road to japan
Dependencies: DigitDisplay Motor PID Ping mbed millis
Fork of MainProgram_BaseBaru_fix_omni_20April by
main.cpp@43:3807a95aa284, 2017-03-12 (annotated)
- Committer:
- Najib_irvani
- Date:
- Sun Mar 12 06:56:53 2017 +0000
- Revision:
- 43:3807a95aa284
- Parent:
- 42:6caf8bd5abbc
- Child:
- 44:452c214d9cf5
Update 12 Maret 2017. Tambahan kombinasi tombol
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Najib_irvani | 43:3807a95aa284 | 1 | |
rahmadirizki18 | 5:3aa203218306 | 2 | /****************************************************************************/ |
rahmadirizki18 | 5:3aa203218306 | 3 | /* PROGRAM UNTUK PID CLOSED LOOP */ |
rahmadirizki18 | 5:3aa203218306 | 4 | /* */ |
Najib_irvani | 43:3807a95aa284 | 5 | /* Last Update : 11 Maret 2017 */ |
gustavaditya | 31:d5cbda07fd95 | 6 | /* */ |
rahmadirizki18 | 5:3aa203218306 | 7 | /* - Digunakan encoder autonics */ |
rahmadirizki18 | 5:3aa203218306 | 8 | /* - Konfigurasi Motor dan Encoder sbb : */ |
MarchioKevin | 22:4632f58461e0 | 9 | /* ______________________ */ |
MarchioKevin | 22:4632f58461e0 | 10 | /* / \ Rode Depan Belakang: */ |
MarchioKevin | 22:4632f58461e0 | 11 | /* / 2 (Belakang) \ Omniwheel */ |
MarchioKevin | 22:4632f58461e0 | 12 | /* | | */ |
Najib_irvani | 43:3807a95aa284 | 13 | /* | 3 (kiri) 4 (kanan) | Roda Kiri Kanan: */ |
Najib_irvani | 43:3807a95aa284 | 14 | /* | | Omniwheel */ |
MarchioKevin | 22:4632f58461e0 | 15 | /* \ 1 (Depan) / */ |
MarchioKevin | 22:4632f58461e0 | 16 | /* \______________________/ Putaran berlawanan arah */ |
MarchioKevin | 22:4632f58461e0 | 17 | /* jarum jam positif */ |
rahmadirizki18 | 5:3aa203218306 | 18 | /* SETTINGS (WAJIB!) : */ |
rahmadirizki18 | 5:3aa203218306 | 19 | /* 1. Settings Pin Encoder, Resolusi, dan Tipe encoding di omniPos.h */ |
rahmadirizki18 | 5:3aa203218306 | 20 | /* 2. Deklarasi penggunaan library omniPos pada bagian deklarasi encoder */ |
rahmadirizki18 | 5:3aa203218306 | 21 | /* */ |
rahmadirizki18 | 5:3aa203218306 | 22 | /****************************************************************************/ |
rahmadirizki18 | 6:68293bed71ea | 23 | /* */ |
MarchioKevin | 20:54dc93e7b016 | 24 | /* Joystick */ |
Sufa | 30:d69cc27ac644 | 25 | /* Kanan => */ |
Sufa | 30:d69cc27ac644 | 26 | /* Kiri => */ |
rahmadirizki18 | 6:68293bed71ea | 27 | /* */ |
Sufa | 30:d69cc27ac644 | 28 | /* Tombol silang => Power Screw Aktif */ |
Sufa | 30:d69cc27ac644 | 29 | /* Tombol segitiga => Aktif motor Launcher */ |
Sufa | 30:d69cc27ac644 | 30 | /* Tombol lingkaran => Aktif Pneumatik Launcher */ |
Sufa | 30:d69cc27ac644 | 31 | /* Tombol L1 => Pivot Kiri */ |
Sufa | 30:d69cc27ac644 | 32 | /* Tombol R1 => Pivot Kanan */ |
Sufa | 30:d69cc27ac644 | 33 | /* Tombol L3 => PWM Motor Belakang Dikurangi */ |
Sufa | 30:d69cc27ac644 | 34 | /* Tombol R3 => PWM Motor Belakang Ditambah */ |
Sufa | 30:d69cc27ac644 | 35 | /* Tombol L2 => PWM Motor Depan Dikurangi */ |
Sufa | 30:d69cc27ac644 | 36 | /* Tombol R2 => PWM Motor Depan Ditambah */ |
rahmadirizki18 | 13:8ab42383a2ca | 37 | /* */ |
calmantara186 | 16:90119f03c5d1 | 38 | /* Bismillahirahmanirrahim */ |
MarchioKevin | 20:54dc93e7b016 | 39 | /* Jagalah Kebersihan Kodingan */ |
rahmadirizki18 | 6:68293bed71ea | 40 | /****************************************************************************/ |
rahmadirizki18 | 6:68293bed71ea | 41 | |
fanny868 | 0:9072e932503c | 42 | #include "mbed.h" |
fanny868 | 0:9072e932503c | 43 | #include "JoystickPS3.h" |
fanny868 | 0:9072e932503c | 44 | #include "Motor.h" |
rahmadirizki18 | 5:3aa203218306 | 45 | #include "encoderKRAI.h" |
be_bryan | 26:256160a1a82d | 46 | #include "millis.h" |
gustavaditya | 40:5b937cac959a | 47 | #include "Ping.h" |
franshendri | 42:6caf8bd5abbc | 48 | #include "DigitDisplay.h" |
franshendri | 42:6caf8bd5abbc | 49 | |
calmantara186 | 16:90119f03c5d1 | 50 | /***********************************************/ |
calmantara186 | 16:90119f03c5d1 | 51 | /* Konstanta dan Variabel */ |
calmantara186 | 16:90119f03c5d1 | 52 | /***********************************************/ |
calmantara186 | 16:90119f03c5d1 | 53 | #define PI 3.14159265 |
be_bryan | 26:256160a1a82d | 54 | #define D_ENCODER 10 // Diameter Roda Encoder |
be_bryan | 26:256160a1a82d | 55 | #define D_ROBOT 80 // Diameter Roda Robot |
rahmadirizki18 | 17:e4229d77a5ab | 56 | #define PERPINDAHAN 1 // Perpindahan ke kanan dan kiri |
rahmadirizki18 | 5:3aa203218306 | 57 | |
be_bryan | 26:256160a1a82d | 58 | // Variable Atas |
gustavaditya | 38:3ef6754bd8d8 | 59 | double speed, speed2; |
gustavaditya | 39:11358f3f61ff | 60 | const double maxSpeed = 0.95, minSpeed = 0.0; |
Najib_irvani | 43:3807a95aa284 | 61 | const double kpA=0.6757, kdA=0.06757, kiA=0.00006757; |
be_bryan | 26:256160a1a82d | 62 | double p,i,d; |
be_bryan | 27:68efb1622985 | 63 | double p2,i2,d2; |
be_bryan | 26:256160a1a82d | 64 | double last_error = 0, current_error, sum_error = 0; |
be_bryan | 27:68efb1622985 | 65 | double last_error2 = 0, current_error2, sum_error2 = 0; |
gustavaditya | 38:3ef6754bd8d8 | 66 | float rpm, rpm2; |
Najib_irvani | 43:3807a95aa284 | 67 | float target_rpm = 8.0, target_rpm2 = 10.0; |
gustavaditya | 41:336a19289c2d | 68 | const float maxRPM = 28, minRPM = 0; // Limit 25 atau 27 |
gustavaditya | 38:3ef6754bd8d8 | 69 | |
gustavaditya | 41:336a19289c2d | 70 | const float pwmPowerUp = 0.8; |
gustavaditya | 38:3ef6754bd8d8 | 71 | const float pwmPowerDown = -0.9; |
gustavaditya | 40:5b937cac959a | 72 | |
gustavaditya | 40:5b937cac959a | 73 | float jarak_ping=0; |
be_bryan | 26:256160a1a82d | 74 | |
be_bryan | 26:256160a1a82d | 75 | // Variable Bawah |
Joshua23 | 25:054d3048dd03 | 76 | float Vt; |
gustavaditya | 31:d5cbda07fd95 | 77 | float keliling_enc = PI*D_ENCODER; |
gustavaditya | 31:d5cbda07fd95 | 78 | float keliling_robot = PI*D_ROBOT; |
gustavaditya | 31:d5cbda07fd95 | 79 | float speedT = 0.2; |
gustavaditya | 31:d5cbda07fd95 | 80 | float vpid = 0; |
Najib_irvani | 43:3807a95aa284 | 81 | float PIVOT = 0.2; // PWM Pivot Kanan, Pivot Kiri |
Najib_irvani | 43:3807a95aa284 | 82 | float tuneDpn = 0.62; // Tunning PWM motor Depan |
Najib_irvani | 43:3807a95aa284 | 83 | float tuneBlk = 0.62; // Tunning PWM motor belakang |
Najib_irvani | 43:3807a95aa284 | 84 | float tuneR = 0.72; |
Najib_irvani | 43:3807a95aa284 | 85 | float tuneL = 0.72; |
Najib_irvani | 43:3807a95aa284 | 86 | float serong = 0.65; |
Najib_irvani | 43:3807a95aa284 | 87 | float rasio = 1.4545; |
Najib_irvani | 43:3807a95aa284 | 88 | |
Najib_irvani | 43:3807a95aa284 | 89 | /* variable tunning */ |
Najib_irvani | 43:3807a95aa284 | 90 | float tunning_L; |
Najib_irvani | 43:3807a95aa284 | 91 | float tunning_R; |
Najib_irvani | 43:3807a95aa284 | 92 | float tunning_Dpn; |
Najib_irvani | 43:3807a95aa284 | 93 | float tunning_Blk; |
gustavaditya | 31:d5cbda07fd95 | 94 | |
gustavaditya | 31:d5cbda07fd95 | 95 | /* Variabel Encoder Bawah */ |
gustavaditya | 31:d5cbda07fd95 | 96 | float errTetha, Tetha; // Variabel yang didapatkan encoder |
gustavaditya | 31:d5cbda07fd95 | 97 | |
gustavaditya | 31:d5cbda07fd95 | 98 | /* Deklarasi Variable Millis */ |
gustavaditya | 33:69d266bc3fe9 | 99 | unsigned long int previousMillis = 0; // PID launcher |
gustavaditya | 31:d5cbda07fd95 | 100 | unsigned long int currentMillis; |
gustavaditya | 33:69d266bc3fe9 | 101 | unsigned long int previousMillis2 = 0; // PID launcher |
gustavaditya | 31:d5cbda07fd95 | 102 | unsigned long int currentMillis2; |
gustavaditya | 33:69d266bc3fe9 | 103 | unsigned long int previousMillis3 = 0; // Pneumatik |
gustavaditya | 40:5b937cac959a | 104 | unsigned long int previousMillis4 = 0; // Ping |
franshendri | 42:6caf8bd5abbc | 105 | unsigned long int previousMillis5 = 0; // Display |
MarchioKevin | 22:4632f58461e0 | 106 | |
gustavaditya | 31:d5cbda07fd95 | 107 | /* Variabel Stick */ |
gustavaditya | 31:d5cbda07fd95 | 108 | //Logic untuk masuk aktuator |
gustavaditya | 31:d5cbda07fd95 | 109 | int case_joy; |
gustavaditya | 31:d5cbda07fd95 | 110 | bool isLauncher = false; |
gustavaditya | 31:d5cbda07fd95 | 111 | bool isReload = false; |
rizqicahyo | 36:5963c9a49485 | 112 | bool ReloadOn = false; |
gustavaditya | 31:d5cbda07fd95 | 113 | bool flag_Pneu = false; |
gustavaditya | 31:d5cbda07fd95 | 114 | |
gustavaditya | 31:d5cbda07fd95 | 115 | /*****************************************************/ |
gustavaditya | 31:d5cbda07fd95 | 116 | /* Definisi Prosedur, Fungsi dan Setting Pinout */ |
gustavaditya | 31:d5cbda07fd95 | 117 | /*****************************************************/ |
gustavaditya | 31:d5cbda07fd95 | 118 | |
gustavaditya | 31:d5cbda07fd95 | 119 | /* Fungsi dan Procedur Encoder */ |
gustavaditya | 31:d5cbda07fd95 | 120 | void init_speed(); // |
gustavaditya | 31:d5cbda07fd95 | 121 | void aktuator(); // Pergerakan aktuator berdasarkan case joystick |
gustavaditya | 31:d5cbda07fd95 | 122 | int case_joystick(); // Mendapatkan case dari joystick |
gustavaditya | 33:69d266bc3fe9 | 123 | //void speedKalibrasiMotor(); // Pertambahan target RPM motor atas melalui joystick |
gustavaditya | 31:d5cbda07fd95 | 124 | void setCenter(); // Prosedur reset encoder, posisi saat itu diset jadi titik (0,0) |
gustavaditya | 31:d5cbda07fd95 | 125 | float getTetha(); // Fungsi mendapatkan error Tetha |
gustavaditya | 31:d5cbda07fd95 | 126 | |
gustavaditya | 31:d5cbda07fd95 | 127 | /* Inisialisasi Pin TX-RX Joystik dan PC */ |
gustavaditya | 31:d5cbda07fd95 | 128 | joysticknucleo joystick(PA_0,PA_1); |
gustavaditya | 31:d5cbda07fd95 | 129 | Serial pc(USBTX,USBRX); |
calmantara186 | 16:90119f03c5d1 | 130 | |
be_bryan | 26:256160a1a82d | 131 | /* Deklarasi Encoder Base */ |
gustavaditya | 31:d5cbda07fd95 | 132 | encoderKRAI encoderBase(PC_4, PB_15, 2000, encoderKRAI::X2_ENCODING); //inA, inB, pin Indeks (NC = tak ada), 2xresolusi, mode pembacaan |
rahmadirizki18 | 15:98f0d56b14f0 | 133 | |
be_bryan | 26:256160a1a82d | 134 | /* Deklarasi Encoder Launcher */ |
gustavaditya | 37:67d54563af90 | 135 | encoderKRAI encLauncherBlk( PC_10, PC_11, 28, encoderKRAI::X4_ENCODING); |
gustavaditya | 37:67d54563af90 | 136 | encoderKRAI encLauncherDpn( PD_2, PC_12, 28, encoderKRAI::X4_ENCODING); |
be_bryan | 26:256160a1a82d | 137 | |
calmantara186 | 16:90119f03c5d1 | 138 | /* Deklarasi Motor Base */ |
Najib_irvani | 43:3807a95aa284 | 139 | Motor motorDpn(PB_9, PA_12, PC_5); // pwm, fwd, rev |
Najib_irvani | 43:3807a95aa284 | 140 | Motor motorBlk(PB_6, PB_1, PB_12); |
Najib_irvani | 43:3807a95aa284 | 141 | Motor motorL (PA_11, PA_6, PA_7); |
Najib_irvani | 43:3807a95aa284 | 142 | Motor motorR (PB_7, PA_14, PA_15); |
fanny868 | 0:9072e932503c | 143 | |
calmantara186 | 16:90119f03c5d1 | 144 | /* Deklarasi Motor Launcher */ |
gustavaditya | 31:d5cbda07fd95 | 145 | Motor launcherDpn(PA_8,PC_2,PC_1); // pwm ,fwd, rev |
gustavaditya | 31:d5cbda07fd95 | 146 | Motor launcherBlk(PA_10, PC_3, PC_0); // pwm, fwd, rev |
Najib_irvani | 43:3807a95aa284 | 147 | Motor powerScrew(PA_9, PA_4, PC_15); // pwm, fwd, rev |
rahmadirizki18 | 5:3aa203218306 | 148 | |
be_bryan | 26:256160a1a82d | 149 | /* Deklarasi Penumatik Launcher */ |
Sufa | 29:7b372b0aaa61 | 150 | DigitalOut pneumatik(PB_3, PullUp); |
be_bryan | 26:256160a1a82d | 151 | |
be_bryan | 27:68efb1622985 | 152 | /*Dekalrasi Limit Switch */ |
gustavaditya | 40:5b937cac959a | 153 | //DigitalIn infraAtas(PC_9, PullUp); |
gustavaditya | 31:d5cbda07fd95 | 154 | DigitalIn limitTengah(PB_10, PullUp); |
gustavaditya | 31:d5cbda07fd95 | 155 | DigitalIn limitBawah(PC_8, PullUp); |
rahmadirizki18 | 5:3aa203218306 | 156 | |
gustavaditya | 40:5b937cac959a | 157 | /*deklarasi PING ultrasonic*/ |
gustavaditya | 40:5b937cac959a | 158 | Ping pingAtas(PC_9); |
fanny868 | 0:9072e932503c | 159 | |
franshendri | 42:6caf8bd5abbc | 160 | /*Deklarasi Display*/ |
franshendri | 42:6caf8bd5abbc | 161 | DigitDisplay display (D15, D4); |
franshendri | 42:6caf8bd5abbc | 162 | |
MarchioKevin | 22:4632f58461e0 | 163 | /****************************************************/ |
MarchioKevin | 22:4632f58461e0 | 164 | /* Deklarasi Fungsi dan Procedure */ |
MarchioKevin | 22:4632f58461e0 | 165 | /****************************************************/ |
gustavaditya | 31:d5cbda07fd95 | 166 | int case_joystick() |
gustavaditya | 31:d5cbda07fd95 | 167 | { |
gustavaditya | 31:d5cbda07fd95 | 168 | //---------------------------------------------------// |
gustavaditya | 31:d5cbda07fd95 | 169 | // Gerak Motor Base // |
gustavaditya | 31:d5cbda07fd95 | 170 | // Case 1 : Pivot kanan // |
gustavaditya | 31:d5cbda07fd95 | 171 | // Case 2 : Pivot Kiri // |
gustavaditya | 31:d5cbda07fd95 | 172 | // Case 3 : Kanan // |
gustavaditya | 31:d5cbda07fd95 | 173 | // Case 4 : Kiri // |
gustavaditya | 31:d5cbda07fd95 | 174 | // Case 5 : Break // |
gustavaditya | 31:d5cbda07fd95 | 175 | //---------------------------------------------------// |
gustavaditya | 31:d5cbda07fd95 | 176 | |
gustavaditya | 31:d5cbda07fd95 | 177 | int caseJoystick; |
Najib_irvani | 43:3807a95aa284 | 178 | if ((joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) { |
gustavaditya | 31:d5cbda07fd95 | 179 | // Pivot Kanan |
gustavaditya | 31:d5cbda07fd95 | 180 | caseJoystick = 1; |
gustavaditya | 31:d5cbda07fd95 | 181 | } |
Najib_irvani | 43:3807a95aa284 | 182 | else if ((!joystick.R1)&&(joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) { |
gustavaditya | 31:d5cbda07fd95 | 183 | // Pivot Kiri |
gustavaditya | 31:d5cbda07fd95 | 184 | caseJoystick = 2; |
Najib_irvani | 43:3807a95aa284 | 185 | } |
Najib_irvani | 43:3807a95aa284 | 186 | else if ((joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri)) { |
Najib_irvani | 43:3807a95aa284 | 187 | // Kanan + Rotasi kanan |
Najib_irvani | 43:3807a95aa284 | 188 | caseJoystick = 17; |
Najib_irvani | 43:3807a95aa284 | 189 | } |
Najib_irvani | 43:3807a95aa284 | 190 | else if ((!joystick.R1)&&(joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri)) { |
Najib_irvani | 43:3807a95aa284 | 191 | // Kanan + Rotasi kiri |
Najib_irvani | 43:3807a95aa284 | 192 | caseJoystick = 18; |
Najib_irvani | 43:3807a95aa284 | 193 | } |
Najib_irvani | 43:3807a95aa284 | 194 | else if ((joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)) { |
Najib_irvani | 43:3807a95aa284 | 195 | // Kiri + Rotasi kanan |
Najib_irvani | 43:3807a95aa284 | 196 | caseJoystick = 19; |
Najib_irvani | 43:3807a95aa284 | 197 | } |
Najib_irvani | 43:3807a95aa284 | 198 | else if ((!joystick.R1)&&(joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)) { |
Najib_irvani | 43:3807a95aa284 | 199 | // Kanan + Rotasi kiri |
Najib_irvani | 43:3807a95aa284 | 200 | caseJoystick = 20; |
Najib_irvani | 43:3807a95aa284 | 201 | } |
Najib_irvani | 43:3807a95aa284 | 202 | else if ((joystick.R1)&&(!joystick.L1)&&(joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) { |
Najib_irvani | 43:3807a95aa284 | 203 | // Maju + Rotasi kanan |
Najib_irvani | 43:3807a95aa284 | 204 | caseJoystick = 21; |
Najib_irvani | 43:3807a95aa284 | 205 | } |
Najib_irvani | 43:3807a95aa284 | 206 | else if ((!joystick.R1)&&(joystick.L1)&&(joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) { |
Najib_irvani | 43:3807a95aa284 | 207 | // Maju + Rotasi kiri |
Najib_irvani | 43:3807a95aa284 | 208 | caseJoystick = 22; |
Najib_irvani | 43:3807a95aa284 | 209 | } |
Najib_irvani | 43:3807a95aa284 | 210 | else if ((joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) { |
Najib_irvani | 43:3807a95aa284 | 211 | // Mundur + Rotasi kanan |
Najib_irvani | 43:3807a95aa284 | 212 | caseJoystick = 23; |
Najib_irvani | 43:3807a95aa284 | 213 | } |
Najib_irvani | 43:3807a95aa284 | 214 | else if ((!joystick.R1)&&(joystick.L1)&&(!joystick.atas)&&(joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) { |
Najib_irvani | 43:3807a95aa284 | 215 | // Mundur + Rotasi kiri |
Najib_irvani | 43:3807a95aa284 | 216 | caseJoystick = 24; |
Najib_irvani | 43:3807a95aa284 | 217 | } |
Najib_irvani | 43:3807a95aa284 | 218 | else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri)&&(joystick.segitiga_click)) { |
Najib_irvani | 43:3807a95aa284 | 219 | // Kanan + segitiga |
Najib_irvani | 43:3807a95aa284 | 220 | caseJoystick = 25; |
Najib_irvani | 43:3807a95aa284 | 221 | } |
Najib_irvani | 43:3807a95aa284 | 222 | else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)&&(joystick.segitiga_click)) { |
Najib_irvani | 43:3807a95aa284 | 223 | // Kiri + segitiga |
Najib_irvani | 43:3807a95aa284 | 224 | caseJoystick = 26; |
Najib_irvani | 43:3807a95aa284 | 225 | } |
Najib_irvani | 43:3807a95aa284 | 226 | else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri)&&(joystick.lingkaran_click)) { |
Najib_irvani | 43:3807a95aa284 | 227 | // Kanan + lingkaran |
Najib_irvani | 43:3807a95aa284 | 228 | caseJoystick = 27; |
Najib_irvani | 43:3807a95aa284 | 229 | } |
Najib_irvani | 43:3807a95aa284 | 230 | else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)&&(joystick.lingkaran_click)) { |
Najib_irvani | 43:3807a95aa284 | 231 | // Kiri + lingkaran |
Najib_irvani | 43:3807a95aa284 | 232 | caseJoystick = 28; |
Najib_irvani | 43:3807a95aa284 | 233 | } |
Najib_irvani | 43:3807a95aa284 | 234 | else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri)&&(joystick.kotak_click)) { |
Najib_irvani | 43:3807a95aa284 | 235 | // Kanan + kotak |
Najib_irvani | 43:3807a95aa284 | 236 | caseJoystick = 29; |
Najib_irvani | 43:3807a95aa284 | 237 | } |
Najib_irvani | 43:3807a95aa284 | 238 | else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)&&(joystick.kotak_click)) { |
Najib_irvani | 43:3807a95aa284 | 239 | // Kiri + kotak |
Najib_irvani | 43:3807a95aa284 | 240 | caseJoystick = 30; |
Najib_irvani | 43:3807a95aa284 | 241 | } |
Najib_irvani | 43:3807a95aa284 | 242 | else if ((!joystick.R1)&&(!joystick.L1)&&(joystick.atas)&&(!joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri)) { |
Najib_irvani | 43:3807a95aa284 | 243 | // Serong kanan maju |
Najib_irvani | 43:3807a95aa284 | 244 | caseJoystick = 13; |
Najib_irvani | 43:3807a95aa284 | 245 | //pc.printf("bawah"); |
Najib_irvani | 43:3807a95aa284 | 246 | } |
Najib_irvani | 43:3807a95aa284 | 247 | else if ((!joystick.R1)&&(!joystick.L1)&&(joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)) { |
Najib_irvani | 43:3807a95aa284 | 248 | // Serong kiri maju |
Najib_irvani | 43:3807a95aa284 | 249 | caseJoystick = 14; |
Najib_irvani | 43:3807a95aa284 | 250 | //pc.printf("bawah"); |
Najib_irvani | 43:3807a95aa284 | 251 | } |
Najib_irvani | 43:3807a95aa284 | 252 | else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri)) { |
Najib_irvani | 43:3807a95aa284 | 253 | // Serong kanan mundur |
Najib_irvani | 43:3807a95aa284 | 254 | caseJoystick = 15; |
Najib_irvani | 43:3807a95aa284 | 255 | //pc.printf("bawah"); |
Najib_irvani | 43:3807a95aa284 | 256 | } |
Najib_irvani | 43:3807a95aa284 | 257 | else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)) { |
Najib_irvani | 43:3807a95aa284 | 258 | // Serong kiri mundur |
Najib_irvani | 43:3807a95aa284 | 259 | caseJoystick = 16; |
Najib_irvani | 43:3807a95aa284 | 260 | //pc.printf("bawah"); |
gustavaditya | 31:d5cbda07fd95 | 261 | } |
gustavaditya | 31:d5cbda07fd95 | 262 | else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri)) { |
gustavaditya | 31:d5cbda07fd95 | 263 | // Kanan |
gustavaditya | 31:d5cbda07fd95 | 264 | caseJoystick = 3; |
gustavaditya | 33:69d266bc3fe9 | 265 | //pc.printf("kanan"); |
gustavaditya | 31:d5cbda07fd95 | 266 | } |
gustavaditya | 31:d5cbda07fd95 | 267 | else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)) { |
gustavaditya | 31:d5cbda07fd95 | 268 | // Kiri |
gustavaditya | 31:d5cbda07fd95 | 269 | caseJoystick = 4; |
gustavaditya | 33:69d266bc3fe9 | 270 | //pc.printf("kiri"); |
Najib_irvani | 43:3807a95aa284 | 271 | } |
Najib_irvani | 43:3807a95aa284 | 272 | else if ((!joystick.R1)&&(!joystick.L1)&&(joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) { |
Najib_irvani | 43:3807a95aa284 | 273 | // Atas -- Maju |
Najib_irvani | 43:3807a95aa284 | 274 | caseJoystick = 8; |
Najib_irvani | 43:3807a95aa284 | 275 | //pc.printf("atas"); |
Najib_irvani | 43:3807a95aa284 | 276 | } |
Najib_irvani | 43:3807a95aa284 | 277 | else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) { |
Najib_irvani | 43:3807a95aa284 | 278 | // Bawah -- Mundur |
Najib_irvani | 43:3807a95aa284 | 279 | caseJoystick = 9; |
Najib_irvani | 43:3807a95aa284 | 280 | //pc.printf("bawah"); |
gustavaditya | 31:d5cbda07fd95 | 281 | } |
gustavaditya | 38:3ef6754bd8d8 | 282 | else if (joystick.segitiga_click){ |
gustavaditya | 31:d5cbda07fd95 | 283 | // Motor Launcher |
gustavaditya | 31:d5cbda07fd95 | 284 | caseJoystick = 5; |
gustavaditya | 31:d5cbda07fd95 | 285 | } |
gustavaditya | 38:3ef6754bd8d8 | 286 | else if (joystick.R2_click){ |
gustavaditya | 31:d5cbda07fd95 | 287 | // Target Pulse PID ++ Motor Depan |
gustavaditya | 31:d5cbda07fd95 | 288 | caseJoystick = 6; |
gustavaditya | 31:d5cbda07fd95 | 289 | } |
gustavaditya | 38:3ef6754bd8d8 | 290 | else if (joystick.L2_click){ |
Najib_irvani | 43:3807a95aa284 | 291 | // Target Pulse PID -- Motor |
gustavaditya | 31:d5cbda07fd95 | 292 | caseJoystick = 7; |
gustavaditya | 31:d5cbda07fd95 | 293 | } |
gustavaditya | 31:d5cbda07fd95 | 294 | else if (joystick.silang_click){ |
gustavaditya | 31:d5cbda07fd95 | 295 | // Pnemuatik ON |
gustavaditya | 31:d5cbda07fd95 | 296 | caseJoystick = 10; |
gustavaditya | 31:d5cbda07fd95 | 297 | } |
Najib_irvani | 43:3807a95aa284 | 298 | else if ((joystick.lingkaran_click)&&(!joystick.kotak_click)) { |
gustavaditya | 31:d5cbda07fd95 | 299 | // Power Screw Up |
gustavaditya | 31:d5cbda07fd95 | 300 | caseJoystick = 11; |
gustavaditya | 31:d5cbda07fd95 | 301 | } |
Najib_irvani | 43:3807a95aa284 | 302 | else if ((joystick.kotak_click)&&(!joystick.lingkaran_click)) { |
gustavaditya | 31:d5cbda07fd95 | 303 | // Power Screw Down |
gustavaditya | 31:d5cbda07fd95 | 304 | caseJoystick = 12; |
gustavaditya | 31:d5cbda07fd95 | 305 | } |
gustavaditya | 31:d5cbda07fd95 | 306 | |
gustavaditya | 31:d5cbda07fd95 | 307 | return(caseJoystick); |
gustavaditya | 31:d5cbda07fd95 | 308 | } |
gustavaditya | 31:d5cbda07fd95 | 309 | |
gustavaditya | 31:d5cbda07fd95 | 310 | float getTetha(){ |
gustavaditya | 31:d5cbda07fd95 | 311 | // Fungsi untuk mendapatkan nilai tetha |
gustavaditya | 31:d5cbda07fd95 | 312 | float busur, tetha; |
gustavaditya | 31:d5cbda07fd95 | 313 | busur = ((encoderBase.getPulses())/(float)(2000.0)*keliling_enc); |
gustavaditya | 31:d5cbda07fd95 | 314 | tetha = busur/keliling_robot*360; |
gustavaditya | 31:d5cbda07fd95 | 315 | |
gustavaditya | 31:d5cbda07fd95 | 316 | return -(tetha); |
gustavaditya | 31:d5cbda07fd95 | 317 | } |
gustavaditya | 31:d5cbda07fd95 | 318 | |
be_bryan | 26:256160a1a82d | 319 | float pidBase(float Kp, float Ki, float Kd) |
Joshua23 | 25:054d3048dd03 | 320 | { |
Joshua23 | 25:054d3048dd03 | 321 | int errorP; |
Joshua23 | 25:054d3048dd03 | 322 | errorP = getTetha(); |
gustavaditya | 33:69d266bc3fe9 | 323 | if (errorP<3.5 && errorP>(-3.5)) |
gustavaditya | 33:69d266bc3fe9 | 324 | errorP = 0; |
Joshua23 | 25:054d3048dd03 | 325 | return (float)Kp*errorP; |
Joshua23 | 25:054d3048dd03 | 326 | } |
gustavaditya | 31:d5cbda07fd95 | 327 | |
gustavaditya | 31:d5cbda07fd95 | 328 | void setCenter(){ |
gustavaditya | 31:d5cbda07fd95 | 329 | // Fungsi untuk menentukan center dari robot |
gustavaditya | 31:d5cbda07fd95 | 330 | encoderBase.reset(); |
fanny868 | 0:9072e932503c | 331 | } |
fanny868 | 0:9072e932503c | 332 | |
gustavaditya | 37:67d54563af90 | 333 | void init_rpm (){ |
gustavaditya | 38:3ef6754bd8d8 | 334 | if (target_rpm>maxRPM-2){ |
gustavaditya | 38:3ef6754bd8d8 | 335 | target_rpm = maxRPM-2; |
gustavaditya | 37:67d54563af90 | 336 | } |
franshendri | 42:6caf8bd5abbc | 337 | if (target_rpm<minRPM){ |
gustavaditya | 37:67d54563af90 | 338 | target_rpm = minRPM; |
gustavaditya | 37:67d54563af90 | 339 | } |
gustavaditya | 37:67d54563af90 | 340 | if (target_rpm2>maxRPM){ |
gustavaditya | 37:67d54563af90 | 341 | target_rpm2 = maxRPM; |
gustavaditya | 37:67d54563af90 | 342 | } |
franshendri | 42:6caf8bd5abbc | 343 | if (target_rpm2<minRPM+2){ |
gustavaditya | 38:3ef6754bd8d8 | 344 | target_rpm2 = minRPM+2; |
gustavaditya | 37:67d54563af90 | 345 | } |
gustavaditya | 37:67d54563af90 | 346 | } |
gustavaditya | 37:67d54563af90 | 347 | |
gustavaditya | 31:d5cbda07fd95 | 348 | void aktuator() |
gustavaditya | 31:d5cbda07fd95 | 349 | { |
gustavaditya | 31:d5cbda07fd95 | 350 | switch (case_joy) { |
gustavaditya | 31:d5cbda07fd95 | 351 | case (1): |
gustavaditya | 31:d5cbda07fd95 | 352 | { |
gustavaditya | 31:d5cbda07fd95 | 353 | // Pivot Kanan |
gustavaditya | 31:d5cbda07fd95 | 354 | motorDpn.speed(-PIVOT); |
gustavaditya | 31:d5cbda07fd95 | 355 | motorBlk.speed(-PIVOT); |
Najib_irvani | 43:3807a95aa284 | 356 | motorR.speed(-rasio*PIVOT); |
Najib_irvani | 43:3807a95aa284 | 357 | motorL.speed(-rasio*PIVOT); |
gustavaditya | 31:d5cbda07fd95 | 358 | break; |
gustavaditya | 31:d5cbda07fd95 | 359 | } |
gustavaditya | 31:d5cbda07fd95 | 360 | case (2): |
gustavaditya | 31:d5cbda07fd95 | 361 | { |
gustavaditya | 31:d5cbda07fd95 | 362 | // Pivot Kiri |
gustavaditya | 31:d5cbda07fd95 | 363 | motorDpn.speed(PIVOT); |
gustavaditya | 31:d5cbda07fd95 | 364 | motorBlk.speed(PIVOT); |
Najib_irvani | 43:3807a95aa284 | 365 | motorR.speed(rasio*PIVOT); |
Najib_irvani | 43:3807a95aa284 | 366 | motorL.speed(rasio*PIVOT); |
Najib_irvani | 43:3807a95aa284 | 367 | break; |
Najib_irvani | 43:3807a95aa284 | 368 | } |
Najib_irvani | 43:3807a95aa284 | 369 | case (17): |
Najib_irvani | 43:3807a95aa284 | 370 | { |
Najib_irvani | 43:3807a95aa284 | 371 | // Kanan + Rotasi Kanan |
Najib_irvani | 43:3807a95aa284 | 372 | motorDpn.speed(-PIVOT); |
Najib_irvani | 43:3807a95aa284 | 373 | motorBlk.speed(-PIVOT); |
Najib_irvani | 43:3807a95aa284 | 374 | motorR.speed(-rasio*PIVOT); |
Najib_irvani | 43:3807a95aa284 | 375 | motorL.speed(-rasio*PIVOT); |
Najib_irvani | 43:3807a95aa284 | 376 | break; |
Najib_irvani | 43:3807a95aa284 | 377 | } |
Najib_irvani | 43:3807a95aa284 | 378 | case (18): |
Najib_irvani | 43:3807a95aa284 | 379 | { |
Najib_irvani | 43:3807a95aa284 | 380 | // Kanan + Rotasi Kiri |
Najib_irvani | 43:3807a95aa284 | 381 | motorDpn.speed(PIVOT); |
Najib_irvani | 43:3807a95aa284 | 382 | motorBlk.speed(PIVOT); |
Najib_irvani | 43:3807a95aa284 | 383 | motorR.speed(rasio*PIVOT); |
Najib_irvani | 43:3807a95aa284 | 384 | motorL.speed(rasio*PIVOT); |
Najib_irvani | 43:3807a95aa284 | 385 | break; |
Najib_irvani | 43:3807a95aa284 | 386 | } |
Najib_irvani | 43:3807a95aa284 | 387 | case (19): |
Najib_irvani | 43:3807a95aa284 | 388 | { |
Najib_irvani | 43:3807a95aa284 | 389 | // Kiri + Rotasi Kanan |
Najib_irvani | 43:3807a95aa284 | 390 | motorDpn.speed(-PIVOT); |
Najib_irvani | 43:3807a95aa284 | 391 | motorBlk.speed(-PIVOT); |
Najib_irvani | 43:3807a95aa284 | 392 | motorR.speed(-rasio*PIVOT); |
Najib_irvani | 43:3807a95aa284 | 393 | motorL.speed(-rasio*PIVOT); |
Najib_irvani | 43:3807a95aa284 | 394 | break; |
Najib_irvani | 43:3807a95aa284 | 395 | } |
Najib_irvani | 43:3807a95aa284 | 396 | case (20): |
Najib_irvani | 43:3807a95aa284 | 397 | { |
Najib_irvani | 43:3807a95aa284 | 398 | // Kiri + Rotasi Kiri |
Najib_irvani | 43:3807a95aa284 | 399 | motorDpn.speed(PIVOT); |
Najib_irvani | 43:3807a95aa284 | 400 | motorBlk.speed(PIVOT); |
Najib_irvani | 43:3807a95aa284 | 401 | motorR.speed(rasio*PIVOT); |
Najib_irvani | 43:3807a95aa284 | 402 | motorL.speed(rasio*PIVOT); |
Najib_irvani | 43:3807a95aa284 | 403 | break; |
Najib_irvani | 43:3807a95aa284 | 404 | } |
Najib_irvani | 43:3807a95aa284 | 405 | case (21): |
Najib_irvani | 43:3807a95aa284 | 406 | { |
Najib_irvani | 43:3807a95aa284 | 407 | // Maju + Rotasi Kanan |
Najib_irvani | 43:3807a95aa284 | 408 | motorDpn.speed(-PIVOT); |
Najib_irvani | 43:3807a95aa284 | 409 | motorBlk.speed(-PIVOT); |
Najib_irvani | 43:3807a95aa284 | 410 | motorR.speed(-rasio*PIVOT); |
Najib_irvani | 43:3807a95aa284 | 411 | motorL.speed(-rasio*PIVOT); |
Najib_irvani | 43:3807a95aa284 | 412 | break; |
Najib_irvani | 43:3807a95aa284 | 413 | } |
Najib_irvani | 43:3807a95aa284 | 414 | case (22): |
Najib_irvani | 43:3807a95aa284 | 415 | { |
Najib_irvani | 43:3807a95aa284 | 416 | // Maju + Rotasi Kiri |
Najib_irvani | 43:3807a95aa284 | 417 | motorDpn.speed(PIVOT); |
Najib_irvani | 43:3807a95aa284 | 418 | motorBlk.speed(PIVOT); |
Najib_irvani | 43:3807a95aa284 | 419 | motorR.speed(rasio*PIVOT); |
Najib_irvani | 43:3807a95aa284 | 420 | motorL.speed(rasio*PIVOT); |
Najib_irvani | 43:3807a95aa284 | 421 | break; |
Najib_irvani | 43:3807a95aa284 | 422 | } |
Najib_irvani | 43:3807a95aa284 | 423 | case (23): |
Najib_irvani | 43:3807a95aa284 | 424 | { |
Najib_irvani | 43:3807a95aa284 | 425 | // Mundur + Rotasi Kanan |
Najib_irvani | 43:3807a95aa284 | 426 | motorDpn.speed(-PIVOT); |
Najib_irvani | 43:3807a95aa284 | 427 | motorBlk.speed(-PIVOT); |
Najib_irvani | 43:3807a95aa284 | 428 | motorR.speed(-rasio*PIVOT); |
Najib_irvani | 43:3807a95aa284 | 429 | motorL.speed(-rasio*PIVOT); |
Najib_irvani | 43:3807a95aa284 | 430 | break; |
Najib_irvani | 43:3807a95aa284 | 431 | } |
Najib_irvani | 43:3807a95aa284 | 432 | case (24): |
Najib_irvani | 43:3807a95aa284 | 433 | { |
Najib_irvani | 43:3807a95aa284 | 434 | // Mundur + Rotasi Kiri |
Najib_irvani | 43:3807a95aa284 | 435 | motorDpn.speed(PIVOT); |
Najib_irvani | 43:3807a95aa284 | 436 | motorBlk.speed(PIVOT); |
Najib_irvani | 43:3807a95aa284 | 437 | motorR.speed(rasio*PIVOT); |
Najib_irvani | 43:3807a95aa284 | 438 | motorL.speed(rasio*PIVOT); |
Najib_irvani | 43:3807a95aa284 | 439 | break; |
Najib_irvani | 43:3807a95aa284 | 440 | } |
Najib_irvani | 43:3807a95aa284 | 441 | case (25): |
Najib_irvani | 43:3807a95aa284 | 442 | { |
Najib_irvani | 43:3807a95aa284 | 443 | // Kanan + segitiga |
Najib_irvani | 43:3807a95aa284 | 444 | isLauncher = !isLauncher; |
Najib_irvani | 43:3807a95aa284 | 445 | break; |
Najib_irvani | 43:3807a95aa284 | 446 | } |
Najib_irvani | 43:3807a95aa284 | 447 | case (26): |
Najib_irvani | 43:3807a95aa284 | 448 | { |
Najib_irvani | 43:3807a95aa284 | 449 | // Kiri + segitiga |
Najib_irvani | 43:3807a95aa284 | 450 | isLauncher = !isLauncher; |
Najib_irvani | 43:3807a95aa284 | 451 | break; |
Najib_irvani | 43:3807a95aa284 | 452 | } |
Najib_irvani | 43:3807a95aa284 | 453 | case (27): |
Najib_irvani | 43:3807a95aa284 | 454 | { |
Najib_irvani | 43:3807a95aa284 | 455 | // Kanan + lingkaran |
Najib_irvani | 43:3807a95aa284 | 456 | ReloadOn = !ReloadOn; |
Najib_irvani | 43:3807a95aa284 | 457 | isReload = false; |
Najib_irvani | 43:3807a95aa284 | 458 | break; |
Najib_irvani | 43:3807a95aa284 | 459 | } |
Najib_irvani | 43:3807a95aa284 | 460 | case (28): |
Najib_irvani | 43:3807a95aa284 | 461 | { |
Najib_irvani | 43:3807a95aa284 | 462 | // Kiri + lingkaran |
Najib_irvani | 43:3807a95aa284 | 463 | ReloadOn = !ReloadOn; |
Najib_irvani | 43:3807a95aa284 | 464 | isReload = false; |
Najib_irvani | 43:3807a95aa284 | 465 | break; |
Najib_irvani | 43:3807a95aa284 | 466 | } |
Najib_irvani | 43:3807a95aa284 | 467 | case (29): |
Najib_irvani | 43:3807a95aa284 | 468 | { |
Najib_irvani | 43:3807a95aa284 | 469 | // Kanan + kotak |
Najib_irvani | 43:3807a95aa284 | 470 | ReloadOn = !ReloadOn; |
Najib_irvani | 43:3807a95aa284 | 471 | isReload = true; |
Najib_irvani | 43:3807a95aa284 | 472 | break; |
Najib_irvani | 43:3807a95aa284 | 473 | } |
Najib_irvani | 43:3807a95aa284 | 474 | case (30): |
Najib_irvani | 43:3807a95aa284 | 475 | { |
Najib_irvani | 43:3807a95aa284 | 476 | // Kiri + kotak |
Najib_irvani | 43:3807a95aa284 | 477 | ReloadOn = !ReloadOn; |
Najib_irvani | 43:3807a95aa284 | 478 | isReload = true; |
Najib_irvani | 43:3807a95aa284 | 479 | break; |
Najib_irvani | 43:3807a95aa284 | 480 | } |
Najib_irvani | 43:3807a95aa284 | 481 | case (13) : |
Najib_irvani | 43:3807a95aa284 | 482 | { |
Najib_irvani | 43:3807a95aa284 | 483 | // Serong kanan maju |
Najib_irvani | 43:3807a95aa284 | 484 | motorDpn.speed(-serong); |
Najib_irvani | 43:3807a95aa284 | 485 | motorL.brake(-rasio*serong); |
Najib_irvani | 43:3807a95aa284 | 486 | motorBlk.speed(serong); |
Najib_irvani | 43:3807a95aa284 | 487 | motorR.brake(rasio*serong); |
Najib_irvani | 43:3807a95aa284 | 488 | break; |
Najib_irvani | 43:3807a95aa284 | 489 | } |
Najib_irvani | 43:3807a95aa284 | 490 | case (14) : |
Najib_irvani | 43:3807a95aa284 | 491 | { |
Najib_irvani | 43:3807a95aa284 | 492 | // Serong kiri maju |
Najib_irvani | 43:3807a95aa284 | 493 | motorDpn.speed(serong); |
Najib_irvani | 43:3807a95aa284 | 494 | motorR.brake(rasio*serong); |
Najib_irvani | 43:3807a95aa284 | 495 | motorBlk.speed(-serong); |
Najib_irvani | 43:3807a95aa284 | 496 | motorL.brake(-rasio*serong); |
Najib_irvani | 43:3807a95aa284 | 497 | break; |
Najib_irvani | 43:3807a95aa284 | 498 | } |
Najib_irvani | 43:3807a95aa284 | 499 | case (15) : |
Najib_irvani | 43:3807a95aa284 | 500 | { |
Najib_irvani | 43:3807a95aa284 | 501 | // Serong kanan mundur |
Najib_irvani | 43:3807a95aa284 | 502 | motorR.brake(-rasio*serong); |
Najib_irvani | 43:3807a95aa284 | 503 | motorBlk.speed(serong); |
Najib_irvani | 43:3807a95aa284 | 504 | motorL.brake(rasio*serong); |
Najib_irvani | 43:3807a95aa284 | 505 | break; |
Najib_irvani | 43:3807a95aa284 | 506 | } |
Najib_irvani | 43:3807a95aa284 | 507 | case (16) : |
Najib_irvani | 43:3807a95aa284 | 508 | { |
Najib_irvani | 43:3807a95aa284 | 509 | // Serong kiri mundur |
Najib_irvani | 43:3807a95aa284 | 510 | motorDpn.speed(serong); |
Najib_irvani | 43:3807a95aa284 | 511 | motorL.brake(rasio*serong); |
Najib_irvani | 43:3807a95aa284 | 512 | motorBlk.speed(-serong); |
Najib_irvani | 43:3807a95aa284 | 513 | motorR.brake(-rasio*serong); |
gustavaditya | 31:d5cbda07fd95 | 514 | break; |
gustavaditya | 31:d5cbda07fd95 | 515 | } |
gustavaditya | 31:d5cbda07fd95 | 516 | case (3) : |
gustavaditya | 31:d5cbda07fd95 | 517 | { |
gustavaditya | 31:d5cbda07fd95 | 518 | // Kanan |
Najib_irvani | 43:3807a95aa284 | 519 | motorDpn.speed(-tuneDpn); |
Najib_irvani | 43:3807a95aa284 | 520 | motorBlk.speed(tuneBlk); |
Najib_irvani | 43:3807a95aa284 | 521 | motorR.brake(1); |
Najib_irvani | 43:3807a95aa284 | 522 | motorL.brake(1); |
gustavaditya | 31:d5cbda07fd95 | 523 | break; |
gustavaditya | 31:d5cbda07fd95 | 524 | } |
gustavaditya | 31:d5cbda07fd95 | 525 | case (4) : |
gustavaditya | 31:d5cbda07fd95 | 526 | { |
gustavaditya | 31:d5cbda07fd95 | 527 | // Kiri |
Najib_irvani | 43:3807a95aa284 | 528 | motorDpn.speed(tuneDpn); |
Najib_irvani | 43:3807a95aa284 | 529 | motorBlk.speed(-tuneBlk); |
Najib_irvani | 43:3807a95aa284 | 530 | motorR.brake(1); |
Najib_irvani | 43:3807a95aa284 | 531 | motorL.brake(1); |
Najib_irvani | 43:3807a95aa284 | 532 | break; |
Najib_irvani | 43:3807a95aa284 | 533 | } |
Najib_irvani | 43:3807a95aa284 | 534 | case (8) : |
Najib_irvani | 43:3807a95aa284 | 535 | { |
Najib_irvani | 43:3807a95aa284 | 536 | // Maju |
Najib_irvani | 43:3807a95aa284 | 537 | //init_rpm(); |
Najib_irvani | 43:3807a95aa284 | 538 | motorR.speed(tuneR); |
Najib_irvani | 43:3807a95aa284 | 539 | motorL.speed(-tuneL); |
Najib_irvani | 43:3807a95aa284 | 540 | motorDpn.brake(1); |
Najib_irvani | 43:3807a95aa284 | 541 | motorBlk.brake(1); |
Najib_irvani | 43:3807a95aa284 | 542 | break; |
Najib_irvani | 43:3807a95aa284 | 543 | } |
Najib_irvani | 43:3807a95aa284 | 544 | case (9) : |
Najib_irvani | 43:3807a95aa284 | 545 | { |
Najib_irvani | 43:3807a95aa284 | 546 | // Mundur |
Najib_irvani | 43:3807a95aa284 | 547 | //init_rpm(); |
Najib_irvani | 43:3807a95aa284 | 548 | motorR.speed(-tuneR); |
Najib_irvani | 43:3807a95aa284 | 549 | motorL.speed(tuneL); |
Najib_irvani | 43:3807a95aa284 | 550 | motorDpn.brake(1); |
Najib_irvani | 43:3807a95aa284 | 551 | motorBlk.brake(1); |
gustavaditya | 31:d5cbda07fd95 | 552 | break; |
gustavaditya | 31:d5cbda07fd95 | 553 | } |
gustavaditya | 31:d5cbda07fd95 | 554 | case (5) : |
gustavaditya | 31:d5cbda07fd95 | 555 | { |
gustavaditya | 31:d5cbda07fd95 | 556 | // Aktifkan motor atas |
gustavaditya | 31:d5cbda07fd95 | 557 | isLauncher = !isLauncher; |
gustavaditya | 31:d5cbda07fd95 | 558 | break; |
Joshua23 | 8:0711dea61312 | 559 | } |
gustavaditya | 31:d5cbda07fd95 | 560 | case (6) : |
gustavaditya | 31:d5cbda07fd95 | 561 | { |
gustavaditya | 31:d5cbda07fd95 | 562 | // Target Pulse PID ++ Motor Depan |
gustavaditya | 39:11358f3f61ff | 563 | target_rpm2 = target_rpm2+1.0; |
gustavaditya | 39:11358f3f61ff | 564 | target_rpm = target_rpm+1.0; |
gustavaditya | 37:67d54563af90 | 565 | init_rpm(); |
gustavaditya | 31:d5cbda07fd95 | 566 | break; |
gustavaditya | 31:d5cbda07fd95 | 567 | } |
gustavaditya | 31:d5cbda07fd95 | 568 | case (7) : |
gustavaditya | 31:d5cbda07fd95 | 569 | { |
gustavaditya | 31:d5cbda07fd95 | 570 | // Target Pulse PID -- Motor Depan |
gustavaditya | 39:11358f3f61ff | 571 | target_rpm2 = target_rpm2-1.0; |
gustavaditya | 39:11358f3f61ff | 572 | target_rpm = target_rpm-1.0; |
gustavaditya | 37:67d54563af90 | 573 | init_rpm(); |
gustavaditya | 31:d5cbda07fd95 | 574 | break; |
gustavaditya | 31:d5cbda07fd95 | 575 | } |
gustavaditya | 31:d5cbda07fd95 | 576 | case (10) : |
gustavaditya | 31:d5cbda07fd95 | 577 | { |
gustavaditya | 31:d5cbda07fd95 | 578 | // Pneumatik |
gustavaditya | 31:d5cbda07fd95 | 579 | pneumatik = 0; |
gustavaditya | 31:d5cbda07fd95 | 580 | previousMillis3 = millis(); |
gustavaditya | 31:d5cbda07fd95 | 581 | flag_Pneu = true; |
gustavaditya | 31:d5cbda07fd95 | 582 | break; |
gustavaditya | 31:d5cbda07fd95 | 583 | } |
gustavaditya | 31:d5cbda07fd95 | 584 | case (11) : |
gustavaditya | 31:d5cbda07fd95 | 585 | { |
gustavaditya | 31:d5cbda07fd95 | 586 | // Power Screw Up |
gustavaditya | 40:5b937cac959a | 587 | ReloadOn = !ReloadOn; |
Najib_irvani | 43:3807a95aa284 | 588 | isReload = false; |
gustavaditya | 31:d5cbda07fd95 | 589 | break; |
gustavaditya | 31:d5cbda07fd95 | 590 | } |
gustavaditya | 31:d5cbda07fd95 | 591 | case (12) : |
gustavaditya | 31:d5cbda07fd95 | 592 | { |
gustavaditya | 31:d5cbda07fd95 | 593 | // Power Screw Down |
Najib_irvani | 43:3807a95aa284 | 594 | ReloadOn = !ReloadOn; |
Najib_irvani | 43:3807a95aa284 | 595 | isReload = true; |
gustavaditya | 31:d5cbda07fd95 | 596 | break; |
gustavaditya | 31:d5cbda07fd95 | 597 | } |
gustavaditya | 31:d5cbda07fd95 | 598 | default : |
gustavaditya | 31:d5cbda07fd95 | 599 | { |
gustavaditya | 31:d5cbda07fd95 | 600 | motorDpn.brake(1); |
gustavaditya | 31:d5cbda07fd95 | 601 | motorBlk.brake(1); |
Najib_irvani | 43:3807a95aa284 | 602 | motorR.brake(1); |
Najib_irvani | 43:3807a95aa284 | 603 | motorL.brake(1); |
gustavaditya | 31:d5cbda07fd95 | 604 | } |
gustavaditya | 31:d5cbda07fd95 | 605 | } // End Switch |
gustavaditya | 31:d5cbda07fd95 | 606 | } |
gustavaditya | 31:d5cbda07fd95 | 607 | |
gustavaditya | 40:5b937cac959a | 608 | void reloader() |
rizqicahyo | 36:5963c9a49485 | 609 | { |
rizqicahyo | 36:5963c9a49485 | 610 | if(ReloadOn){ |
rizqicahyo | 36:5963c9a49485 | 611 | if(isReload){ |
rizqicahyo | 36:5963c9a49485 | 612 | powerScrew.speed(pwmPowerDown); |
rizqicahyo | 36:5963c9a49485 | 613 | if(!limitBawah){ |
rizqicahyo | 36:5963c9a49485 | 614 | isReload = false; |
rizqicahyo | 36:5963c9a49485 | 615 | ReloadOn = false; |
rizqicahyo | 36:5963c9a49485 | 616 | } |
rizqicahyo | 36:5963c9a49485 | 617 | } |
rizqicahyo | 36:5963c9a49485 | 618 | else if(!limitTengah){ |
rizqicahyo | 36:5963c9a49485 | 619 | isReload = true; |
rizqicahyo | 36:5963c9a49485 | 620 | } |
Najib_irvani | 43:3807a95aa284 | 621 | else if((jarak_ping > 6.5) && !flag_Pneu){ |
gustavaditya | 40:5b937cac959a | 622 | powerScrew.speed(pwmPowerUp); |
gustavaditya | 40:5b937cac959a | 623 | } |
Najib_irvani | 43:3807a95aa284 | 624 | else if((jarak_ping < 6 ) && !flag_Pneu) { |
gustavaditya | 41:336a19289c2d | 625 | powerScrew.speed(-0.1); |
rizqicahyo | 36:5963c9a49485 | 626 | } |
rizqicahyo | 36:5963c9a49485 | 627 | else{ |
gustavaditya | 40:5b937cac959a | 628 | powerScrew.brake(1); |
rizqicahyo | 36:5963c9a49485 | 629 | } |
rizqicahyo | 36:5963c9a49485 | 630 | } |
rizqicahyo | 36:5963c9a49485 | 631 | else{ |
rizqicahyo | 36:5963c9a49485 | 632 | powerScrew.brake(1); |
rizqicahyo | 36:5963c9a49485 | 633 | } |
gustavaditya | 40:5b937cac959a | 634 | } |
rizqicahyo | 36:5963c9a49485 | 635 | |
rizqicahyo | 36:5963c9a49485 | 636 | |
gustavaditya | 31:d5cbda07fd95 | 637 | void launcher() |
gustavaditya | 31:d5cbda07fd95 | 638 | { |
gustavaditya | 31:d5cbda07fd95 | 639 | if (isLauncher) |
Sufa | 30:d69cc27ac644 | 640 | { |
be_bryan | 28:2d0746dc2d7d | 641 | currentMillis = millis(); |
be_bryan | 28:2d0746dc2d7d | 642 | currentMillis2 = millis(); |
be_bryan | 28:2d0746dc2d7d | 643 | |
gustavaditya | 31:d5cbda07fd95 | 644 | // PID Launcher Depan |
gustavaditya | 38:3ef6754bd8d8 | 645 | if (currentMillis-previousMillis>=12.5) |
be_bryan | 26:256160a1a82d | 646 | { |
gustavaditya | 31:d5cbda07fd95 | 647 | rpm = (float)encLauncherBlk.getPulses(); |
be_bryan | 26:256160a1a82d | 648 | current_error = target_rpm - rpm; |
be_bryan | 26:256160a1a82d | 649 | sum_error = sum_error + current_error; |
be_bryan | 26:256160a1a82d | 650 | p = current_error*kpA; |
gustavaditya | 38:3ef6754bd8d8 | 651 | d = (current_error-last_error)*kdA/12.5; |
gustavaditya | 38:3ef6754bd8d8 | 652 | i = sum_error*kiA*12.5; |
be_bryan | 26:256160a1a82d | 653 | speed = p + d + i; |
gustavaditya | 38:3ef6754bd8d8 | 654 | //init_speed(); |
gustavaditya | 38:3ef6754bd8d8 | 655 | if(speed > maxSpeed){ |
gustavaditya | 38:3ef6754bd8d8 | 656 | launcherBlk.speed(maxSpeed); |
gustavaditya | 38:3ef6754bd8d8 | 657 | } |
gustavaditya | 39:11358f3f61ff | 658 | else if ( speed < minSpeed){ |
gustavaditya | 39:11358f3f61ff | 659 | launcherBlk.speed(minSpeed); |
gustavaditya | 39:11358f3f61ff | 660 | } |
gustavaditya | 38:3ef6754bd8d8 | 661 | else { |
gustavaditya | 38:3ef6754bd8d8 | 662 | launcherBlk.speed(speed); |
gustavaditya | 38:3ef6754bd8d8 | 663 | } |
be_bryan | 26:256160a1a82d | 664 | last_error = current_error; |
gustavaditya | 31:d5cbda07fd95 | 665 | encLauncherBlk.reset(); |
be_bryan | 26:256160a1a82d | 666 | //pc.printf("%.04lf\n",rpm); |
be_bryan | 26:256160a1a82d | 667 | previousMillis = currentMillis; |
be_bryan | 26:256160a1a82d | 668 | } |
gustavaditya | 38:3ef6754bd8d8 | 669 | if (currentMillis2-previousMillis2>=12.5) |
be_bryan | 27:68efb1622985 | 670 | { |
gustavaditya | 31:d5cbda07fd95 | 671 | rpm2 = (float)encLauncherDpn.getPulses(); |
be_bryan | 27:68efb1622985 | 672 | current_error2 = target_rpm2 - rpm2; |
be_bryan | 27:68efb1622985 | 673 | sum_error2 = sum_error2 + current_error2; |
be_bryan | 27:68efb1622985 | 674 | p2 = current_error2*kpA; |
gustavaditya | 38:3ef6754bd8d8 | 675 | d2 = (current_error2-last_error2)*kdA/12.5; |
gustavaditya | 38:3ef6754bd8d8 | 676 | i2 = sum_error2*kiA*12.5; |
be_bryan | 27:68efb1622985 | 677 | speed2 = p2 + d2 + i2; |
gustavaditya | 38:3ef6754bd8d8 | 678 | //init_speed(); |
gustavaditya | 38:3ef6754bd8d8 | 679 | if (speed2 > maxSpeed){ |
gustavaditya | 38:3ef6754bd8d8 | 680 | launcherDpn.speed(maxSpeed); |
gustavaditya | 38:3ef6754bd8d8 | 681 | } |
gustavaditya | 39:11358f3f61ff | 682 | else if ( speed < minSpeed){ |
gustavaditya | 39:11358f3f61ff | 683 | launcherDpn.speed(minSpeed); |
gustavaditya | 39:11358f3f61ff | 684 | } |
gustavaditya | 38:3ef6754bd8d8 | 685 | else{ |
gustavaditya | 38:3ef6754bd8d8 | 686 | launcherDpn.speed(speed2); |
gustavaditya | 38:3ef6754bd8d8 | 687 | } |
be_bryan | 27:68efb1622985 | 688 | last_error2 = current_error2; |
gustavaditya | 31:d5cbda07fd95 | 689 | encLauncherDpn.reset(); |
be_bryan | 27:68efb1622985 | 690 | previousMillis2 = currentMillis2; |
be_bryan | 27:68efb1622985 | 691 | } |
rahmadirizki18 | 6:68293bed71ea | 692 | } |
Sufa | 29:7b372b0aaa61 | 693 | else |
Sufa | 29:7b372b0aaa61 | 694 | { |
gustavaditya | 31:d5cbda07fd95 | 695 | launcherDpn.brake(1); |
gustavaditya | 31:d5cbda07fd95 | 696 | launcherBlk.brake(1); |
gustavaditya | 31:d5cbda07fd95 | 697 | } |
rahmadirizki18 | 5:3aa203218306 | 698 | } |
gustavaditya | 31:d5cbda07fd95 | 699 | |
MarchioKevin | 22:4632f58461e0 | 700 | /*********************************************************/ |
MarchioKevin | 22:4632f58461e0 | 701 | /* Main Function */ |
MarchioKevin | 22:4632f58461e0 | 702 | /*********************************************************/ |
calmantara186 | 16:90119f03c5d1 | 703 | |
gustavaditya | 31:d5cbda07fd95 | 704 | int main (void) |
gustavaditya | 31:d5cbda07fd95 | 705 | { |
gustavaditya | 31:d5cbda07fd95 | 706 | // Set baud rate - 115200 |
fanny868 | 0:9072e932503c | 707 | joystick.setup(); |
rahmadirizki18 | 23:023b522977b2 | 708 | pc.baud(115200); |
rahmadirizki18 | 6:68293bed71ea | 709 | wait_ms(1000); |
gustavaditya | 40:5b937cac959a | 710 | |
gustavaditya | 40:5b937cac959a | 711 | // initializing encoder |
gustavaditya | 41:336a19289c2d | 712 | pneumatik =1; |
gustavaditya | 41:336a19289c2d | 713 | |
rahmadirizki18 | 5:3aa203218306 | 714 | setCenter(); |
gustavaditya | 41:336a19289c2d | 715 | |
rahmadirizki18 | 5:3aa203218306 | 716 | wait_ms(500); |
gustavaditya | 40:5b937cac959a | 717 | |
gustavaditya | 40:5b937cac959a | 718 | //initializing PING |
gustavaditya | 40:5b937cac959a | 719 | pingAtas.Send(); |
gustavaditya | 40:5b937cac959a | 720 | |
rahmadirizki18 | 23:023b522977b2 | 721 | pc.printf("ready...."); |
gustavaditya | 35:69a47b4cb3fc | 722 | startMillis(); |
fanny868 | 0:9072e932503c | 723 | while(1) |
gustavaditya | 40:5b937cac959a | 724 | { |
gustavaditya | 40:5b937cac959a | 725 | // interupsi pembacaan PING setiap 30 ms |
gustavaditya | 41:336a19289c2d | 726 | if(millis() - previousMillis4 >= 5){ //30 |
gustavaditya | 41:336a19289c2d | 727 | jarak_ping = (float)pingAtas.Read_cm()/2; |
gustavaditya | 40:5b937cac959a | 728 | |
gustavaditya | 40:5b937cac959a | 729 | pingAtas.Send(); |
gustavaditya | 40:5b937cac959a | 730 | previousMillis4 = millis(); |
gustavaditya | 40:5b937cac959a | 731 | } |
gustavaditya | 40:5b937cac959a | 732 | |
fanny868 | 0:9072e932503c | 733 | // Interrupt Serial |
calmantara186 | 16:90119f03c5d1 | 734 | joystick.idle(); |
gustavaditya | 31:d5cbda07fd95 | 735 | if(joystick.readable()) |
gustavaditya | 31:d5cbda07fd95 | 736 | { |
fanny868 | 0:9072e932503c | 737 | // Panggil fungsi pembacaan joystik |
fanny868 | 0:9072e932503c | 738 | joystick.baca_data(); |
fanny868 | 0:9072e932503c | 739 | // Panggil fungsi pengolahan data joystik |
fanny868 | 0:9072e932503c | 740 | joystick.olah_data(); |
gustavaditya | 31:d5cbda07fd95 | 741 | // Masuk ke case joystick |
gustavaditya | 31:d5cbda07fd95 | 742 | case_joy = case_joystick(); |
Najib_irvani | 43:3807a95aa284 | 743 | pc.printf("%d\n",case_joy); |
rahmadirizki18 | 3:1287fccc11be | 744 | aktuator(); |
gustavaditya | 31:d5cbda07fd95 | 745 | launcher(); |
gustavaditya | 40:5b937cac959a | 746 | reloader(); |
Najib_irvani | 43:3807a95aa284 | 747 | if ((millis()-previousMillis3 >= 320)&&(flag_Pneu)){ |
be_bryan | 26:256160a1a82d | 748 | pneumatik = 1; |
gustavaditya | 31:d5cbda07fd95 | 749 | flag_Pneu = false; |
be_bryan | 26:256160a1a82d | 750 | } |
be_bryan | 26:256160a1a82d | 751 | } |
gustavaditya | 31:d5cbda07fd95 | 752 | else |
gustavaditya | 31:d5cbda07fd95 | 753 | { |
gustavaditya | 31:d5cbda07fd95 | 754 | joystick.idle(); |
MarchioKevin | 21:da2f3d04468f | 755 | } |
franshendri | 42:6caf8bd5abbc | 756 | |
franshendri | 42:6caf8bd5abbc | 757 | if(millis() - previousMillis5 >= 400){ |
Najib_irvani | 43:3807a95aa284 | 758 | //display.write(0,((int) target_rpm2-2) / 10); |
Najib_irvani | 43:3807a95aa284 | 759 | //display.write(1,((int)target_rpm2-2) % 10); |
Najib_irvani | 43:3807a95aa284 | 760 | //display.write(2, (int)target_rpm2 / 10); |
Najib_irvani | 43:3807a95aa284 | 761 | //display.write(3, (int)target_rpm2 % 10); |
Najib_irvani | 43:3807a95aa284 | 762 | //display.setColon(true); |
Najib_irvani | 43:3807a95aa284 | 763 | |
Najib_irvani | 43:3807a95aa284 | 764 | display.write(0,((int) rpm2) / 10); |
Najib_irvani | 43:3807a95aa284 | 765 | display.write(1,((int)rpm2) % 10); |
franshendri | 42:6caf8bd5abbc | 766 | display.write(2, (int)target_rpm2 / 10); |
franshendri | 42:6caf8bd5abbc | 767 | display.write(3, (int)target_rpm2 % 10); |
franshendri | 42:6caf8bd5abbc | 768 | display.setColon(true); |
franshendri | 42:6caf8bd5abbc | 769 | |
franshendri | 42:6caf8bd5abbc | 770 | previousMillis5 = millis(); |
franshendri | 42:6caf8bd5abbc | 771 | } |
fanny868 | 0:9072e932503c | 772 | } |
be_bryan | 28:2d0746dc2d7d | 773 | } |