KRAI 2016
publish
Dependencies: ESC Motordriver PS_PAD Ping hadah mbed
Fork of
Ultimate_Hybrid_LF
by 
KRAI 2016
main.cpp@7:59a513681663, 2018-02-10 (annotated)
- Committer:
- rizqicahyo
- Date:
- Sat Feb 10 04:24:23 2018 +0000
- Revision:
- 7:59a513681663
- Parent:
- 5:256f6eac0358
publish;
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 | 7:59a513681663 | 5 | #include "motordriver.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 | 7:59a513681663 | 15 | Serial pc(USBTX,USBRX); //debug |
| rizqicahyo | 7:59a513681663 | 16 | Serial com1(PA_0,PA_1); //sensor depan |
| rizqicahyo | 7:59a513681663 | 17 | Serial com2(PC_6, PC_7); //sensor belakang |
| rizqicahyo | 0:edddd373a163 | 18 | |
| rizqicahyo | 0:edddd373a163 | 19 | //joystick PS2 |
| rizqicahyo | 0:edddd373a163 | 20 | PS_PAD ps2(PB_15,PB_14,PB_13, PC_4); //(mosi, miso, sck, ss) |
| rizqicahyo | 0:edddd373a163 | 21 | |
| rizqicahyo | 0:edddd373a163 | 22 | //motor (PWM, forward, reverse) |
| rizqicahyo | 7:59a513681663 | 23 | Motor motor3(PA_8, PB_0, PC_15, 1); //motor1 |
| rizqicahyo | 7:59a513681663 | 24 | Motor motor1(PA_11, PA_6, PA_5, 1); //motor2 |
| rizqicahyo | 7:59a513681663 | 25 | Motor motor4(PA_9, PC_2, PC_3, 1); //motor_slider |
| rizqicahyo | 7:59a513681663 | 26 | Motor motor2(PA_10, PB_5, PB_4, 1); //motor_griper |
| rizqicahyo | 7:59a513681663 | 27 | Motor motorC1(PB_7, PA_14, PA_15 , 1); //motor4 |
| rizqicahyo | 7:59a513681663 | 28 | Motor motorC2(PB_9, PA_12, PC_5, 1); //motor6 |
| rizqicahyo | 7:59a513681663 | 29 | Motor motorS(PB_8, PA_13, PB_1, 1); //motor5 |
| rizqicahyo | 3:43d4cb3ece1b | 30 | //Motor motor4(PB_6, PA_7, PB_12); |
| Najib_irvani | 1:fc1535231c0d | 31 | |
| rizqicahyo | 7:59a513681663 | 32 | //pnuematik |
| rizqicahyo | 0:edddd373a163 | 33 | DigitalOut pnuematik1(PC_11); |
| rizqicahyo | 0:edddd373a163 | 34 | DigitalOut pnuematik2(PC_10); |
| rizqicahyo | 0:edddd373a163 | 35 | DigitalOut pnuematik3(PD_2); |
| rizqicahyo | 0:edddd373a163 | 36 | DigitalOut pnuematik4(PC_12); |
| rizqicahyo | 0:edddd373a163 | 37 | |
| rizqicahyo | 0:edddd373a163 | 38 | //Limit Switch |
| rizqicahyo | 0:edddd373a163 | 39 | DigitalIn limit1(PC_13 ,PullUp); |
| rizqicahyo | 0:edddd373a163 | 40 | DigitalIn limit2(PC_14 ,PullUp); |
| rizqicahyo | 0:edddd373a163 | 41 | DigitalIn limit3(PC_1 ,PullUp); |
| rizqicahyo | 0:edddd373a163 | 42 | DigitalIn limit4(PC_0 ,PullUp); |
| rizqicahyo | 0:edddd373a163 | 43 | |
| rizqicahyo | 3:43d4cb3ece1b | 44 | DigitalIn field(PB_10 ,PullUp); |
| rizqicahyo | 3:43d4cb3ece1b | 45 | |
| rizqicahyo | 3:43d4cb3ece1b | 46 | //laser pointer |
| rizqicahyo | 7:59a513681663 | 47 | DigitalIn IR(PB_3 ,PullUp); |
| rizqicahyo | 0:edddd373a163 | 48 | |
| rizqicahyo | 0:edddd373a163 | 49 | //servo(PWM) |
| rizqicahyo | 0:edddd373a163 | 50 | Servo servoEDF(PC_8); |
| rizqicahyo | 0:edddd373a163 | 51 | |
| rizqicahyo | 0:edddd373a163 | 52 | //EDF(PWM, timer) |
| rizqicahyo | 7:59a513681663 | 53 | ESC edf(PC_9,20); |
| rizqicahyo | 0:edddd373a163 | 54 | |
| rizqicahyo | 3:43d4cb3ece1b | 55 | //Timer |
| rizqicahyo | 3:43d4cb3ece1b | 56 | Ticker timer; |
| rizqicahyo | 7:59a513681663 | 57 | Timer timer_linetracer; |
| rizqicahyo | 2:df6c49846367 | 58 | |
| rizqicahyo | 4:7a7a8aa33fd5 | 59 | //Sensor Ping |
| rizqicahyo | 4:7a7a8aa33fd5 | 60 | Ping ping(PB_2); |
| rizqicahyo | 0:edddd373a163 | 61 | |
| rizqicahyo | 0:edddd373a163 | 62 | /*********************************************************************************************/ |
| rizqicahyo | 0:edddd373a163 | 63 | /** DEKLARASI VARIABEL, PROSEDUR, DAN FUNGSI **/ |
| rizqicahyo | 0:edddd373a163 | 64 | /*********************************************************************************************/ |
| rizqicahyo | 3:43d4cb3ece1b | 65 | const float gMax_speed = 0.85; |
| rizqicahyo | 3:43d4cb3ece1b | 66 | //const float gMin_speed = 0.1; |
| rizqicahyo | 3:43d4cb3ece1b | 67 | const float v0 = 0.4; |
| rizqicahyo | 7:59a513681663 | 68 | const float ax = 0.0005; |
| rizqicahyo | 7:59a513681663 | 69 | float vcurr_base = v0; |
| rizqicahyo | 7:59a513681663 | 70 | float vcurr_slider = v0; |
| rizqicahyo | 2:df6c49846367 | 71 | |
| rizqicahyo | 7:59a513681663 | 72 | const float tuning1 = 0.03; |
| rizqicahyo | 7:59a513681663 | 73 | const float tuning2 = 0.06; |
| rizqicahyo | 7:59a513681663 | 74 | const float tuning3 = 0.03; |
| rizqicahyo | 7:59a513681663 | 75 | const float tuning4 = 0.0 ; |
| rizqicahyo | 2:df6c49846367 | 76 | |
| rizqicahyo | 7:59a513681663 | 77 | const float driver1_0 = 1; |
| rizqicahyo | 7:59a513681663 | 78 | const float driver1_1 = 0.91; |
| rizqicahyo | 7:59a513681663 | 79 | const float driver1_2 = 0.78; |
| rizqicahyo | 7:59a513681663 | 80 | const float driver1_3 = 0.55; |
| rizqicahyo | 0:edddd373a163 | 81 | |
| rizqicahyo | 0:edddd373a163 | 82 | // inisialisasi pwm awal servo |
| rizqicahyo | 0:edddd373a163 | 83 | double pwm = 0.00; |
| rizqicahyo | 0:edddd373a163 | 84 | |
| rizqicahyo | 0:edddd373a163 | 85 | // inisialisasi sudut awal |
| rizqicahyo | 0:edddd373a163 | 86 | double sudut = -85; |
| rizqicahyo | 0:edddd373a163 | 87 | |
| rizqicahyo | 7:59a513681663 | 88 | // variabel counting |
| rizqicahyo | 7:59a513681663 | 89 | unsigned long int g = 0; |
| rizqicahyo | 0:edddd373a163 | 90 | |
| rizqicahyo | 2:df6c49846367 | 91 | //slider auto |
| rizqicahyo | 2:df6c49846367 | 92 | int c =0; |
| rizqicahyo | 7:59a513681663 | 93 | int batas_delay = 340; |
| rizqicahyo | 7:59a513681663 | 94 | int flag_river; |
| rizqicahyo | 2:df6c49846367 | 95 | |
| rizqicahyo | 2:df6c49846367 | 96 | //data sensor garis dan line following |
| rizqicahyo | 7:59a513681663 | 97 | int datasensor1[6]; |
| rizqicahyo | 7:59a513681663 | 98 | int datasensor2[6]; |
| rizqicahyo | 2:df6c49846367 | 99 | int over; |
| rizqicahyo | 7:59a513681663 | 100 | int g_flag1; |
| rizqicahyo | 7:59a513681663 | 101 | int g_flag2; |
| rizqicahyo | 2:df6c49846367 | 102 | |
| rizqicahyo | 4:7a7a8aa33fd5 | 103 | |
| rizqicahyo | 3:43d4cb3ece1b | 104 | void aktuator(int f); |
| rizqicahyo | 0:edddd373a163 | 105 | void edf_servo(); |
| rizqicahyo | 4:7a7a8aa33fd5 | 106 | |
| rizqicahyo | 2:df6c49846367 | 107 | void init_sensor(); |
| rizqicahyo | 3:43d4cb3ece1b | 108 | void linetracer(float speed); |
| rizqicahyo | 3:43d4cb3ece1b | 109 | void flag_sensor(); |
| rizqicahyo | 7:59a513681663 | 110 | void putar(float speed); |
| rizqicahyo | 2:df6c49846367 | 111 | |
| rizqicahyo | 4:7a7a8aa33fd5 | 112 | float read_jarak(); |
| rizqicahyo | 4:7a7a8aa33fd5 | 113 | |
| rizqicahyo | 0:edddd373a163 | 114 | /*********************************************************************************************/ |
| rizqicahyo | 0:edddd373a163 | 115 | /*********************************************************************************************/ |
| rizqicahyo | 0:edddd373a163 | 116 | /** PROGRAM UTAMA **/ |
| rizqicahyo | 0:edddd373a163 | 117 | /*********************************************************************************************/ |
| rizqicahyo | 0:edddd373a163 | 118 | /*********************************************************************************************/ |
| rizqicahyo | 0:edddd373a163 | 119 | int main() { |
| rizqicahyo | 0:edddd373a163 | 120 | //inisiasi serial |
| rizqicahyo | 0:edddd373a163 | 121 | pc.baud(115200); |
| rizqicahyo | 7:59a513681663 | 122 | com1.baud(115200); |
| rizqicahyo | 7:59a513681663 | 123 | com2.baud(115200); |
| rizqicahyo | 0:edddd373a163 | 124 | |
| rizqicahyo | 3:43d4cb3ece1b | 125 | if(field == 1) sudut = -85; |
| rizqicahyo | 7:59a513681663 | 126 | else sudut = 85; |
| rizqicahyo | 7:59a513681663 | 127 | |
| rizqicahyo | 7:59a513681663 | 128 | //inisisasi flag river |
| rizqicahyo | 7:59a513681663 | 129 | flag_river = 0; |
| rizqicahyo | 3:43d4cb3ece1b | 130 | |
| rizqicahyo | 0:edddd373a163 | 131 | //inisiasi joystick |
| rizqicahyo | 0:edddd373a163 | 132 | ps2.init(); |
| rizqicahyo | 0:edddd373a163 | 133 | |
| rizqicahyo | 0:edddd373a163 | 134 | //set inisiasi servo pada posisi 0 |
| rizqicahyo | 0:edddd373a163 | 135 | servoEDF.position(sudut); |
| rizqicahyo | 0:edddd373a163 | 136 | |
| rizqicahyo | 0:edddd373a163 | 137 | //set edf pada posisi bukan kalibrasi, yaitu set edf 0 |
| rizqicahyo | 0:edddd373a163 | 138 | edf.setThrottle(0); |
| rizqicahyo | 0:edddd373a163 | 139 | edf.pulse(); |
| rizqicahyo | 7:59a513681663 | 140 | |
| rizqicahyo | 0:edddd373a163 | 141 | //inisiasi pnuematik |
| rizqicahyo | 0:edddd373a163 | 142 | pnuematik1 = 1; |
| rizqicahyo | 0:edddd373a163 | 143 | pnuematik2 = 1; |
| rizqicahyo | 4:7a7a8aa33fd5 | 144 | pnuematik3 = 1; |
| rizqicahyo | 4:7a7a8aa33fd5 | 145 | pnuematik4 = 1; |
| rizqicahyo | 0:edddd373a163 | 146 | |
| rizqicahyo | 0:edddd373a163 | 147 | //inisisasi TIMER |
| rizqicahyo | 7:59a513681663 | 148 | //timer.attach(&flag_sensor,0.0005); |
| rizqicahyo | 7:59a513681663 | 149 | //timer.detach(); |
| rizqicahyo | 7:59a513681663 | 150 | timer_linetracer.reset(); |
| rizqicahyo | 0:edddd373a163 | 151 | |
| rizqicahyo | 0:edddd373a163 | 152 | //kondisi robot |
| rizqicahyo | 2:df6c49846367 | 153 | bool manual=true; |
| rizqicahyo | 3:43d4cb3ece1b | 154 | bool pool= false; |
| rizqicahyo | 4:7a7a8aa33fd5 | 155 | |
| rizqicahyo | 4:7a7a8aa33fd5 | 156 | //running manual |
| rizqicahyo | 0:edddd373a163 | 157 | while(manual){ |
| rizqicahyo | 0:edddd373a163 | 158 | |
| rizqicahyo | 0:edddd373a163 | 159 | ps2.poll(); |
| rizqicahyo | 0:edddd373a163 | 160 | |
| rizqicahyo | 3:43d4cb3ece1b | 161 | aktuator(field); |
| rizqicahyo | 0:edddd373a163 | 162 | edf_servo(); |
| rizqicahyo | 0:edddd373a163 | 163 | |
| rizqicahyo | 4:7a7a8aa33fd5 | 164 | if(limit4==0) manual = false; |
| rizqicahyo | 0:edddd373a163 | 165 | |
| rizqicahyo | 0:edddd373a163 | 166 | } |
| rizqicahyo | 0:edddd373a163 | 167 | |
| rizqicahyo | 4:7a7a8aa33fd5 | 168 | //running otomatis |
| rizqicahyo | 3:43d4cb3ece1b | 169 | timer.attach(&flag_sensor,0.0005); |
| rizqicahyo | 7:59a513681663 | 170 | timer_linetracer.start(); |
| rizqicahyo | 7:59a513681663 | 171 | vcurr_base = v0; |
| rizqicahyo | 3:43d4cb3ece1b | 172 | |
| rizqicahyo | 3:43d4cb3ece1b | 173 | while(!pool){ |
| rizqicahyo | 3:43d4cb3ece1b | 174 | init_sensor(); |
| rizqicahyo | 3:43d4cb3ece1b | 175 | |
| rizqicahyo | 7:59a513681663 | 176 | if(vcurr_base > (float)1) vcurr_base = (float) 1; |
| rizqicahyo | 7:59a513681663 | 177 | //else if (vcurr_base < 0.2) vcurr_base = (float) 0.2; |
| rizqicahyo | 7:59a513681663 | 178 | |
| rizqicahyo | 7:59a513681663 | 179 | linetracer(vcurr_base); |
| rizqicahyo | 3:43d4cb3ece1b | 180 | |
| rizqicahyo | 7:59a513681663 | 181 | |
| rizqicahyo | 7:59a513681663 | 182 | if(timer_linetracer.read_ms() >= 2500){ |
| rizqicahyo | 7:59a513681663 | 183 | vcurr_base = 0.4; |
| rizqicahyo | 7:59a513681663 | 184 | } |
| rizqicahyo | 7:59a513681663 | 185 | else{ |
| rizqicahyo | 7:59a513681663 | 186 | vcurr_base += 0.002; |
| rizqicahyo | 7:59a513681663 | 187 | } |
| rizqicahyo | 5:256f6eac0358 | 188 | |
| rizqicahyo | 5:256f6eac0358 | 189 | for(int i=0; i<6; i++){ |
| rizqicahyo | 7:59a513681663 | 190 | printf("%d ",datasensor1[i]); |
| rizqicahyo | 5:256f6eac0358 | 191 | } |
| rizqicahyo | 7:59a513681663 | 192 | for(int i=5; i>=0; i--){ |
| rizqicahyo | 7:59a513681663 | 193 | printf("%d ",datasensor2[i]); |
| rizqicahyo | 7:59a513681663 | 194 | } |
| rizqicahyo | 7:59a513681663 | 195 | printf("%d %d %lf \n",g_flag1, g_flag2, read_jarak()); |
| rizqicahyo | 5:256f6eac0358 | 196 | |
| rizqicahyo | 7:59a513681663 | 197 | if((limit3==0) || (read_jarak() <= (float)5.0)) pool=true; |
| rizqicahyo | 3:43d4cb3ece1b | 198 | } |
| rizqicahyo | 7:59a513681663 | 199 | putar(0.2); |
| rizqicahyo | 0:edddd373a163 | 200 | |
| rizqicahyo | 3:43d4cb3ece1b | 201 | timer.detach(); |
| rizqicahyo | 7:59a513681663 | 202 | timer_linetracer.stop(); |
| rizqicahyo | 7:59a513681663 | 203 | |
| rizqicahyo | 7:59a513681663 | 204 | motor1.stop(1); |
| rizqicahyo | 7:59a513681663 | 205 | motor2.stop(1); |
| rizqicahyo | 7:59a513681663 | 206 | motor3.stop(1); |
| rizqicahyo | 7:59a513681663 | 207 | motor4.stop(1); |
| rizqicahyo | 7:59a513681663 | 208 | |
| rizqicahyo | 7:59a513681663 | 209 | wait_ms(200); |
| rizqicahyo | 0:edddd373a163 | 210 | pnuematik1=0; |
| rizqicahyo | 7:59a513681663 | 211 | |
| rizqicahyo | 7:59a513681663 | 212 | wait_ms(1000); |
| rizqicahyo | 4:7a7a8aa33fd5 | 213 | |
| rizqicahyo | 0:edddd373a163 | 214 | while(limit4!=0){ |
| rizqicahyo | 7:59a513681663 | 215 | motorC1.speed(1); |
| rizqicahyo | 0:edddd373a163 | 216 | motorC2.speed(-1); |
| rizqicahyo | 7:59a513681663 | 217 | |
| rizqicahyo | 7:59a513681663 | 218 | /* if(g < 600000){ |
| rizqicahyo | 7:59a513681663 | 219 | motor1.speed(-(1-tuning1)); |
| rizqicahyo | 7:59a513681663 | 220 | motor2.speed(-(1-tuning2)); |
| rizqicahyo | 7:59a513681663 | 221 | motor3.speed(-(1-tuning3)); |
| rizqicahyo | 7:59a513681663 | 222 | motor4.speed(-(1-tuning4)); |
| rizqicahyo | 7:59a513681663 | 223 | |
| rizqicahyo | 7:59a513681663 | 224 | g++; |
| rizqicahyo | 7:59a513681663 | 225 | } |
| rizqicahyo | 7:59a513681663 | 226 | else{ |
| rizqicahyo | 7:59a513681663 | 227 | motor1.stop(1); |
| rizqicahyo | 7:59a513681663 | 228 | motor2.stop(1); |
| rizqicahyo | 7:59a513681663 | 229 | motor3.stop(1); |
| rizqicahyo | 7:59a513681663 | 230 | motor4.stop(1); |
| rizqicahyo | 7:59a513681663 | 231 | }*/ |
| rizqicahyo | 0:edddd373a163 | 232 | } |
| rizqicahyo | 0:edddd373a163 | 233 | |
| rizqicahyo | 7:59a513681663 | 234 | motorC1.stop(1); |
| rizqicahyo | 7:59a513681663 | 235 | motorC2.stop(1); |
| rizqicahyo | 0:edddd373a163 | 236 | |
| rizqicahyo | 3:43d4cb3ece1b | 237 | if(field==1){ |
| rizqicahyo | 3:43d4cb3ece1b | 238 | pnuematik3 = 0; |
| rizqicahyo | 7:59a513681663 | 239 | wait_ms(1300); |
| rizqicahyo | 7:59a513681663 | 240 | pnuematik2 = 0; |
| rizqicahyo | 3:43d4cb3ece1b | 241 | wait_ms(1500); |
| rizqicahyo | 3:43d4cb3ece1b | 242 | pnuematik3 = 1; |
| rizqicahyo | 3:43d4cb3ece1b | 243 | } |
| rizqicahyo | 3:43d4cb3ece1b | 244 | else{ |
| rizqicahyo | 3:43d4cb3ece1b | 245 | pnuematik4 = 0; |
| rizqicahyo | 7:59a513681663 | 246 | wait_ms(1300); |
| rizqicahyo | 7:59a513681663 | 247 | pnuematik2 = 0; |
| rizqicahyo | 3:43d4cb3ece1b | 248 | wait_ms(1500); |
| rizqicahyo | 3:43d4cb3ece1b | 249 | pnuematik4 = 1; |
| rizqicahyo | 3:43d4cb3ece1b | 250 | } |
| rizqicahyo | 0:edddd373a163 | 251 | |
| rizqicahyo | 0:edddd373a163 | 252 | return 0; |
| rizqicahyo | 0:edddd373a163 | 253 | } |
| rizqicahyo | 0:edddd373a163 | 254 | |
| rizqicahyo | 0:edddd373a163 | 255 | /*********************************************************************************************/ |
| rizqicahyo | 0:edddd373a163 | 256 | /** ALGORITMA PROSEDUR DAN FUNGSI **/ |
| rizqicahyo | 0:edddd373a163 | 257 | /*********************************************************************************************/ |
| rizqicahyo | 3:43d4cb3ece1b | 258 | void aktuator(int f){ |
| rizqicahyo | 7:59a513681663 | 259 | float speed = vcurr_base; |
| rizqicahyo | 2:df6c49846367 | 260 | |
| rizqicahyo | 7:59a513681663 | 261 | if(vcurr_base >= gMax_speed) vcurr_base = gMax_speed; |
| rizqicahyo | 7:59a513681663 | 262 | if(vcurr_slider >= 1) vcurr_slider = 1; |
| Najib_irvani | 1:fc1535231c0d | 263 | |
| rizqicahyo | 3:43d4cb3ece1b | 264 | if(f == 1){ |
| rizqicahyo | 0:edddd373a163 | 265 | if((ps2.read(PS_PAD::PAD_L1)==1) && (ps2.read(PS_PAD::PAD_R1)==0)){ |
| rizqicahyo | 0:edddd373a163 | 266 | //pivot kiri |
| rizqicahyo | 3:43d4cb3ece1b | 267 | motor2.speed((float)0.5*(speed-tuning2)); |
| rizqicahyo | 3:43d4cb3ece1b | 268 | motor4.speed((float)-0.5*(speed-tuning4)); |
| rizqicahyo | 3:43d4cb3ece1b | 269 | motor1.speed((float)0.5*(speed-tuning1)); |
| rizqicahyo | 3:43d4cb3ece1b | 270 | motor3.speed((float)-0.5*(speed-tuning3)); |
| rizqicahyo | 0:edddd373a163 | 271 | pc.printf("pivot kiri \n"); |
| rizqicahyo | 0:edddd373a163 | 272 | |
| rizqicahyo | 7:59a513681663 | 273 | vcurr_base += ax; |
| rizqicahyo | 0:edddd373a163 | 274 | } |
| rizqicahyo | 0:edddd373a163 | 275 | else if((ps2.read(PS_PAD::PAD_R1)==1) && (ps2.read(PS_PAD::PAD_L1)==0)){ |
| rizqicahyo | 0:edddd373a163 | 276 | //pivot kanan |
| rizqicahyo | 3:43d4cb3ece1b | 277 | motor2.speed((float)-0.5*(speed-tuning2)); |
| rizqicahyo | 3:43d4cb3ece1b | 278 | motor4.speed((float)0.5*(speed-tuning4)); |
| rizqicahyo | 3:43d4cb3ece1b | 279 | motor1.speed((float)-0.5*(speed-tuning1)); |
| rizqicahyo | 3:43d4cb3ece1b | 280 | motor3.speed((float)0.5*(speed-tuning3)); |
| rizqicahyo | 0:edddd373a163 | 281 | pc.printf("pivot kanan \n"); |
| rizqicahyo | 0:edddd373a163 | 282 | |
| rizqicahyo | 7:59a513681663 | 283 | vcurr_base += ax; |
| rizqicahyo | 0:edddd373a163 | 284 | } |
| rizqicahyo | 0:edddd373a163 | 285 | else if((ps2.read(PS_PAD::PAD_RIGHT)==1) && (ps2.read(PS_PAD::PAD_TOP)==1)){ |
| rizqicahyo | 0:edddd373a163 | 286 | //serong atas kanan |
| Najib_irvani | 1:fc1535231c0d | 287 | motor2.speed(speed-tuning2); |
| rizqicahyo | 7:59a513681663 | 288 | motor4.stop(1); |
| rizqicahyo | 7:59a513681663 | 289 | motor1.stop(1); |
| Najib_irvani | 1:fc1535231c0d | 290 | motor3.speed(speed-tuning3); |
| rizqicahyo | 0:edddd373a163 | 291 | pc.printf("serong atas kanan \n"); |
| rizqicahyo | 0:edddd373a163 | 292 | |
| rizqicahyo | 7:59a513681663 | 293 | vcurr_base += ax; |
| rizqicahyo | 0:edddd373a163 | 294 | } |
| rizqicahyo | 0:edddd373a163 | 295 | else if((ps2.read(PS_PAD::PAD_TOP)==1) && (ps2.read(PS_PAD::PAD_LEFT)==1)){ |
| rizqicahyo | 0:edddd373a163 | 296 | //serong atas kiri |
| rizqicahyo | 7:59a513681663 | 297 | motor2.stop(1); |
| Najib_irvani | 1:fc1535231c0d | 298 | motor4.speed(-(speed-tuning4)); |
| Najib_irvani | 1:fc1535231c0d | 299 | motor1.speed(-(speed-tuning1)); |
| rizqicahyo | 7:59a513681663 | 300 | motor3.stop(1); |
| rizqicahyo | 0:edddd373a163 | 301 | pc.printf("serong atas kiri \n"); |
| rizqicahyo | 0:edddd373a163 | 302 | |
| rizqicahyo | 7:59a513681663 | 303 | vcurr_base += ax; |
| rizqicahyo | 0:edddd373a163 | 304 | } |
| rizqicahyo | 0:edddd373a163 | 305 | else if((ps2.read(PS_PAD::PAD_LEFT)==1) && (ps2.read(PS_PAD::PAD_BOTTOM)==1)){ |
| rizqicahyo | 0:edddd373a163 | 306 | //serong bawah kiri |
| Najib_irvani | 1:fc1535231c0d | 307 | motor2.speed(-(speed-tuning2)); |
| rizqicahyo | 7:59a513681663 | 308 | motor4.stop(1); |
| rizqicahyo | 7:59a513681663 | 309 | motor1.stop(1); |
| Najib_irvani | 1:fc1535231c0d | 310 | motor3.speed(-(speed-tuning3)); |
| rizqicahyo | 0:edddd373a163 | 311 | pc.printf("serong bawah kiri \n"); |
| rizqicahyo | 0:edddd373a163 | 312 | |
| rizqicahyo | 7:59a513681663 | 313 | vcurr_base += ax; |
| rizqicahyo | 0:edddd373a163 | 314 | } |
| rizqicahyo | 0:edddd373a163 | 315 | else if((ps2.read(PS_PAD::PAD_BOTTOM)==1) && (ps2.read(PS_PAD::PAD_RIGHT)==1)){ |
| rizqicahyo | 0:edddd373a163 | 316 | //serong bawah kanan |
| rizqicahyo | 7:59a513681663 | 317 | motor2.stop(1); |
| Najib_irvani | 1:fc1535231c0d | 318 | motor4.speed(speed-tuning4); |
| Najib_irvani | 1:fc1535231c0d | 319 | motor1.speed(speed-tuning1); |
| rizqicahyo | 7:59a513681663 | 320 | motor3.stop(1); |
| rizqicahyo | 0:edddd373a163 | 321 | pc.printf("serong bawah kanan \n"); |
| rizqicahyo | 0:edddd373a163 | 322 | |
| rizqicahyo | 7:59a513681663 | 323 | vcurr_base += ax; |
| rizqicahyo | 0:edddd373a163 | 324 | } |
| rizqicahyo | 0:edddd373a163 | 325 | else if((ps2.read(PS_PAD::PAD_TOP)==1) && (ps2.read(PS_PAD::PAD_BOTTOM)==0)){ |
| rizqicahyo | 0:edddd373a163 | 326 | //maju |
| Najib_irvani | 1:fc1535231c0d | 327 | motor1.speed(-(speed-tuning1)); |
| Najib_irvani | 1:fc1535231c0d | 328 | motor3.speed(speed-tuning3); |
| Najib_irvani | 1:fc1535231c0d | 329 | motor2.speed(speed-tuning2); |
| Najib_irvani | 1:fc1535231c0d | 330 | motor4.speed(-(speed-tuning4)); |
| rizqicahyo | 0:edddd373a163 | 331 | pc.printf("maju \n"); |
| rizqicahyo | 0:edddd373a163 | 332 | |
| rizqicahyo | 7:59a513681663 | 333 | vcurr_base += ax; |
| rizqicahyo | 0:edddd373a163 | 334 | } |
| rizqicahyo | 0:edddd373a163 | 335 | else if((ps2.read(PS_PAD::PAD_BOTTOM)==1) && (ps2.read(PS_PAD::PAD_TOP)==0)){ |
| rizqicahyo | 0:edddd373a163 | 336 | //mundur |
| Najib_irvani | 1:fc1535231c0d | 337 | motor1.speed(speed-tuning1); |
| Najib_irvani | 1:fc1535231c0d | 338 | motor3.speed(-(speed-tuning3)); |
| Najib_irvani | 1:fc1535231c0d | 339 | motor2.speed(-(speed-tuning2)); |
| Najib_irvani | 1:fc1535231c0d | 340 | motor4.speed(speed-tuning4); |
| rizqicahyo | 0:edddd373a163 | 341 | pc.printf("mundur \n"); |
| rizqicahyo | 0:edddd373a163 | 342 | |
| rizqicahyo | 7:59a513681663 | 343 | vcurr_base += ax; |
| rizqicahyo | 0:edddd373a163 | 344 | } |
| rizqicahyo | 0:edddd373a163 | 345 | else if((ps2.read(PS_PAD::PAD_RIGHT)==1) && (ps2.read(PS_PAD::PAD_LEFT)==0)){ |
| rizqicahyo | 0:edddd373a163 | 346 | //kanan |
| Najib_irvani | 1:fc1535231c0d | 347 | motor2.speed(speed-tuning2); |
| Najib_irvani | 1:fc1535231c0d | 348 | motor4.speed(speed-tuning4); |
| Najib_irvani | 1:fc1535231c0d | 349 | motor1.speed(speed-tuning1); |
| Najib_irvani | 1:fc1535231c0d | 350 | motor3.speed(speed-tuning3); |
| rizqicahyo | 0:edddd373a163 | 351 | pc.printf("kanan \n"); |
| rizqicahyo | 0:edddd373a163 | 352 | |
| rizqicahyo | 7:59a513681663 | 353 | vcurr_base += ax; |
| rizqicahyo | 0:edddd373a163 | 354 | } |
| rizqicahyo | 0:edddd373a163 | 355 | else if((ps2.read(PS_PAD::PAD_RIGHT)==0) && (ps2.read(PS_PAD::PAD_LEFT)==1)){ |
| rizqicahyo | 0:edddd373a163 | 356 | //kiri |
| Najib_irvani | 1:fc1535231c0d | 357 | motor2.speed(-(speed-tuning2)); |
| Najib_irvani | 1:fc1535231c0d | 358 | motor4.speed(-(speed-tuning4)); |
| Najib_irvani | 1:fc1535231c0d | 359 | motor1.speed(-(speed-tuning1)); |
| Najib_irvani | 1:fc1535231c0d | 360 | motor3.speed(-(speed-tuning3)); |
| rizqicahyo | 0:edddd373a163 | 361 | pc.printf("kiri \n"); |
| rizqicahyo | 0:edddd373a163 | 362 | |
| rizqicahyo | 7:59a513681663 | 363 | vcurr_base += ax; |
| rizqicahyo | 0:edddd373a163 | 364 | } |
| rizqicahyo | 0:edddd373a163 | 365 | else{ |
| rizqicahyo | 7:59a513681663 | 366 | motor1.stop(1); |
| rizqicahyo | 7:59a513681663 | 367 | motor3.stop(1); |
| rizqicahyo | 7:59a513681663 | 368 | motor2.stop(1); |
| rizqicahyo | 7:59a513681663 | 369 | motor4.stop(1); |
| rizqicahyo | 0:edddd373a163 | 370 | pc.printf("diam \n"); |
| rizqicahyo | 0:edddd373a163 | 371 | |
| rizqicahyo | 7:59a513681663 | 372 | vcurr_base = v0; |
| rizqicahyo | 0:edddd373a163 | 373 | } |
| rizqicahyo | 3:43d4cb3ece1b | 374 | } |
| rizqicahyo | 3:43d4cb3ece1b | 375 | else{ |
| rizqicahyo | 3:43d4cb3ece1b | 376 | if((ps2.read(PS_PAD::PAD_L1)==1) && (ps2.read(PS_PAD::PAD_R1)==0)){ |
| rizqicahyo | 3:43d4cb3ece1b | 377 | //pivot kiri |
| rizqicahyo | 3:43d4cb3ece1b | 378 | motor2.speed((float)0.5*(speed-tuning2)); |
| rizqicahyo | 3:43d4cb3ece1b | 379 | motor4.speed((float)-0.5*(speed-tuning4)); |
| rizqicahyo | 3:43d4cb3ece1b | 380 | motor1.speed((float)0.5*(speed-tuning1)); |
| rizqicahyo | 3:43d4cb3ece1b | 381 | motor3.speed((float)-0.5*(speed-tuning3)); |
| rizqicahyo | 3:43d4cb3ece1b | 382 | pc.printf("pivot kiri \n"); |
| rizqicahyo | 3:43d4cb3ece1b | 383 | |
| rizqicahyo | 7:59a513681663 | 384 | vcurr_base += ax; |
| rizqicahyo | 3:43d4cb3ece1b | 385 | } |
| rizqicahyo | 3:43d4cb3ece1b | 386 | else if((ps2.read(PS_PAD::PAD_R1)==1) && (ps2.read(PS_PAD::PAD_L1)==0)){ |
| rizqicahyo | 3:43d4cb3ece1b | 387 | //pivot kanan |
| rizqicahyo | 3:43d4cb3ece1b | 388 | motor2.speed((float)-0.5*(speed-tuning2)); |
| rizqicahyo | 3:43d4cb3ece1b | 389 | motor4.speed((float)0.5*(speed-tuning4)); |
| rizqicahyo | 3:43d4cb3ece1b | 390 | motor1.speed((float)-0.5*(speed-tuning1)); |
| rizqicahyo | 3:43d4cb3ece1b | 391 | motor3.speed((float)0.5*(speed-tuning3)); |
| rizqicahyo | 3:43d4cb3ece1b | 392 | pc.printf("pivot kanan \n"); |
| rizqicahyo | 2:df6c49846367 | 393 | |
| rizqicahyo | 7:59a513681663 | 394 | vcurr_base += ax; |
| rizqicahyo | 3:43d4cb3ece1b | 395 | } |
| rizqicahyo | 3:43d4cb3ece1b | 396 | else if((ps2.read(PS_PAD::PAD_RIGHT)==1) && (ps2.read(PS_PAD::PAD_TOP)==1)){ |
| rizqicahyo | 3:43d4cb3ece1b | 397 | //serong atas kanan |
| rizqicahyo | 3:43d4cb3ece1b | 398 | motor2.speed(-(speed-tuning2)); |
| rizqicahyo | 7:59a513681663 | 399 | motor4.stop(1); |
| rizqicahyo | 7:59a513681663 | 400 | motor1.stop(1); |
| rizqicahyo | 3:43d4cb3ece1b | 401 | motor3.speed(-(speed-tuning3)); |
| rizqicahyo | 3:43d4cb3ece1b | 402 | pc.printf("serong atas kanan \n"); |
| rizqicahyo | 2:df6c49846367 | 403 | |
| rizqicahyo | 7:59a513681663 | 404 | vcurr_base += ax; |
| rizqicahyo | 3:43d4cb3ece1b | 405 | } |
| rizqicahyo | 3:43d4cb3ece1b | 406 | else if((ps2.read(PS_PAD::PAD_TOP)==1) && (ps2.read(PS_PAD::PAD_LEFT)==1)){ |
| rizqicahyo | 3:43d4cb3ece1b | 407 | //serong atas kiri |
| rizqicahyo | 7:59a513681663 | 408 | motor2.stop(1); |
| rizqicahyo | 3:43d4cb3ece1b | 409 | motor4.speed(speed-tuning4); |
| rizqicahyo | 3:43d4cb3ece1b | 410 | motor1.speed(speed-tuning1); |
| rizqicahyo | 7:59a513681663 | 411 | motor3.stop(1); |
| rizqicahyo | 3:43d4cb3ece1b | 412 | pc.printf("serong atas kiri \n"); |
| rizqicahyo | 3:43d4cb3ece1b | 413 | |
| rizqicahyo | 7:59a513681663 | 414 | vcurr_base += ax; |
| rizqicahyo | 3:43d4cb3ece1b | 415 | } |
| rizqicahyo | 3:43d4cb3ece1b | 416 | else if((ps2.read(PS_PAD::PAD_LEFT)==1) && (ps2.read(PS_PAD::PAD_BOTTOM)==1)){ |
| rizqicahyo | 3:43d4cb3ece1b | 417 | //serong bawah kiri |
| rizqicahyo | 3:43d4cb3ece1b | 418 | motor2.speed(speed-tuning2); |
| rizqicahyo | 7:59a513681663 | 419 | motor4.stop(1); |
| rizqicahyo | 7:59a513681663 | 420 | motor1.stop(1); |
| rizqicahyo | 3:43d4cb3ece1b | 421 | motor3.speed(speed-tuning3); |
| rizqicahyo | 3:43d4cb3ece1b | 422 | pc.printf("serong bawah kiri \n"); |
| rizqicahyo | 2:df6c49846367 | 423 | |
| rizqicahyo | 7:59a513681663 | 424 | vcurr_base += ax; |
| rizqicahyo | 0:edddd373a163 | 425 | } |
| rizqicahyo | 3:43d4cb3ece1b | 426 | else if((ps2.read(PS_PAD::PAD_BOTTOM)==1) && (ps2.read(PS_PAD::PAD_RIGHT)==1)){ |
| rizqicahyo | 3:43d4cb3ece1b | 427 | //serong bawah kanan |
| rizqicahyo | 7:59a513681663 | 428 | motor2.stop(1); |
| rizqicahyo | 3:43d4cb3ece1b | 429 | motor4.speed(-(speed-tuning4)); |
| rizqicahyo | 3:43d4cb3ece1b | 430 | motor1.speed(-(speed-tuning1)); |
| rizqicahyo | 7:59a513681663 | 431 | motor3.stop(1); |
| rizqicahyo | 3:43d4cb3ece1b | 432 | pc.printf("serong bawah kanan \n"); |
| rizqicahyo | 3:43d4cb3ece1b | 433 | |
| rizqicahyo | 7:59a513681663 | 434 | vcurr_base += ax; |
| rizqicahyo | 3:43d4cb3ece1b | 435 | } |
| rizqicahyo | 3:43d4cb3ece1b | 436 | else if((ps2.read(PS_PAD::PAD_TOP)==1) && (ps2.read(PS_PAD::PAD_BOTTOM)==0)){ |
| rizqicahyo | 3:43d4cb3ece1b | 437 | //maju |
| rizqicahyo | 3:43d4cb3ece1b | 438 | motor1.speed(speed-tuning1); |
| rizqicahyo | 3:43d4cb3ece1b | 439 | motor3.speed(-(speed-tuning3)); |
| rizqicahyo | 3:43d4cb3ece1b | 440 | motor2.speed(-(speed-tuning2)); |
| rizqicahyo | 3:43d4cb3ece1b | 441 | motor4.speed(speed-tuning4); |
| rizqicahyo | 3:43d4cb3ece1b | 442 | pc.printf("maju \n"); |
| rizqicahyo | 2:df6c49846367 | 443 | |
| rizqicahyo | 7:59a513681663 | 444 | vcurr_base += ax; |
| rizqicahyo | 3:43d4cb3ece1b | 445 | } |
| rizqicahyo | 3:43d4cb3ece1b | 446 | else if((ps2.read(PS_PAD::PAD_BOTTOM)==1) && (ps2.read(PS_PAD::PAD_TOP)==0)){ |
| rizqicahyo | 3:43d4cb3ece1b | 447 | //mundur |
| rizqicahyo | 3:43d4cb3ece1b | 448 | motor1.speed(-(speed-tuning1)); |
| rizqicahyo | 3:43d4cb3ece1b | 449 | motor3.speed(speed-tuning3); |
| rizqicahyo | 3:43d4cb3ece1b | 450 | motor2.speed(speed-tuning2); |
| rizqicahyo | 3:43d4cb3ece1b | 451 | motor4.speed(-(speed-tuning4)); |
| rizqicahyo | 3:43d4cb3ece1b | 452 | pc.printf("mundur \n"); |
| rizqicahyo | 2:df6c49846367 | 453 | |
| rizqicahyo | 7:59a513681663 | 454 | vcurr_base += ax; |
| rizqicahyo | 3:43d4cb3ece1b | 455 | } |
| rizqicahyo | 3:43d4cb3ece1b | 456 | else if((ps2.read(PS_PAD::PAD_RIGHT)==1) && (ps2.read(PS_PAD::PAD_LEFT)==0)){ |
| rizqicahyo | 3:43d4cb3ece1b | 457 | //kanan |
| rizqicahyo | 3:43d4cb3ece1b | 458 | motor2.speed(-(speed-tuning2)); |
| rizqicahyo | 3:43d4cb3ece1b | 459 | motor4.speed(-(speed-tuning4)); |
| rizqicahyo | 3:43d4cb3ece1b | 460 | motor1.speed(-(speed-tuning1)); |
| rizqicahyo | 3:43d4cb3ece1b | 461 | motor3.speed(-(speed-tuning3)); |
| rizqicahyo | 3:43d4cb3ece1b | 462 | pc.printf("kanan \n"); |
| rizqicahyo | 3:43d4cb3ece1b | 463 | |
| rizqicahyo | 7:59a513681663 | 464 | vcurr_base += ax; |
| rizqicahyo | 3:43d4cb3ece1b | 465 | } |
| rizqicahyo | 3:43d4cb3ece1b | 466 | else if((ps2.read(PS_PAD::PAD_RIGHT)==0) && (ps2.read(PS_PAD::PAD_LEFT)==1)){ |
| rizqicahyo | 3:43d4cb3ece1b | 467 | //kiri |
| rizqicahyo | 3:43d4cb3ece1b | 468 | motor2.speed(speed-tuning2); |
| rizqicahyo | 3:43d4cb3ece1b | 469 | motor4.speed(speed-tuning4); |
| rizqicahyo | 3:43d4cb3ece1b | 470 | motor1.speed(speed-tuning1); |
| rizqicahyo | 3:43d4cb3ece1b | 471 | motor3.speed(speed-tuning3); |
| rizqicahyo | 3:43d4cb3ece1b | 472 | pc.printf("kiri \n"); |
| rizqicahyo | 3:43d4cb3ece1b | 473 | |
| rizqicahyo | 7:59a513681663 | 474 | vcurr_base += ax; |
| rizqicahyo | 0:edddd373a163 | 475 | } |
| rizqicahyo | 0:edddd373a163 | 476 | else{ |
| rizqicahyo | 7:59a513681663 | 477 | motor1.stop(1); |
| rizqicahyo | 7:59a513681663 | 478 | motor3.stop(1); |
| rizqicahyo | 7:59a513681663 | 479 | motor2.stop(1); |
| rizqicahyo | 7:59a513681663 | 480 | motor4.stop(1); |
| rizqicahyo | 3:43d4cb3ece1b | 481 | pc.printf("diam \n"); |
| rizqicahyo | 0:edddd373a163 | 482 | |
| rizqicahyo | 7:59a513681663 | 483 | vcurr_base = v0; |
| rizqicahyo | 3:43d4cb3ece1b | 484 | } |
| rizqicahyo | 3:43d4cb3ece1b | 485 | |
| rizqicahyo | 3:43d4cb3ece1b | 486 | } |
| rizqicahyo | 3:43d4cb3ece1b | 487 | |
| rizqicahyo | 7:59a513681663 | 488 | if(((ps2.read(PS_PAD::PAD_CIRCLE)==0) && (ps2.read(PS_PAD::PAD_TRIANGLE)==1))|| (IR == 0)){ |
| rizqicahyo | 3:43d4cb3ece1b | 489 | //POWER WINDOW ATAS |
| rizqicahyo | 7:59a513681663 | 490 | motorS.speed(vcurr_slider); |
| rizqicahyo | 3:43d4cb3ece1b | 491 | if (limit1 == 0){ |
| rizqicahyo | 7:59a513681663 | 492 | motorS.stop(1); |
| rizqicahyo | 3:43d4cb3ece1b | 493 | } |
| rizqicahyo | 3:43d4cb3ece1b | 494 | |
| rizqicahyo | 3:43d4cb3ece1b | 495 | |
| rizqicahyo | 3:43d4cb3ece1b | 496 | pc.printf("up \n"); |
| rizqicahyo | 3:43d4cb3ece1b | 497 | c++; |
| rizqicahyo | 7:59a513681663 | 498 | |
| rizqicahyo | 7:59a513681663 | 499 | vcurr_slider += ax; |
| rizqicahyo | 3:43d4cb3ece1b | 500 | } |
| rizqicahyo | 3:43d4cb3ece1b | 501 | else if((ps2.read(PS_PAD::PAD_CIRCLE)==1) && (ps2.read(PS_PAD::PAD_TRIANGLE)==0)){ |
| rizqicahyo | 3:43d4cb3ece1b | 502 | //POWER WINDOW BAWAH |
| rizqicahyo | 7:59a513681663 | 503 | motorS.speed(-vcurr_slider); |
| rizqicahyo | 3:43d4cb3ece1b | 504 | |
| rizqicahyo | 3:43d4cb3ece1b | 505 | if (limit2 ==0){ |
| rizqicahyo | 7:59a513681663 | 506 | motorS.stop(1); |
| rizqicahyo | 2:df6c49846367 | 507 | } |
| rizqicahyo | 3:43d4cb3ece1b | 508 | |
| rizqicahyo | 3:43d4cb3ece1b | 509 | pc.printf("down \n"); |
| rizqicahyo | 7:59a513681663 | 510 | c--; |
| rizqicahyo | 7:59a513681663 | 511 | |
| rizqicahyo | 7:59a513681663 | 512 | vcurr_slider += ax; |
| rizqicahyo | 3:43d4cb3ece1b | 513 | } |
| rizqicahyo | 3:43d4cb3ece1b | 514 | else{ |
| rizqicahyo | 7:59a513681663 | 515 | vcurr_slider = v0; |
| rizqicahyo | 7:59a513681663 | 516 | motorS.stop(1); |
| rizqicahyo | 3:43d4cb3ece1b | 517 | if ((c <= batas_delay) && (c>=-batas_delay)){ |
| rizqicahyo | 3:43d4cb3ece1b | 518 | c=0; |
| rizqicahyo | 2:df6c49846367 | 519 | } |
| rizqicahyo | 3:43d4cb3ece1b | 520 | |
| rizqicahyo | 3:43d4cb3ece1b | 521 | pc.printf("diam \n"); |
| rizqicahyo | 3:43d4cb3ece1b | 522 | } |
| rizqicahyo | 3:43d4cb3ece1b | 523 | |
| rizqicahyo | 3:43d4cb3ece1b | 524 | if((c > batas_delay) && (limit1 == 0)){ |
| rizqicahyo | 3:43d4cb3ece1b | 525 | c = 0; |
| rizqicahyo | 7:59a513681663 | 526 | motorS.stop(1); |
| rizqicahyo | 3:43d4cb3ece1b | 527 | } |
| rizqicahyo | 3:43d4cb3ece1b | 528 | else if((c < -batas_delay) && (limit2 == 0)){ |
| rizqicahyo | 3:43d4cb3ece1b | 529 | c = 0; |
| rizqicahyo | 7:59a513681663 | 530 | motorS.stop(1); |
| rizqicahyo | 3:43d4cb3ece1b | 531 | } |
| rizqicahyo | 3:43d4cb3ece1b | 532 | else if( (c > batas_delay) && (limit1 != 0)){ |
| rizqicahyo | 3:43d4cb3ece1b | 533 | motorS.speed(1); |
| rizqicahyo | 3:43d4cb3ece1b | 534 | } |
| rizqicahyo | 3:43d4cb3ece1b | 535 | else if ((c<-batas_delay) && (limit2 != 0)){ |
| rizqicahyo | 3:43d4cb3ece1b | 536 | motorS.speed(-0.7); |
| rizqicahyo | 3:43d4cb3ece1b | 537 | } |
| rizqicahyo | 2:df6c49846367 | 538 | |
| rizqicahyo | 0:edddd373a163 | 539 | |
| rizqicahyo | 3:43d4cb3ece1b | 540 | if ((ps2.read(PS_PAD::PAD_SELECT)==1)) |
| rizqicahyo | 3:43d4cb3ece1b | 541 | { |
| rizqicahyo | 0:edddd373a163 | 542 | //mekanisme ambil gripper |
| rizqicahyo | 0:edddd373a163 | 543 | pc.printf("mekanisme gripper"); |
| rizqicahyo | 7:59a513681663 | 544 | /* if (g==1){ |
| rizqicahyo | 0:edddd373a163 | 545 | pc.printf("ambil 1"); |
| rizqicahyo | 0:edddd373a163 | 546 | pnuematik2 = 0; |
| rizqicahyo | 0:edddd373a163 | 547 | g=2; |
| rizqicahyo | 0:edddd373a163 | 548 | wait_ms(400); |
| rizqicahyo | 0:edddd373a163 | 549 | } |
| rizqicahyo | 0:edddd373a163 | 550 | else |
| rizqicahyo | 0:edddd373a163 | 551 | { |
| rizqicahyo | 0:edddd373a163 | 552 | pnuematik2 = 1; |
| rizqicahyo | 0:edddd373a163 | 553 | wait_ms(400); |
| rizqicahyo | 0:edddd373a163 | 554 | g=1; |
| rizqicahyo | 7:59a513681663 | 555 | }*/ |
| rizqicahyo | 7:59a513681663 | 556 | pc.printf("ambil 1"); |
| rizqicahyo | 7:59a513681663 | 557 | pnuematik2 = !pnuematik2; |
| rizqicahyo | 7:59a513681663 | 558 | //g=2; |
| rizqicahyo | 7:59a513681663 | 559 | wait_ms(400); |
| rizqicahyo | 7:59a513681663 | 560 | |
| rizqicahyo | 3:43d4cb3ece1b | 561 | } |
| rizqicahyo | 0:edddd373a163 | 562 | } |
| rizqicahyo | 0:edddd373a163 | 563 | |
| rizqicahyo | 0:edddd373a163 | 564 | void edf_servo(){ |
| rizqicahyo | 0:edddd373a163 | 565 | if(ps2.read(PS_PAD::PAD_X)==1){ |
| rizqicahyo | 0:edddd373a163 | 566 | //PWM ++ |
| rizqicahyo | 7:59a513681663 | 567 | |
| rizqicahyo | 7:59a513681663 | 568 | if( flag_river == 1){ |
| rizqicahyo | 7:59a513681663 | 569 | pwm += 0.0007; |
| rizqicahyo | 7:59a513681663 | 570 | } |
| rizqicahyo | 7:59a513681663 | 571 | else{ |
| rizqicahyo | 7:59a513681663 | 572 | pwm = 0.378; |
| rizqicahyo | 7:59a513681663 | 573 | } |
| rizqicahyo | 7:59a513681663 | 574 | |
| rizqicahyo | 4:7a7a8aa33fd5 | 575 | if( pwm > 0.8) pwm = 0.8; |
| rizqicahyo | 7:59a513681663 | 576 | pc.printf(" %f gaspol \n", pwm); |
| rizqicahyo | 0:edddd373a163 | 577 | } |
| rizqicahyo | 0:edddd373a163 | 578 | else if(ps2.read(PS_PAD::PAD_SQUARE)==1){ |
| rizqicahyo | 0:edddd373a163 | 579 | //PWM-- |
| rizqicahyo | 2:df6c49846367 | 580 | pwm -= 0.0007; |
| rizqicahyo | 0:edddd373a163 | 581 | |
| rizqicahyo | 0:edddd373a163 | 582 | if(pwm < 0) pwm = 0.0; |
| rizqicahyo | 7:59a513681663 | 583 | pc.printf("%f rem ndeng \n", pwm); |
| rizqicahyo | 0:edddd373a163 | 584 | } |
| rizqicahyo | 0:edddd373a163 | 585 | |
| rizqicahyo | 0:edddd373a163 | 586 | if(ps2.read(PS_PAD::PAD_R2)==1){ |
| rizqicahyo | 0:edddd373a163 | 587 | //SERVO -- |
| rizqicahyo | 0:edddd373a163 | 588 | sudut += 0.5; |
| rizqicahyo | 0:edddd373a163 | 589 | |
| rizqicahyo | 0:edddd373a163 | 590 | if(sudut > 90) sudut = 90; |
| rizqicahyo | 0:edddd373a163 | 591 | pc.printf("servo max \n"); |
| rizqicahyo | 0:edddd373a163 | 592 | } |
| rizqicahyo | 0:edddd373a163 | 593 | else if(ps2.read(PS_PAD::PAD_L2)==1){ |
| rizqicahyo | 0:edddd373a163 | 594 | //SERVO ++ |
| rizqicahyo | 0:edddd373a163 | 595 | sudut -= 0.5; |
| rizqicahyo | 0:edddd373a163 | 596 | |
| rizqicahyo | 0:edddd373a163 | 597 | if(sudut < -90) sudut = -90; |
| rizqicahyo | 0:edddd373a163 | 598 | pc.printf("servo min \n"); |
| rizqicahyo | 0:edddd373a163 | 599 | } |
| rizqicahyo | 0:edddd373a163 | 600 | |
| rizqicahyo | 0:edddd373a163 | 601 | if(ps2.read(PS_PAD::PAD_START)==1){ |
| rizqicahyo | 0:edddd373a163 | 602 | |
| rizqicahyo | 7:59a513681663 | 603 | flag_river = 1; |
| rizqicahyo | 0:edddd373a163 | 604 | sudut = 0; |
| rizqicahyo | 7:59a513681663 | 605 | pwm = 0.295; |
| rizqicahyo | 0:edddd373a163 | 606 | } |
| rizqicahyo | 3:43d4cb3ece1b | 607 | |
| rizqicahyo | 3:43d4cb3ece1b | 608 | |
| rizqicahyo | 0:edddd373a163 | 609 | servoEDF.position((float)sudut); |
| rizqicahyo | 0:edddd373a163 | 610 | edf.setThrottle((float)pwm); |
| rizqicahyo | 0:edddd373a163 | 611 | edf.pulse(); |
| rizqicahyo | 2:df6c49846367 | 612 | } |
| rizqicahyo | 2:df6c49846367 | 613 | |
| rizqicahyo | 4:7a7a8aa33fd5 | 614 | /////////////////////////////////////////LINE FOLLOWER///////////////////////// |
| rizqicahyo | 3:43d4cb3ece1b | 615 | |
| rizqicahyo | 2:df6c49846367 | 616 | void init_sensor(){ |
| rizqicahyo | 2:df6c49846367 | 617 | char data; |
| rizqicahyo | 7:59a513681663 | 618 | if(com1.readable()){ |
| rizqicahyo | 7:59a513681663 | 619 | data = com1.getc(); |
| rizqicahyo | 2:df6c49846367 | 620 | |
| rizqicahyo | 2:df6c49846367 | 621 | for(int i=0; i<6; i++){ |
| rizqicahyo | 7:59a513681663 | 622 | datasensor1[i] = (data >> i) & 1; |
| rizqicahyo | 7:59a513681663 | 623 | } |
| rizqicahyo | 7:59a513681663 | 624 | } |
| rizqicahyo | 7:59a513681663 | 625 | |
| rizqicahyo | 7:59a513681663 | 626 | if(com2.readable()){ |
| rizqicahyo | 7:59a513681663 | 627 | data = com2.getc(); |
| rizqicahyo | 7:59a513681663 | 628 | |
| rizqicahyo | 7:59a513681663 | 629 | for(int i=0; i<6; i++){ |
| rizqicahyo | 7:59a513681663 | 630 | datasensor2[i] = (data >> i) & 1; |
| rizqicahyo | 2:df6c49846367 | 631 | } |
| rizqicahyo | 2:df6c49846367 | 632 | } |
| rizqicahyo | 2:df6c49846367 | 633 | } |
| rizqicahyo | 2:df6c49846367 | 634 | |
| rizqicahyo | 3:43d4cb3ece1b | 635 | void linetracer(float speed){ |
| rizqicahyo | 2:df6c49846367 | 636 | float speed1,speed2,speed3,speed4; |
| rizqicahyo | 3:43d4cb3ece1b | 637 | |
| rizqicahyo | 7:59a513681663 | 638 | //////////////////logic dari PV (present Value)///////////////////////// |
| rizqicahyo | 7:59a513681663 | 639 | if(datasensor1[2] && datasensor1[3]) { speed1 = speed*driver1_0; speed2 = speed*driver1_0; speed3 = speed*driver1_0; speed4 = speed*driver1_0; } |
| rizqicahyo | 7:59a513681663 | 640 | else if(datasensor1[2]) { speed1 = speed*driver1_1; speed2 = speed*driver1_0; speed3 = speed*driver1_0; speed4 = speed*driver1_1; } |
| rizqicahyo | 7:59a513681663 | 641 | else if(datasensor1[3]) { speed1 = speed*driver1_0; speed2 = speed*driver1_1; speed3 = speed*driver1_1; speed4 = speed*driver1_0; } |
| rizqicahyo | 7:59a513681663 | 642 | else if(datasensor1[1]) { speed1 = speed*driver1_2; speed2 = speed*driver1_0; speed3 = speed*driver1_0; speed4 = speed*driver1_2; } |
| rizqicahyo | 7:59a513681663 | 643 | else if(datasensor1[4]) { speed1 = speed*driver1_0; speed2 = speed*driver1_2; speed3 = speed*driver1_2; speed4 = speed*driver1_0; } |
| rizqicahyo | 7:59a513681663 | 644 | else if(datasensor1[0]) { speed1 = speed*driver1_3; speed2 = speed*driver1_0; speed3 = speed*driver1_0; speed4 = speed*driver1_3; } |
| rizqicahyo | 7:59a513681663 | 645 | else if(datasensor1[5]) { speed1 = speed*driver1_0; speed2 = speed*driver1_3; speed3 = speed*driver1_3; speed4 = speed*driver1_0; } |
| rizqicahyo | 2:df6c49846367 | 646 | else |
| rizqicahyo | 2:df6c49846367 | 647 | { |
| rizqicahyo | 7:59a513681663 | 648 | if(g_flag1 == 0) { speed1 = speed*driver1_0; speed2 = speed*driver1_0; speed3 = speed*driver1_0; speed4 = speed*driver1_0; } |
| rizqicahyo | 7:59a513681663 | 649 | else if(g_flag1 == 3) { speed1 = speed*driver1_1; speed2 = speed*driver1_0; speed3 = speed*driver1_0; speed4 = speed*driver1_1; } |
| rizqicahyo | 7:59a513681663 | 650 | else if(g_flag1 == 4) { speed1 = speed*driver1_0; speed2 = speed*driver1_1; speed3 = speed*driver1_1; speed4 = speed*driver1_0; } |
| rizqicahyo | 7:59a513681663 | 651 | else if(g_flag1 == 2) { speed1 = speed*driver1_2; speed2 = speed*driver1_0; speed3 = speed*driver1_0; speed4 = speed*driver1_2; } |
| rizqicahyo | 7:59a513681663 | 652 | else if(g_flag1 == 5) { speed1 = speed*driver1_0; speed2 = speed*driver1_2; speed3 = speed*driver1_2; speed4 = speed*driver1_0; } |
| rizqicahyo | 7:59a513681663 | 653 | else if(g_flag1 == 1) { speed1 = 0; speed2 = speed*driver1_2; speed3 = speed*driver1_2; speed4 = 0; } |
| rizqicahyo | 7:59a513681663 | 654 | else if(g_flag1 == 6) { speed1 = speed*driver1_2; speed2 = 0; speed3 = 0; speed4 = speed*driver1_2; } |
| rizqicahyo | 2:df6c49846367 | 655 | } |
| rizqicahyo | 7:59a513681663 | 656 | |
| rizqicahyo | 7:59a513681663 | 657 | motor1.speed(-(float)(speed1-tuning1-0.04)); |
| rizqicahyo | 7:59a513681663 | 658 | motor2.speed(-(float)(speed2-tuning2-0.04)); |
| rizqicahyo | 7:59a513681663 | 659 | motor3.speed(-(float)(speed3-tuning3)); |
| rizqicahyo | 7:59a513681663 | 660 | motor4.speed(-(float)(speed4-tuning4)); |
| rizqicahyo | 3:43d4cb3ece1b | 661 | |
| rizqicahyo | 3:43d4cb3ece1b | 662 | } |
| rizqicahyo | 3:43d4cb3ece1b | 663 | |
| rizqicahyo | 3:43d4cb3ece1b | 664 | void flag_sensor(){ |
| rizqicahyo | 7:59a513681663 | 665 | if((datasensor1[2] == 1) && (datasensor1[3] == 1)) g_flag1 = 0; |
| rizqicahyo | 7:59a513681663 | 666 | else if(datasensor1[2] == 1) g_flag1 = 3; |
| rizqicahyo | 7:59a513681663 | 667 | else if(datasensor1[3] == 1) g_flag1 = 4; |
| rizqicahyo | 7:59a513681663 | 668 | else if(datasensor1[1] == 1) g_flag1 = 2; |
| rizqicahyo | 7:59a513681663 | 669 | else if(datasensor1[4] == 1) g_flag1 = 5; |
| rizqicahyo | 7:59a513681663 | 670 | else if(datasensor1[0] == 1) g_flag1 = 1; |
| rizqicahyo | 7:59a513681663 | 671 | else if(datasensor1[5] == 1) g_flag1 = 6; |
| rizqicahyo | 7:59a513681663 | 672 | |
| rizqicahyo | 7:59a513681663 | 673 | if((datasensor2[2] == 1) && (datasensor2[3] == 1)) g_flag2 = 0; |
| rizqicahyo | 7:59a513681663 | 674 | else if(datasensor2[2] == 1) g_flag2 = 3; |
| rizqicahyo | 7:59a513681663 | 675 | else if(datasensor2[3] == 1) g_flag2 = 4; |
| rizqicahyo | 7:59a513681663 | 676 | else if(datasensor2[1] == 1) g_flag2 = 2; |
| rizqicahyo | 7:59a513681663 | 677 | else if(datasensor2[4] == 1) g_flag2 = 5; |
| rizqicahyo | 7:59a513681663 | 678 | else if(datasensor2[0] == 1) g_flag2 = 1; |
| rizqicahyo | 7:59a513681663 | 679 | else if(datasensor2[5] == 1) g_flag2 = 6; |
| rizqicahyo | 4:7a7a8aa33fd5 | 680 | } |
| rizqicahyo | 4:7a7a8aa33fd5 | 681 | |
| rizqicahyo | 4:7a7a8aa33fd5 | 682 | |
| rizqicahyo | 4:7a7a8aa33fd5 | 683 | ////////////////////////SENSOR PING/////////////////////////////////////// |
| rizqicahyo | 4:7a7a8aa33fd5 | 684 | float read_jarak() { |
| rizqicahyo | 4:7a7a8aa33fd5 | 685 | float jarak; |
| rizqicahyo | 4:7a7a8aa33fd5 | 686 | |
| rizqicahyo | 4:7a7a8aa33fd5 | 687 | ping.Send(); |
| rizqicahyo | 4:7a7a8aa33fd5 | 688 | wait_ms(45); |
| rizqicahyo | 4:7a7a8aa33fd5 | 689 | jarak = ping.Read_cm()/2; |
| rizqicahyo | 4:7a7a8aa33fd5 | 690 | return jarak; |
| rizqicahyo | 7:59a513681663 | 691 | } |
| rizqicahyo | 7:59a513681663 | 692 | |
| rizqicahyo | 7:59a513681663 | 693 | |
| rizqicahyo | 7:59a513681663 | 694 | void putar(float speed){ |
| rizqicahyo | 7:59a513681663 | 695 | float speed1, speed2, speed3, speed4; |
| rizqicahyo | 7:59a513681663 | 696 | |
| rizqicahyo | 7:59a513681663 | 697 | while(!((datasensor2[2] == 1) || (datasensor2[3] == 1))){ |
| rizqicahyo | 7:59a513681663 | 698 | init_sensor(); |
| rizqicahyo | 7:59a513681663 | 699 | |
| rizqicahyo | 7:59a513681663 | 700 | if(datasensor2[2] && datasensor2[3]) { speed1 = 0; speed2 = 0; speed3 = 0; speed4 = 0; } |
| rizqicahyo | 7:59a513681663 | 701 | else if(datasensor2[3]) { speed1 = -speed*driver1_3; speed2 = -speed*driver1_3; speed3 = -speed*driver1_3; speed4 = -speed*driver1_3; } |
| rizqicahyo | 7:59a513681663 | 702 | else if(datasensor2[2]) { speed1 = speed*driver1_3; speed2 = speed*driver1_3; speed3 = speed*driver1_3; speed4 = speed*driver1_3; } |
| rizqicahyo | 7:59a513681663 | 703 | else if(datasensor2[4]) { speed1 = -speed*driver1_1; speed2 = -speed*driver1_1; speed3 = -speed*driver1_1; speed4 = -speed*driver1_1; } |
| rizqicahyo | 7:59a513681663 | 704 | else if(datasensor2[1]) { speed1 = speed*driver1_1; speed2 = speed*driver1_1; speed3 = speed*driver1_1; speed4 = speed*driver1_1; } |
| rizqicahyo | 7:59a513681663 | 705 | else if(datasensor2[5]) { speed1 = -speed*driver1_0; speed2 = -speed*driver1_0; speed3 = -speed*driver1_0; speed4 = -speed*driver1_0; } |
| rizqicahyo | 7:59a513681663 | 706 | else if(datasensor2[0]) { speed1 = speed*driver1_0; speed2 = speed*driver1_0; speed3 = speed*driver1_0; speed4 = speed*driver1_0; } |
| rizqicahyo | 7:59a513681663 | 707 | else |
| rizqicahyo | 7:59a513681663 | 708 | { |
| rizqicahyo | 7:59a513681663 | 709 | if(g_flag2 == 0) { speed1 = speed*driver1_3; speed2 = speed*driver1_3; speed3 = speed*driver1_3; speed4 = speed*driver1_3; } |
| rizqicahyo | 7:59a513681663 | 710 | else if(g_flag2 == 3) { speed1 = -speed*driver1_2; speed2 = -speed*driver1_2; speed3 = -speed*driver1_2; speed4 = -speed*driver1_2; } |
| rizqicahyo | 7:59a513681663 | 711 | else if(g_flag2 == 4) { speed1 = speed*driver1_2; speed2 = speed*driver1_2; speed3 = speed*driver1_2; speed4 = speed*driver1_2; } |
| rizqicahyo | 7:59a513681663 | 712 | else if(g_flag2 == 2) { speed1 = -speed*driver1_1; speed2 = -speed*driver1_1; speed3 = -speed*driver1_1; speed4 = -speed*driver1_1; } |
| rizqicahyo | 7:59a513681663 | 713 | else if(g_flag2 == 5) { speed1 = speed*driver1_1; speed2 = speed*driver1_1; speed3 = speed*driver1_1; speed4 = speed*driver1_1; } |
| rizqicahyo | 7:59a513681663 | 714 | else if(g_flag2 == 1) { speed1 = -speed*driver1_0; speed2 = -speed*driver1_0; speed3 = -speed*driver1_0; speed4 = -speed*driver1_0; } |
| rizqicahyo | 7:59a513681663 | 715 | else if(g_flag2 == 6) { speed1 = speed*driver1_0; speed2 = speed*driver1_0; speed3 = speed*driver1_0; speed4 = speed*driver1_0; } |
| rizqicahyo | 7:59a513681663 | 716 | } |
| rizqicahyo | 7:59a513681663 | 717 | |
| rizqicahyo | 7:59a513681663 | 718 | motor1.speed((float)(speed1)); |
| rizqicahyo | 7:59a513681663 | 719 | motor2.speed((float)(speed2)); |
| rizqicahyo | 7:59a513681663 | 720 | motor3.speed(-(float)(speed3)); |
| rizqicahyo | 7:59a513681663 | 721 | motor4.speed(-(float)(speed4)); |
| rizqicahyo | 7:59a513681663 | 722 | } |
| rizqicahyo | 7:59a513681663 | 723 | |
| rizqicahyo | 7:59a513681663 | 724 | motor1.speed(-(0.35-tuning1)); |
| rizqicahyo | 7:59a513681663 | 725 | motor2.speed(-(0.35-tuning2)); |
| rizqicahyo | 7:59a513681663 | 726 | motor3.speed(-(0.35-tuning3)); |
| rizqicahyo | 7:59a513681663 | 727 | motor4.speed(-(0.35-tuning4)); |
| rizqicahyo | 7:59a513681663 | 728 | |
| rizqicahyo | 7:59a513681663 | 729 | wait_ms(300); |
| rizqicahyo | 7:59a513681663 | 730 | |
| rizqicahyo | 7:59a513681663 | 731 | motor1.stop(1); |
| rizqicahyo | 7:59a513681663 | 732 | motor2.stop(1); |
| rizqicahyo | 7:59a513681663 | 733 | motor3.stop(1); |
| rizqicahyo | 7:59a513681663 | 734 | motor4.stop(1); |
| rizqicahyo | 0:edddd373a163 | 735 | } |