ece1b | 478 | } |
rizqicahyo | 3:43d4cb3ece1b | 479 | else if ((c<-batas_delay) && (limit2 != 0)){ |
rizqicahyo | 3:43d4cb3ece1b | 480 | motorS.speed(-0.7); |
rizqicahyo | 3:43d4cb3ece1b | 481 | } |
rizqicahyo | 2:df6c49846367 | 482 | |
rizqicahyo | 0:edddd373a163 | 483 | |
rizqicahyo | 3:43d4cb3ece1b | 484 | if ((ps2.read(PS_PAD::PAD_SELECT)==1)) |
rizqicahyo | 3:43d4cb3ece1b | 485 | { |
rizqicahyo | 0:edddd373a163 | 486 | //mekanisme ambil gripper |
rizqicahyo | 0:edddd373a163 | 487 | pc.printf("mekanisme gripper"); |
rizqicahyo | 0:edddd373a163 | 488 | if (g==1){ |
rizqicahyo | 0:edddd373a163 | 489 | pc.printf("ambil 1"); |
rizqicahyo | 0:edddd373a163 | 490 | pnuematik2 = 0; |
rizqicahyo | 0:edddd373a163 | 491 | g=2; |
rizqicahyo | 0:edddd373a163 | 492 | wait_ms(400); |
rizqicahyo | 0:edddd373a163 | 493 | } |
rizqicahyo | 0:edddd373a163 | 494 | else |
rizqicahyo | 0:edddd373a163 | 495 | { |
rizqicahyo | 0:edddd373a163 | 496 | pnuematik2 = 1; |
rizqicahyo | 0:edddd373a163 | 497 | wait_ms(400); |
rizqicahyo | 0:edddd373a163 | 498 | g=1; |
rizqicahyo | 0:edddd373a163 | 499 | } |
rizqicahyo | 3:43d4cb3ece1b | 500 | } |
rizqicahyo | 0:edddd373a163 | 501 | } |
rizqicahyo | 0:edddd373a163 | 502 | |
rizqicahyo | 0:edddd373a163 | 503 | void edf_servo(){ |
rizqicahyo | 0:edddd373a163 | 504 | if(ps2.read(PS_PAD::PAD_X)==1){ |
rizqicahyo | 0:edddd373a163 | 505 | //PWM ++ |
rizqicahyo | 2:df6c49846367 | 506 | pwm += 0.0007; |
rizqicahyo | 2:df6c49846367 | 507 | if( pwm > 0.7) pwm = 0.8; |
rizqicahyo | 0:edddd373a163 | 508 | pc.printf("gaspol \n"); |
rizqicahyo | 0:edddd373a163 | 509 | } |
rizqicahyo | 0:edddd373a163 | 510 | else if(ps2.read(PS_PAD::PAD_SQUARE)==1){ |
rizqicahyo | 0:edddd373a163 | 511 | //PWM-- |
rizqicahyo | 2:df6c49846367 | 512 | pwm -= 0.0007; |
rizqicahyo | 0:edddd373a163 | 513 | |
rizqicahyo | 0:edddd373a163 | 514 | if(pwm < 0) pwm = 0.0; |
rizqicahyo | 0:edddd373a163 | 515 | pc.printf("rem ndeng \n"); |
rizqicahyo | 0:edddd373a163 | 516 | } |
rizqicahyo | 0:edddd373a163 | 517 | |
rizqicahyo | 0:edddd373a163 | 518 | if(ps2.read(PS_PAD::PAD_R2)==1){ |
rizqicahyo | 0:edddd373a163 | 519 | //SERVO -- |
rizqicahyo | 0:edddd373a163 | 520 | sudut += 0.5; |
rizqicahyo | 0:edddd373a163 | 521 | |
rizqicahyo | 0:edddd373a163 | 522 | if(sudut > 90) sudut = 90; |
rizqicahyo | 0:edddd373a163 | 523 | pc.printf("servo max \n"); |
rizqicahyo | 0:edddd373a163 | 524 | } |
rizqicahyo | 0:edddd373a163 | 525 | else if(ps2.read(PS_PAD::PAD_L2)==1){ |
rizqicahyo | 0:edddd373a163 | 526 | //SERVO ++ |
rizqicahyo | 0:edddd373a163 | 527 | sudut -= 0.5; |
rizqicahyo | 0:edddd373a163 | 528 | |
rizqicahyo | 0:edddd373a163 | 529 | if(sudut < -90) sudut = -90; |
rizqicahyo | 0:edddd373a163 | 530 | pc.printf("servo min \n"); |
rizqicahyo | 0:edddd373a163 | 531 | } |
rizqicahyo | 0:edddd373a163 | 532 | |
rizqicahyo | 0:edddd373a163 | 533 | if(ps2.read(PS_PAD::PAD_START)==1){ |
rizqicahyo | 0:edddd373a163 | 534 | |
rizqicahyo | 0:edddd373a163 | 535 | sudut = 0; |
rizqicahyo | 3:43d4cb3ece1b | 536 | pwm = 0.22; |
rizqicahyo | 3:43d4cb3ece1b | 537 | |
rizqicahyo | 3:43d4cb3ece1b | 538 | pnuematik3 = 1; |
rizqicahyo | 3:43d4cb3ece1b | 539 | pnuematik4 = 1; |
rizqicahyo | 0:edddd373a163 | 540 | } |
rizqicahyo | 3:43d4cb3ece1b | 541 | |
rizqicahyo | 3:43d4cb3ece1b | 542 | |
rizqicahyo | 0:edddd373a163 | 543 | servoEDF.position((float)sudut); |
rizqicahyo | 0:edddd373a163 | 544 | edf.setThrottle((float)pwm); |
rizqicahyo | 0:edddd373a163 | 545 | edf.pulse(); |
rizqicahyo | 2:df6c49846367 | 546 | } |
rizqicahyo | 2:df6c49846367 | 547 | |
rizqicahyo | 3:43d4cb3ece1b | 548 | |
rizqicahyo | 3:43d4cb3ece1b | 549 | /////////////////LINE FOLLOWER///////////////////////// |
rizqicahyo | 2:df6c49846367 | 550 | void init_sensor(){ |
rizqicahyo | 2:df6c49846367 | 551 | char data; |
rizqicahyo | 2:df6c49846367 | 552 | if(com.readable()){ |
rizqicahyo | 2:df6c49846367 | 553 | data = com.getc(); |
rizqicahyo | 2:df6c49846367 | 554 | |
rizqicahyo | 2:df6c49846367 | 555 | for(int i=0; i<6; i++){ |
rizqicahyo | 2:df6c49846367 | 556 | datasensor[i] = (data >> i) & 1; |
rizqicahyo | 2:df6c49846367 | 557 | } |
rizqicahyo | 2:df6c49846367 | 558 | } |
rizqicahyo | 2:df6c49846367 | 559 | } |
rizqicahyo | 2:df6c49846367 | 560 | |
rizqicahyo | 3:43d4cb3ece1b | 561 | void linetracer(float speed){ |
rizqicahyo | 2:df6c49846367 | 562 | float speed1,speed2,speed3,speed4; |
rizqicahyo | 3:43d4cb3ece1b | 563 | |
rizqicahyo | 2:df6c49846367 | 564 | //////////////////logic dari PV (present Value)///////////////////////// |
rizqicahyo | 3:43d4cb3ece1b | 565 | if(datasensor[2] && datasensor[3]){ |
rizqicahyo | 3:43d4cb3ece1b | 566 | speed1 = speed*driver0; |
rizqicahyo | 3:43d4cb3ece1b | 567 | speed2 = speed*driver0; |
rizqicahyo | 3:43d4cb3ece1b | 568 | speed3 = speed*driver0; |
rizqicahyo | 3:43d4cb3ece1b | 569 | speed4 = speed*driver0; |
rizqicahyo | 2:df6c49846367 | 570 | } |
rizqicahyo | 3:43d4cb3ece1b | 571 | else if(datasensor[2]){ |
rizqicahyo | 3:43d4cb3ece1b | 572 | speed1 = speed*driver1; |
rizqicahyo | 3:43d4cb3ece1b | 573 | speed2 = speed*driver0; |
rizqicahyo | 3:43d4cb3ece1b | 574 | speed3 = speed*driver0; |
rizqicahyo | 3:43d4cb3ece1b | 575 | speed4 = speed*driver1; |
rizqicahyo | 2:df6c49846367 | 576 | } |
rizqicahyo | 3:43d4cb3ece1b | 577 | else if(datasensor[3]){ |
rizqicahyo | 3:43d4cb3ece1b | 578 | speed1 = speed*driver0; |
rizqicahyo | 3:43d4cb3ece1b | 579 | speed2 = speed*driver1; |
rizqicahyo | 3:43d4cb3ece1b | 580 | speed3 = speed*driver1; |
rizqicahyo | 3:43d4cb3ece1b | 581 | speed4 = speed*driver0; |
rizqicahyo | 2:df6c49846367 | 582 | } |
rizqicahyo | 2:df6c49846367 | 583 | else if(datasensor[1]){ |
rizqicahyo | 3:43d4cb3ece1b | 584 | speed1 = speed*driver2; |
rizqicahyo | 3:43d4cb3ece1b | 585 | speed2 = speed*driver0; |
rizqicahyo | 3:43d4cb3ece1b | 586 | speed3 = speed*driver0; |
rizqicahyo | 3:43d4cb3ece1b | 587 | speed4 = speed*driver2; |
rizqicahyo | 2:df6c49846367 | 588 | } |
rizqicahyo | 2:df6c49846367 | 589 | else if(datasensor[4]){ |
rizqicahyo | 3:43d4cb3ece1b | 590 | speed1 = speed*driver0; |
rizqicahyo | 3:43d4cb3ece1b | 591 | speed2 = speed*driver2; |
rizqicahyo | 3:43d4cb3ece1b | 592 | speed3 = speed*driver2; |
rizqicahyo | 3:43d4cb3ece1b | 593 | speed4 = speed*driver0; |
rizqicahyo | 2:df6c49846367 | 594 | } |
rizqicahyo | 3:43d4cb3ece1b | 595 | else if(datasensor[0]){ |
rizqicahyo | 3:43d4cb3ece1b | 596 | speed1 = speed*driver3; |
rizqicahyo | 3:43d4cb3ece1b | 597 | speed2 = speed*driver0; |
rizqicahyo | 3:43d4cb3ece1b | 598 | speed3 = speed*driver0; |
rizqicahyo | 3:43d4cb3ece1b | 599 | speed4 = speed*driver3; |
rizqicahyo | 2:df6c49846367 | 600 | } |
rizqicahyo | 3:43d4cb3ece1b | 601 | else if(datasensor[5]){ |
rizqicahyo | 3:43d4cb3ece1b | 602 | speed1 = speed*driver0; |
rizqicahyo | 3:43d4cb3ece1b | 603 | speed2 = speed*driver3; |
rizqicahyo | 3:43d4cb3ece1b | 604 | speed3 = speed*driver3; |
rizqicahyo | 3:43d4cb3ece1b | 605 | speed4 = speed*driver0; |
rizqicahyo | 2:df6c49846367 | 606 | } |
rizqicahyo | 3:43d4cb3ece1b | 607 | |
rizqicahyo | 2:df6c49846367 | 608 | else |
rizqicahyo | 2:df6c49846367 | 609 | { |
rizqicahyo | 3:43d4cb3ece1b | 610 | if(g_flag == 0){ |
rizqicahyo | 3:43d4cb3ece1b | 611 | speed1 = speed*driver0; |
rizqicahyo | 3:43d4cb3ece1b | 612 | speed2 = speed*driver0; |
rizqicahyo | 3:43d4cb3ece1b | 613 | speed3 = speed*driver0; |
rizqicahyo | 3:43d4cb3ece1b | 614 | speed4 = speed*driver0; |
rizqicahyo | 3:43d4cb3ece1b | 615 | } |
rizqicahyo | 3:43d4cb3ece1b | 616 | else if(g_flag == 3){ |
rizqicahyo | 3:43d4cb3ece1b | 617 | speed1 = speed*driver1; |
rizqicahyo | 3:43d4cb3ece1b | 618 | speed2 = speed*driver0; |
rizqicahyo | 3:43d4cb3ece1b | 619 | speed3 = speed*driver0; |
rizqicahyo | 3:43d4cb3ece1b | 620 | speed4 = speed*driver1; |
rizqicahyo | 3:43d4cb3ece1b | 621 | } |
rizqicahyo | 3:43d4cb3ece1b | 622 | else if(g_flag == 4){ |
rizqicahyo | 3:43d4cb3ece1b | 623 | speed1 = speed*driver0; |
rizqicahyo | 3:43d4cb3ece1b | 624 | speed2 = speed*driver1; |
rizqicahyo | 3:43d4cb3ece1b | 625 | speed3 = speed*driver1; |
rizqicahyo | 3:43d4cb3ece1b | 626 | speed4 = speed*driver0; |
rizqicahyo | 2:df6c49846367 | 627 | } |
rizqicahyo | 3:43d4cb3ece1b | 628 | else if(g_flag == 2){ |
rizqicahyo | 3:43d4cb3ece1b | 629 | speed1 = speed*driver2; |
rizqicahyo | 3:43d4cb3ece1b | 630 | speed2 = speed*driver0; |
rizqicahyo | 3:43d4cb3ece1b | 631 | speed3 = speed*driver0; |
rizqicahyo | 3:43d4cb3ece1b | 632 | speed4 = speed*driver2; |
rizqicahyo | 3:43d4cb3ece1b | 633 | } |
rizqicahyo | 3:43d4cb3ece1b | 634 | else if(g_flag == 5){ |
rizqicahyo | 3:43d4cb3ece1b | 635 | speed1 = speed*driver0; |
rizqicahyo | 3:43d4cb3ece1b | 636 | speed2 = speed*driver2; |
rizqicahyo | 3:43d4cb3ece1b | 637 | speed3 = speed*driver2; |
rizqicahyo | 3:43d4cb3ece1b | 638 | speed4 = speed*driver0; |
rizqicahyo | 3:43d4cb3ece1b | 639 | } |
rizqicahyo | 3:43d4cb3ece1b | 640 | else if(g_flag == 1){ |
rizqicahyo | 3:43d4cb3ece1b | 641 | speed1 = -speed*driver2; |
rizqicahyo | 3:43d4cb3ece1b | 642 | speed2 = speed*driver2; |
rizqicahyo | 3:43d4cb3ece1b | 643 | speed3 = speed*driver2; |
rizqicahyo | 3:43d4cb3ece1b | 644 | speed4 = -speed*driver2; |
rizqicahyo | 3:43d4cb3ece1b | 645 | } |
rizqicahyo | 3:43d4cb3ece1b | 646 | else if(g_flag == 6){ |
rizqicahyo | 3:43d4cb3ece1b | 647 | speed1 = speed*driver2; |
rizqicahyo | 3:43d4cb3ece1b | 648 | speed2 = -speed*driver2; |
rizqicahyo | 3:43d4cb3ece1b | 649 | speed3 = -speed*driver2; |
rizqicahyo | 3:43d4cb3ece1b | 650 | speed4 = speed*driver2; |
rizqicahyo | 2:df6c49846367 | 651 | } |
rizqicahyo | 2:df6c49846367 | 652 | } |
rizqicahyo | 2:df6c49846367 | 653 | |
rizqicahyo | 3:43d4cb3ece1b | 654 | motor1.speed((float)-(speed1-0.0)); |
rizqicahyo | 3:43d4cb3ece1b | 655 | motor2.speed((float)-(speed2-0.04)); |
rizqicahyo | 3:43d4cb3ece1b | 656 | motor3.speed((float)-(speed3-0.0)); |
rizqicahyo | 3:43d4cb3ece1b | 657 | motor4.speed((float)-(speed4-0.0)); |
rizqicahyo | 3:43d4cb3ece1b | 658 | |
rizqicahyo | 3:43d4cb3ece1b | 659 | } |
rizqicahyo | 3:43d4cb3ece1b | 660 | |
rizqicahyo | 3:43d4cb3ece1b | 661 | void flag_sensor(){ |
rizqicahyo | 3:43d4cb3ece1b | 662 | if((datasensor[2] == 1) && (datasensor[3] == 1)) g_flag = 0; |
rizqicahyo | 3:43d4cb3ece1b | 663 | else if(datasensor[2] == 1) g_flag = 3; |
rizqicahyo | 3:43d4cb3ece1b | 664 | else if(datasensor[3] == 1) g_flag = 4; |
rizqicahyo | 3:43d4cb3ece1b | 665 | else if(datasensor[1] == 1) g_flag = 2; |
rizqicahyo | 3:43d4cb3ece1b | 666 | else if(datasensor[4] == 1) g_flag = 5; |
rizqicahyo | 3:43d4cb3ece1b | 667 | else if(datasensor[0] == 1) g_flag = 1; |
rizqicahyo | 3:43d4cb3ece1b | 668 | else if(datasensor[5] == 1) g_flag = 6; |
rizqicahyo | 0:edddd373a163 | 669 | } |