KRAI 2017 / Mbed 2 deprecated DagonFly__RoadToJapan_13Mei_a

malam minggu ngakak

Dependencies:   DigitDisplay Motor PID Ping mbed millis

Fork of DagonFly__RoadToJapan_13Mei by KRAI 2017

main.cpp@49:0c9148ab8585, 2017-05-13 (annotated)

Committer:
Najib_irvani
Date:
Sat May 13 15:17:23 2017 +0000
Revision:
49:0c9148ab8585
Parent:
48:3006386dc8df 
sabtu mlm minggu

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Najib_irvani 47:6cac4f1a3c8e 1 /*tuning motor baru untuk konstanta pid baru */
rahmadirizki18 5:3aa203218306 2 /****************************************************************************/
rahmadirizki18 5:3aa203218306 3 /* PROGRAM UNTUK PID CLOSED LOOP */
rahmadirizki18 5:3aa203218306 4 /* */
Najib_irvani 47:6cac4f1a3c8e 5 /* Last Update : 16 April 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 /* */
Najib_irvani 44:452c214d9cf5 28 /* Tombol silang => Pneumatik aktif */
Sufa 30:d69cc27ac644 29 /* Tombol segitiga => Aktif motor Launcher */
Najib_irvani 44:452c214d9cf5 30 /* Tombol lingkaran => Reloader naik */
Najib_irvani 44:452c214d9cf5 31 /* Tombol kotak => Reloader turun */
Sufa 30:d69cc27ac644 32 /* Tombol L1 => Pivot Kiri */
Sufa 30:d69cc27ac644 33 /* Tombol R1 => Pivot Kanan */
Najib_irvani 44:452c214d9cf5 34 /* Tombol L2 => Kurang PWM Motor Launcher */
Najib_irvani 44:452c214d9cf5 35 /* Tombol R2 => Tambah PWM Motor Launcher */
rahmadirizki18 13:8ab42383a2ca 36 /* */
calmantara186 16:90119f03c5d1 37 /* Bismillahirahmanirrahim */
MarchioKevin 20:54dc93e7b016 38 /* Jagalah Kebersihan Kodingan */
rahmadirizki18 6:68293bed71ea 39 /****************************************************************************/
rahmadirizki18 6:68293bed71ea 40
fanny868 0:9072e932503c 41 #include "mbed.h"
fanny868 0:9072e932503c 42 #include "JoystickPS3.h"
fanny868 0:9072e932503c 43 #include "Motor.h"
rahmadirizki18 5:3aa203218306 44 #include "encoderKRAI.h"
be_bryan 26:256160a1a82d 45 #include "millis.h"
gustavaditya 40:5b937cac959a 46 #include "Ping.h"
franshendri 42:6caf8bd5abbc 47 #include "DigitDisplay.h"
franshendri 42:6caf8bd5abbc 48
calmantara186 16:90119f03c5d1 49 /***********************************************/
calmantara186 16:90119f03c5d1 50 /* Konstanta dan Variabel */
calmantara186 16:90119f03c5d1 51 /***********************************************/
calmantara186 16:90119f03c5d1 52 #define PI 3.14159265
be_bryan 26:256160a1a82d 53 #define D_ENCODER 10 // Diameter Roda Encoder
be_bryan 26:256160a1a82d 54 #define D_ROBOT 80 // Diameter Roda Robot
rahmadirizki18 5:3aa203218306 55
Najib_irvani 46:85169ae8659b 56 // Variable Atas
Najib_irvani 46:85169ae8659b 57 // indek 2 untuk motor depan, 1 untuk motor belakang
gustavaditya 38:3ef6754bd8d8 58 double speed, speed2;
Najib_irvani 47:6cac4f1a3c8e 59 const double maxSpeed = 0.95, minSpeed = -0.95, Ts = 12.5;
Najib_irvani 49:0c9148ab8585 60 const double kpA1=0.19982, kdA1=0.91824, kiA1=0.00072609;
Najib_irvani 49:0c9148ab8585 61 const double kpA2=0.20481, kdA2=0.92191, kiA2=0.00076326;
Najib_irvani 46:85169ae8659b 62 double a1,b1,c1;
Najib_irvani 46:85169ae8659b 63 double a2,b2,c2;
Najib_irvani 46:85169ae8659b 64 double current_error1, previous_error1_1 = 0, previous_error1_2 = 0;
Najib_irvani 46:85169ae8659b 65 double current_error2, previous_error2_1 = 0, previous_error2_2 = 0;
Najib_irvani 46:85169ae8659b 66 double previous_speed1 = 0;
Najib_irvani 46:85169ae8659b 67 double previous_speed2 = 0;
Najib_irvani 46:85169ae8659b 68
gustavaditya 38:3ef6754bd8d8 69 float rpm, rpm2;
Najib_irvani 47:6cac4f1a3c8e 70 double target_rpm = 18.0, target_rpm2 = 18.0; // selisih 4 bagus, sama bagus
Najib_irvani 46:85169ae8659b 71 const float maxRPM = 35, minRPM = 0; // Limit 25 atau 27
gustavaditya 38:3ef6754bd8d8 72
Najib_irvani 44:452c214d9cf5 73 const float pwmPowerUp = 1.0;
Najib_irvani 44:452c214d9cf5 74 const float pwmPowerDown = -1.0;
gustavaditya 40:5b937cac959a 75
Najib_irvani 46:85169ae8659b 76 double jarak_ping=0;
Najib_irvani 48:3006386dc8df 77 double ping_target = 16;
Najib_irvani 46:85169ae8659b 78 double ping_current_error, ping_previous_error1 = 0, ping_sum_error=0;
Najib_irvani 48:3006386dc8df 79 double ping_Kp = -0.3747, ping_Ki =0, ping_Ts=10;
Najib_irvani 46:85169ae8659b 80 double ping_pwm, ping_previous_pwm = 0;
Najib_irvani 46:85169ae8659b 81
be_bryan 26:256160a1a82d 82 // Variable Bawah
Najib_irvani 44:452c214d9cf5 83 float PIVOT = 0.17; // PWM Pivot Kanan, Pivot Kiri
Najib_irvani 46:85169ae8659b 84 float tuneDpn = 1.0; // Tunning PWM motor Depan
Najib_irvani 46:85169ae8659b 85 float tuneBlk = 1.0; // Tunning PWM motor belakang
gustavaditya 45:964ae71a30e3 86 float tuneAksel = 0.6;
gustavaditya 45:964ae71a30e3 87 int aksel = 0;
gustavaditya 45:964ae71a30e3 88 float tuneAkselBlk = 0.4;
Najib_irvani 46:85169ae8659b 89 float tuneR = 1.0;
Najib_irvani 46:85169ae8659b 90 float tuneL = 1.0;
Najib_irvani 44:452c214d9cf5 91 float serong = 0.4;
Najib_irvani 47:6cac4f1a3c8e 92 float rasio = 1.4545;
Najib_irvani 47:6cac4f1a3c8e 93 float t_new = 0.1;
Najib_irvani 43:3807a95aa284 94
Najib_irvani 43:3807a95aa284 95 /* variable tunning */
Najib_irvani 43:3807a95aa284 96 float tunning_L;
Najib_irvani 43:3807a95aa284 97 float tunning_R;
Najib_irvani 43:3807a95aa284 98 float tunning_Dpn;
Najib_irvani 43:3807a95aa284 99 float tunning_Blk;
gustavaditya 31:d5cbda07fd95 100
gustavaditya 31:d5cbda07fd95 101 /* Deklarasi Variable Millis */
gustavaditya 33:69d266bc3fe9 102 unsigned long int previousMillis = 0; // PID launcher
gustavaditya 31:d5cbda07fd95 103 unsigned long int currentMillis;
gustavaditya 33:69d266bc3fe9 104 unsigned long int previousMillis2 = 0; // PID launcher
gustavaditya 31:d5cbda07fd95 105 unsigned long int currentMillis2;
gustavaditya 33:69d266bc3fe9 106 unsigned long int previousMillis3 = 0; // Pneumatik
gustavaditya 40:5b937cac959a 107 unsigned long int previousMillis4 = 0; // Ping
franshendri 42:6caf8bd5abbc 108 unsigned long int previousMillis5 = 0; // Display
MarchioKevin 22:4632f58461e0 109
gustavaditya 31:d5cbda07fd95 110 /* Variabel Stick */
gustavaditya 31:d5cbda07fd95 111 //Logic untuk masuk aktuator
gustavaditya 31:d5cbda07fd95 112 int case_joy;
gustavaditya 31:d5cbda07fd95 113 bool isLauncher = false;
gustavaditya 31:d5cbda07fd95 114 bool isReload = false;
rizqicahyo 36:5963c9a49485 115 bool ReloadOn = false;
gustavaditya 31:d5cbda07fd95 116 bool flag_Pneu = false;
Najib_irvani 47:6cac4f1a3c8e 117 bool flag_paku = false;
Najib_irvani 44:452c214d9cf5 118 bool ready = false;
gustavaditya 31:d5cbda07fd95 119
gustavaditya 31:d5cbda07fd95 120 /*****************************************************/
gustavaditya 31:d5cbda07fd95 121 /* Definisi Prosedur, Fungsi dan Setting Pinout */
gustavaditya 31:d5cbda07fd95 122 /*****************************************************/
gustavaditya 31:d5cbda07fd95 123
gustavaditya 31:d5cbda07fd95 124 /* Fungsi dan Procedur Encoder */
gustavaditya 31:d5cbda07fd95 125 void init_speed(); //
gustavaditya 31:d5cbda07fd95 126 void aktuator(); // Pergerakan aktuator berdasarkan case joystick
gustavaditya 31:d5cbda07fd95 127 int case_joystick(); // Mendapatkan case dari joystick
gustavaditya 33:69d266bc3fe9 128 //void speedKalibrasiMotor(); // Pertambahan target RPM motor atas melalui joystick
gustavaditya 31:d5cbda07fd95 129
gustavaditya 31:d5cbda07fd95 130 /* Inisialisasi Pin TX-RX Joystik dan PC */
gustavaditya 31:d5cbda07fd95 131 joysticknucleo joystick(PA_0,PA_1);
gustavaditya 31:d5cbda07fd95 132 Serial pc(USBTX,USBRX);
calmantara186 16:90119f03c5d1 133
be_bryan 26:256160a1a82d 134 /* Deklarasi Encoder Launcher */
Najib_irvani 44:452c214d9cf5 135 encoderKRAI encLauncherDpn( PC_10, PC_11, 28, encoderKRAI::X4_ENCODING);
Najib_irvani 44:452c214d9cf5 136 encoderKRAI encLauncherBlk( PC_12, PD_2, 28, encoderKRAI::X4_ENCODING);
be_bryan 26:256160a1a82d 137
calmantara186 16:90119f03c5d1 138 /* Deklarasi Motor Base */
Najib_irvani 44:452c214d9cf5 139 Motor motorDpn(PB_7, PC_3, PC_0); //(PB_9, PA_12, PC_5);
Najib_irvani 44:452c214d9cf5 140 //Motor motorBlk(PB_6, PC_14, PC_13); //(PB_6, PB_1, PB_12); (PC_7, PC_14, PC_13);
Najib_irvani 44:452c214d9cf5 141 Motor motorBlk(PB_2, PB_15, PB_1);
Najib_irvani 44:452c214d9cf5 142 Motor motorL (PB_9, PA_12, PA_6);
Najib_irvani 46:85169ae8659b 143 Motor motorR (PB_8, PC_6, PC_5); //(PC_6, PB_4, PB_5);
fanny868 0:9072e932503c 144
calmantara186 16:90119f03c5d1 145 /* Deklarasi Motor Launcher */
Najib_irvani 47:6cac4f1a3c8e 146 Motor launcherDpn(PA_5,PA_11,PB_12); // pwm ,fwd, rev
Najib_irvani 44:452c214d9cf5 147 Motor launcherBlk(PB_3, PC_4, PA_10); // pwm, fwd, rev
Najib_irvani 44:452c214d9cf5 148 Motor powerScrew(PB_10, PB_14, PB_13); // pwm, fwd, rev
rahmadirizki18 5:3aa203218306 149
be_bryan 26:256160a1a82d 150 /* Deklarasi Penumatik Launcher */
Najib_irvani 44:452c214d9cf5 151 DigitalOut pneumatik(PA_4, PullUp);
Najib_irvani 47:6cac4f1a3c8e 152 DigitalOut pneu_paku(PC_2, PullUp);
be_bryan 26:256160a1a82d 153
be_bryan 27:68efb1622985 154 /*Dekalrasi Limit Switch */
gustavaditya 40:5b937cac959a 155 //DigitalIn infraAtas(PC_9, PullUp);
Najib_irvani 44:452c214d9cf5 156 DigitalIn limitTengah(PA_9, PullUp);
Najib_irvani 44:452c214d9cf5 157 DigitalIn limitBawah(PC_7, PullUp);
Najib_irvani 44:452c214d9cf5 158 DigitalIn limitBawah1(PA_7, PullUp);
rahmadirizki18 5:3aa203218306 159
gustavaditya 40:5b937cac959a 160 /*deklarasi PING ultrasonic*/
Najib_irvani 44:452c214d9cf5 161 Ping pingAtas(PC_15);
fanny868 0:9072e932503c 162
franshendri 42:6caf8bd5abbc 163 /*Deklarasi Display*/
Najib_irvani 44:452c214d9cf5 164 DigitDisplay display (PA_8, PC_8);
franshendri 42:6caf8bd5abbc 165
MarchioKevin 22:4632f58461e0 166 /****************************************************/
MarchioKevin 22:4632f58461e0 167 /* Deklarasi Fungsi dan Procedure */
MarchioKevin 22:4632f58461e0 168 /****************************************************/
gustavaditya 31:d5cbda07fd95 169 int case_joystick()
gustavaditya 31:d5cbda07fd95 170 {
gustavaditya 31:d5cbda07fd95 171 //---------------------------------------------------//
gustavaditya 31:d5cbda07fd95 172 // Gerak Motor Base //
gustavaditya 31:d5cbda07fd95 173 // Case 1 : Pivot kanan //
gustavaditya 31:d5cbda07fd95 174 // Case 2 : Pivot Kiri //
gustavaditya 31:d5cbda07fd95 175 // Case 3 : Kanan //
gustavaditya 31:d5cbda07fd95 176 // Case 4 : Kiri //
gustavaditya 31:d5cbda07fd95 177 // Case 5 : Break //
gustavaditya 31:d5cbda07fd95 178 //---------------------------------------------------//
gustavaditya 31:d5cbda07fd95 179
gustavaditya 31:d5cbda07fd95 180 int caseJoystick;
Najib_irvani 43:3807a95aa284 181 if ((joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) {
gustavaditya 31:d5cbda07fd95 182 // Pivot Kanan
gustavaditya 31:d5cbda07fd95 183 caseJoystick = 1;
gustavaditya 31:d5cbda07fd95 184 }
Najib_irvani 43:3807a95aa284 185 else if ((!joystick.R1)&&(joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) {
gustavaditya 31:d5cbda07fd95 186 // Pivot Kiri
gustavaditya 31:d5cbda07fd95 187 caseJoystick = 2;
Najib_irvani 43:3807a95aa284 188 }
Najib_irvani 44:452c214d9cf5 189 else if ((joystick.START_click)&&(!joystick.SELECT_click)&&(!joystick.R3_click)) {
Najib_irvani 44:452c214d9cf5 190 // tambah rpm dengan nilai tertentu
Najib_irvani 44:452c214d9cf5 191 caseJoystick = 31;
Najib_irvani 44:452c214d9cf5 192 }
Najib_irvani 44:452c214d9cf5 193 else if ((!joystick.START_click)&&(joystick.SELECT_click)&&(!joystick.R3_click)) {
Najib_irvani 44:452c214d9cf5 194 // kurangi rpm dengan nilai tertentu
Najib_irvani 44:452c214d9cf5 195 caseJoystick = 32;
Najib_irvani 44:452c214d9cf5 196 }
Najib_irvani 44:452c214d9cf5 197 else if ((!joystick.START_click)&&(!joystick.SELECT_click)&&(joystick.R3_click)) {
Najib_irvani 44:452c214d9cf5 198 // kurangi rpm dengan nilai tertentu
Najib_irvani 44:452c214d9cf5 199 caseJoystick = 33;
Najib_irvani 44:452c214d9cf5 200 }
Najib_irvani 43:3807a95aa284 201 else if ((joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri)) {
Najib_irvani 43:3807a95aa284 202 // Kanan + Rotasi kanan
Najib_irvani 43:3807a95aa284 203 caseJoystick = 17;
Najib_irvani 43:3807a95aa284 204 }
Najib_irvani 43:3807a95aa284 205 else if ((!joystick.R1)&&(joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri)) {
Najib_irvani 43:3807a95aa284 206 // Kanan + Rotasi kiri
Najib_irvani 43:3807a95aa284 207 caseJoystick = 18;
Najib_irvani 43:3807a95aa284 208 }
Najib_irvani 43:3807a95aa284 209 else if ((joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)) {
Najib_irvani 43:3807a95aa284 210 // Kiri + Rotasi kanan
Najib_irvani 43:3807a95aa284 211 caseJoystick = 19;
Najib_irvani 43:3807a95aa284 212 }
Najib_irvani 43:3807a95aa284 213 else if ((!joystick.R1)&&(joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)) {
Najib_irvani 43:3807a95aa284 214 // Kanan + Rotasi kiri
Najib_irvani 43:3807a95aa284 215 caseJoystick = 20;
Najib_irvani 43:3807a95aa284 216 }
Najib_irvani 43:3807a95aa284 217 else if ((joystick.R1)&&(!joystick.L1)&&(joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) {
Najib_irvani 43:3807a95aa284 218 // Maju + Rotasi kanan
Najib_irvani 43:3807a95aa284 219 caseJoystick = 21;
Najib_irvani 43:3807a95aa284 220 }
Najib_irvani 43:3807a95aa284 221 else if ((!joystick.R1)&&(joystick.L1)&&(joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) {
Najib_irvani 43:3807a95aa284 222 // Maju + Rotasi kiri
Najib_irvani 43:3807a95aa284 223 caseJoystick = 22;
Najib_irvani 43:3807a95aa284 224 }
Najib_irvani 43:3807a95aa284 225 else if ((joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) {
Najib_irvani 43:3807a95aa284 226 // Mundur + Rotasi kanan
Najib_irvani 43:3807a95aa284 227 caseJoystick = 23;
Najib_irvani 43:3807a95aa284 228 }
Najib_irvani 43:3807a95aa284 229 else if ((!joystick.R1)&&(joystick.L1)&&(!joystick.atas)&&(joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) {
Najib_irvani 43:3807a95aa284 230 // Mundur + Rotasi kiri
Najib_irvani 43:3807a95aa284 231 caseJoystick = 24;
Najib_irvani 43:3807a95aa284 232 }
Najib_irvani 43:3807a95aa284 233 else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri)&&(joystick.segitiga_click)) {
Najib_irvani 43:3807a95aa284 234 // Kanan + segitiga
Najib_irvani 43:3807a95aa284 235 caseJoystick = 25;
Najib_irvani 43:3807a95aa284 236 }
Najib_irvani 43:3807a95aa284 237 else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)&&(joystick.segitiga_click)) {
Najib_irvani 43:3807a95aa284 238 // Kiri + segitiga
Najib_irvani 43:3807a95aa284 239 caseJoystick = 26;
Najib_irvani 43:3807a95aa284 240 }
Najib_irvani 43:3807a95aa284 241 else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri)&&(joystick.lingkaran_click)) {
Najib_irvani 43:3807a95aa284 242 // Kanan + lingkaran
Najib_irvani 43:3807a95aa284 243 caseJoystick = 27;
Najib_irvani 43:3807a95aa284 244 }
Najib_irvani 43:3807a95aa284 245 else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)&&(joystick.lingkaran_click)) {
Najib_irvani 43:3807a95aa284 246 // Kiri + lingkaran
Najib_irvani 43:3807a95aa284 247 caseJoystick = 28;
Najib_irvani 43:3807a95aa284 248 }
Najib_irvani 43:3807a95aa284 249 else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri)&&(joystick.kotak_click)) {
Najib_irvani 43:3807a95aa284 250 // Kanan + kotak
Najib_irvani 43:3807a95aa284 251 caseJoystick = 29;
Najib_irvani 43:3807a95aa284 252 }
Najib_irvani 43:3807a95aa284 253 else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)&&(joystick.kotak_click)) {
Najib_irvani 43:3807a95aa284 254 // Kiri + kotak
Najib_irvani 43:3807a95aa284 255 caseJoystick = 30;
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 kanan maju
Najib_irvani 44:452c214d9cf5 259 caseJoystick = 13;
Najib_irvani 43:3807a95aa284 260 }
Najib_irvani 43:3807a95aa284 261 else if ((!joystick.R1)&&(!joystick.L1)&&(joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)) {
Najib_irvani 43:3807a95aa284 262 // Serong kiri maju
Najib_irvani 44:452c214d9cf5 263 caseJoystick = 14;
Najib_irvani 43:3807a95aa284 264 }
Najib_irvani 43:3807a95aa284 265 else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri)) {
Najib_irvani 43:3807a95aa284 266 // Serong kanan mundur
Najib_irvani 44:452c214d9cf5 267 caseJoystick = 15;
Najib_irvani 43:3807a95aa284 268 }
Najib_irvani 43:3807a95aa284 269 else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)) {
Najib_irvani 43:3807a95aa284 270 // Serong kiri mundur
Najib_irvani 44:452c214d9cf5 271 caseJoystick = 16;
gustavaditya 31:d5cbda07fd95 272 }
gustavaditya 31:d5cbda07fd95 273 else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri)) {
gustavaditya 31:d5cbda07fd95 274 // Kanan
gustavaditya 31:d5cbda07fd95 275 caseJoystick = 3;
gustavaditya 31:d5cbda07fd95 276 }
gustavaditya 31:d5cbda07fd95 277 else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)) {
gustavaditya 31:d5cbda07fd95 278 // Kiri
gustavaditya 31:d5cbda07fd95 279 caseJoystick = 4;
Najib_irvani 43:3807a95aa284 280 }
Najib_irvani 43:3807a95aa284 281 else if ((!joystick.R1)&&(!joystick.L1)&&(joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) {
Najib_irvani 43:3807a95aa284 282 // Atas -- Maju
Najib_irvani 44:452c214d9cf5 283 caseJoystick = 8;
Najib_irvani 43:3807a95aa284 284 }
Najib_irvani 43:3807a95aa284 285 else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) {
Najib_irvani 43:3807a95aa284 286 // Bawah -- Mundur
Najib_irvani 44:452c214d9cf5 287 caseJoystick = 9;
gustavaditya 31:d5cbda07fd95 288 }
gustavaditya 38:3ef6754bd8d8 289 else if (joystick.segitiga_click){
gustavaditya 31:d5cbda07fd95 290 // Motor Launcher
gustavaditya 31:d5cbda07fd95 291 caseJoystick = 5;
gustavaditya 31:d5cbda07fd95 292 }
gustavaditya 38:3ef6754bd8d8 293 else if (joystick.R2_click){
gustavaditya 31:d5cbda07fd95 294 // Target Pulse PID ++ Motor Depan
gustavaditya 31:d5cbda07fd95 295 caseJoystick = 6;
gustavaditya 31:d5cbda07fd95 296 }
gustavaditya 38:3ef6754bd8d8 297 else if (joystick.L2_click){
Najib_irvani 43:3807a95aa284 298 // Target Pulse PID -- Motor
gustavaditya 31:d5cbda07fd95 299 caseJoystick = 7;
gustavaditya 31:d5cbda07fd95 300 }
gustavaditya 31:d5cbda07fd95 301 else if (joystick.silang_click){
gustavaditya 31:d5cbda07fd95 302 // Pnemuatik ON
gustavaditya 31:d5cbda07fd95 303 caseJoystick = 10;
gustavaditya 31:d5cbda07fd95 304 }
Najib_irvani 43:3807a95aa284 305 else if ((joystick.lingkaran_click)&&(!joystick.kotak_click)) {
gustavaditya 31:d5cbda07fd95 306 // Power Screw Up
gustavaditya 31:d5cbda07fd95 307 caseJoystick = 11;
gustavaditya 31:d5cbda07fd95 308 }
Najib_irvani 43:3807a95aa284 309 else if ((joystick.kotak_click)&&(!joystick.lingkaran_click)) {
gustavaditya 31:d5cbda07fd95 310 // Power Screw Down
gustavaditya 31:d5cbda07fd95 311 caseJoystick = 12;
gustavaditya 31:d5cbda07fd95 312 }
Najib_irvani 47:6cac4f1a3c8e 313 else if (joystick.L3){
Najib_irvani 47:6cac4f1a3c8e 314 // Paku Bumi ON/OFF
Najib_irvani 47:6cac4f1a3c8e 315 caseJoystick = 34;
Najib_irvani 47:6cac4f1a3c8e 316 }
gustavaditya 45:964ae71a30e3 317 else
gustavaditya 45:964ae71a30e3 318 {
gustavaditya 45:964ae71a30e3 319 tuneAksel = 0.6;
gustavaditya 45:964ae71a30e3 320 aksel = 0;
gustavaditya 45:964ae71a30e3 321 }
gustavaditya 31:d5cbda07fd95 322
gustavaditya 31:d5cbda07fd95 323 return(caseJoystick);
gustavaditya 31:d5cbda07fd95 324 }
gustavaditya 31:d5cbda07fd95 325
fanny868 0:9072e932503c 326
gustavaditya 37:67d54563af90 327 void init_rpm (){
gustavaditya 38:3ef6754bd8d8 328 if (target_rpm>maxRPM-2){
gustavaditya 38:3ef6754bd8d8 329 target_rpm = maxRPM-2;
gustavaditya 37:67d54563af90 330 }
franshendri 42:6caf8bd5abbc 331 if (target_rpm<minRPM){
gustavaditya 37:67d54563af90 332 target_rpm = minRPM;
gustavaditya 37:67d54563af90 333 }
gustavaditya 37:67d54563af90 334 if (target_rpm2>maxRPM){
gustavaditya 37:67d54563af90 335 target_rpm2 = maxRPM;
gustavaditya 37:67d54563af90 336 }
franshendri 42:6caf8bd5abbc 337 if (target_rpm2<minRPM+2){
gustavaditya 38:3ef6754bd8d8 338 target_rpm2 = minRPM+2;
gustavaditya 37:67d54563af90 339 }
gustavaditya 37:67d54563af90 340 }
gustavaditya 37:67d54563af90 341
gustavaditya 31:d5cbda07fd95 342 void aktuator()
gustavaditya 31:d5cbda07fd95 343 {
gustavaditya 31:d5cbda07fd95 344 switch (case_joy) {
gustavaditya 31:d5cbda07fd95 345 case (1):
gustavaditya 31:d5cbda07fd95 346 {
gustavaditya 31:d5cbda07fd95 347 // Pivot Kanan
gustavaditya 31:d5cbda07fd95 348 motorDpn.speed(-PIVOT);
gustavaditya 31:d5cbda07fd95 349 motorBlk.speed(-PIVOT);
Najib_irvani 47:6cac4f1a3c8e 350 motorR.speed(-rasio*PIVOT-t_new);
Najib_irvani 47:6cac4f1a3c8e 351 motorL.speed(-rasio*PIVOT-t_new);
gustavaditya 31:d5cbda07fd95 352 break;
gustavaditya 31:d5cbda07fd95 353 }
gustavaditya 31:d5cbda07fd95 354 case (2):
gustavaditya 31:d5cbda07fd95 355 {
gustavaditya 31:d5cbda07fd95 356 // Pivot Kiri
gustavaditya 31:d5cbda07fd95 357 motorDpn.speed(PIVOT);
gustavaditya 31:d5cbda07fd95 358 motorBlk.speed(PIVOT);
Najib_irvani 47:6cac4f1a3c8e 359 motorR.speed(rasio*PIVOT+t_new);
Najib_irvani 47:6cac4f1a3c8e 360 motorL.speed(rasio*PIVOT+t_new);
Najib_irvani 43:3807a95aa284 361 break;
Najib_irvani 43:3807a95aa284 362 }
Najib_irvani 43:3807a95aa284 363 case (17):
Najib_irvani 43:3807a95aa284 364 {
Najib_irvani 43:3807a95aa284 365 // Kanan + Rotasi Kanan
Najib_irvani 43:3807a95aa284 366 motorDpn.speed(-PIVOT);
Najib_irvani 43:3807a95aa284 367 motorBlk.speed(-PIVOT);
Najib_irvani 47:6cac4f1a3c8e 368 motorR.speed(-rasio*PIVOT-t_new);
Najib_irvani 47:6cac4f1a3c8e 369 motorL.speed(-rasio*PIVOT-t_new);
Najib_irvani 43:3807a95aa284 370 break;
Najib_irvani 43:3807a95aa284 371 }
Najib_irvani 43:3807a95aa284 372 case (18):
Najib_irvani 43:3807a95aa284 373 {
Najib_irvani 43:3807a95aa284 374 // Kanan + Rotasi Kiri
Najib_irvani 43:3807a95aa284 375 motorDpn.speed(PIVOT);
Najib_irvani 43:3807a95aa284 376 motorBlk.speed(PIVOT);
Najib_irvani 47:6cac4f1a3c8e 377 motorR.speed(rasio*PIVOT+t_new);
Najib_irvani 47:6cac4f1a3c8e 378 motorL.speed(rasio*PIVOT+t_new);
Najib_irvani 43:3807a95aa284 379 break;
Najib_irvani 43:3807a95aa284 380 }
Najib_irvani 43:3807a95aa284 381 case (19):
Najib_irvani 43:3807a95aa284 382 {
Najib_irvani 43:3807a95aa284 383 // Kiri + Rotasi Kanan
Najib_irvani 43:3807a95aa284 384 motorDpn.speed(-PIVOT);
Najib_irvani 43:3807a95aa284 385 motorBlk.speed(-PIVOT);
Najib_irvani 47:6cac4f1a3c8e 386 motorR.speed(-rasio*PIVOT-t_new);
Najib_irvani 47:6cac4f1a3c8e 387 motorL.speed(-rasio*PIVOT-t_new);
Najib_irvani 43:3807a95aa284 388 break;
Najib_irvani 43:3807a95aa284 389 }
Najib_irvani 43:3807a95aa284 390 case (20):
Najib_irvani 43:3807a95aa284 391 {
Najib_irvani 43:3807a95aa284 392 // Kiri + Rotasi Kiri
Najib_irvani 43:3807a95aa284 393 motorDpn.speed(PIVOT);
Najib_irvani 43:3807a95aa284 394 motorBlk.speed(PIVOT);
Najib_irvani 47:6cac4f1a3c8e 395 motorR.speed(rasio*PIVOT+t_new);
Najib_irvani 47:6cac4f1a3c8e 396 motorL.speed(rasio*PIVOT+t_new);
Najib_irvani 43:3807a95aa284 397 break;
Najib_irvani 43:3807a95aa284 398 }
Najib_irvani 43:3807a95aa284 399 case (21):
Najib_irvani 43:3807a95aa284 400 {
Najib_irvani 43:3807a95aa284 401 // Maju + Rotasi Kanan
Najib_irvani 43:3807a95aa284 402 motorDpn.speed(-PIVOT);
Najib_irvani 43:3807a95aa284 403 motorBlk.speed(-PIVOT);
Najib_irvani 47:6cac4f1a3c8e 404 motorR.speed(-rasio*PIVOT-t_new);
Najib_irvani 47:6cac4f1a3c8e 405 motorL.speed(-rasio*PIVOT-t_new);
Najib_irvani 43:3807a95aa284 406 break;
Najib_irvani 43:3807a95aa284 407 }
Najib_irvani 43:3807a95aa284 408 case (22):
Najib_irvani 43:3807a95aa284 409 {
Najib_irvani 43:3807a95aa284 410 // Maju + Rotasi Kiri
Najib_irvani 43:3807a95aa284 411 motorDpn.speed(PIVOT);
Najib_irvani 43:3807a95aa284 412 motorBlk.speed(PIVOT);
Najib_irvani 47:6cac4f1a3c8e 413 motorR.speed(rasio*PIVOT+t_new);
Najib_irvani 47:6cac4f1a3c8e 414 motorL.speed(rasio*PIVOT+t_new);
Najib_irvani 43:3807a95aa284 415 break;
Najib_irvani 43:3807a95aa284 416 }
Najib_irvani 43:3807a95aa284 417 case (23):
Najib_irvani 43:3807a95aa284 418 {
Najib_irvani 43:3807a95aa284 419 // Mundur + Rotasi Kanan
Najib_irvani 43:3807a95aa284 420 motorDpn.speed(-PIVOT);
Najib_irvani 43:3807a95aa284 421 motorBlk.speed(-PIVOT);
Najib_irvani 47:6cac4f1a3c8e 422 motorR.speed(-rasio*PIVOT-t_new);
Najib_irvani 47:6cac4f1a3c8e 423 motorL.speed(-rasio*PIVOT-t_new);
Najib_irvani 43:3807a95aa284 424 break;
Najib_irvani 43:3807a95aa284 425 }
Najib_irvani 43:3807a95aa284 426 case (24):
Najib_irvani 43:3807a95aa284 427 {
Najib_irvani 43:3807a95aa284 428 // Mundur + Rotasi Kiri
Najib_irvani 43:3807a95aa284 429 motorDpn.speed(PIVOT);
Najib_irvani 43:3807a95aa284 430 motorBlk.speed(PIVOT);
Najib_irvani 47:6cac4f1a3c8e 431 motorR.speed(rasio*PIVOT+t_new);
Najib_irvani 47:6cac4f1a3c8e 432 motorL.speed(rasio*PIVOT+t_new);
Najib_irvani 43:3807a95aa284 433 break;
Najib_irvani 43:3807a95aa284 434 }
Najib_irvani 43:3807a95aa284 435 case (25):
Najib_irvani 43:3807a95aa284 436 {
Najib_irvani 43:3807a95aa284 437 // Kanan + segitiga
Najib_irvani 43:3807a95aa284 438 isLauncher = !isLauncher;
Najib_irvani 43:3807a95aa284 439 break;
Najib_irvani 43:3807a95aa284 440 }
Najib_irvani 43:3807a95aa284 441 case (26):
Najib_irvani 43:3807a95aa284 442 {
Najib_irvani 43:3807a95aa284 443 // Kiri + 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 (27):
Najib_irvani 43:3807a95aa284 448 {
Najib_irvani 43:3807a95aa284 449 // Kanan + lingkaran
Najib_irvani 43:3807a95aa284 450 ReloadOn = !ReloadOn;
Najib_irvani 43:3807a95aa284 451 isReload = false;
Najib_irvani 43:3807a95aa284 452 break;
Najib_irvani 43:3807a95aa284 453 }
Najib_irvani 43:3807a95aa284 454 case (28):
Najib_irvani 43:3807a95aa284 455 {
Najib_irvani 43:3807a95aa284 456 // Kiri + lingkaran
Najib_irvani 43:3807a95aa284 457 ReloadOn = !ReloadOn;
Najib_irvani 43:3807a95aa284 458 isReload = false;
Najib_irvani 43:3807a95aa284 459 break;
Najib_irvani 43:3807a95aa284 460 }
Najib_irvani 43:3807a95aa284 461 case (29):
Najib_irvani 43:3807a95aa284 462 {
Najib_irvani 43:3807a95aa284 463 // Kanan + kotak
Najib_irvani 43:3807a95aa284 464 ReloadOn = !ReloadOn;
Najib_irvani 43:3807a95aa284 465 isReload = true;
Najib_irvani 43:3807a95aa284 466 break;
Najib_irvani 43:3807a95aa284 467 }
Najib_irvani 43:3807a95aa284 468 case (30):
Najib_irvani 43:3807a95aa284 469 {
Najib_irvani 43:3807a95aa284 470 // Kiri + kotak
Najib_irvani 43:3807a95aa284 471 ReloadOn = !ReloadOn;
Najib_irvani 43:3807a95aa284 472 isReload = true;
Najib_irvani 43:3807a95aa284 473 break;
Najib_irvani 43:3807a95aa284 474 }
Najib_irvani 43:3807a95aa284 475 case (13) :
Najib_irvani 43:3807a95aa284 476 {
Najib_irvani 43:3807a95aa284 477 // Serong kanan maju
Najib_irvani 43:3807a95aa284 478 motorDpn.speed(-serong);
Najib_irvani 46:85169ae8659b 479 motorL.speed(-serong-t_new);
Najib_irvani 43:3807a95aa284 480 motorBlk.speed(serong);
Najib_irvani 46:85169ae8659b 481 motorR.speed(serong+t_new);
Najib_irvani 43:3807a95aa284 482 break;
Najib_irvani 43:3807a95aa284 483 }
Najib_irvani 43:3807a95aa284 484 case (14) :
Najib_irvani 43:3807a95aa284 485 {
Najib_irvani 43:3807a95aa284 486 // Serong kiri maju
Najib_irvani 43:3807a95aa284 487 motorDpn.speed(serong);
Najib_irvani 46:85169ae8659b 488 motorR.speed(serong+t_new);
Najib_irvani 43:3807a95aa284 489 motorBlk.speed(-serong);
Najib_irvani 46:85169ae8659b 490 motorL.speed(-serong-t_new);
Najib_irvani 43:3807a95aa284 491 break;
Najib_irvani 43:3807a95aa284 492 }
Najib_irvani 43:3807a95aa284 493 case (15) :
Najib_irvani 43:3807a95aa284 494 {
Najib_irvani 43:3807a95aa284 495 // Serong kanan mundur
Najib_irvani 44:452c214d9cf5 496 motorDpn.speed(-serong);
Najib_irvani 46:85169ae8659b 497 motorR.speed(-serong-t_new);
Najib_irvani 43:3807a95aa284 498 motorBlk.speed(serong);
Najib_irvani 46:85169ae8659b 499 motorL.speed(serong+t_new);
Najib_irvani 43:3807a95aa284 500 break;
Najib_irvani 43:3807a95aa284 501 }
Najib_irvani 43:3807a95aa284 502 case (16) :
Najib_irvani 43:3807a95aa284 503 {
Najib_irvani 43:3807a95aa284 504 // Serong kiri mundur
Najib_irvani 43:3807a95aa284 505 motorDpn.speed(serong);
Najib_irvani 46:85169ae8659b 506 motorL.speed(serong+t_new);
Najib_irvani 43:3807a95aa284 507 motorBlk.speed(-serong);
Najib_irvani 46:85169ae8659b 508 motorR.speed(-serong-t_new);
gustavaditya 31:d5cbda07fd95 509 break;
gustavaditya 31:d5cbda07fd95 510 }
gustavaditya 31:d5cbda07fd95 511 case (3) :
gustavaditya 31:d5cbda07fd95 512 {
gustavaditya 31:d5cbda07fd95 513 // Kanan
gustavaditya 45:964ae71a30e3 514 aksel++;
gustavaditya 45:964ae71a30e3 515 if (aksel>300)
gustavaditya 45:964ae71a30e3 516 tuneAksel = 0.9;
gustavaditya 45:964ae71a30e3 517
gustavaditya 45:964ae71a30e3 518 motorDpn.speed(-tuneAksel);
gustavaditya 45:964ae71a30e3 519 motorBlk.speed(tuneAksel);
Najib_irvani 43:3807a95aa284 520 motorR.brake(1);
Najib_irvani 43:3807a95aa284 521 motorL.brake(1);
gustavaditya 31:d5cbda07fd95 522 break;
gustavaditya 31:d5cbda07fd95 523 }
gustavaditya 31:d5cbda07fd95 524 case (4) :
gustavaditya 31:d5cbda07fd95 525 {
gustavaditya 31:d5cbda07fd95 526 // Kiri
gustavaditya 45:964ae71a30e3 527 aksel++;
gustavaditya 45:964ae71a30e3 528 if (aksel>300)
gustavaditya 45:964ae71a30e3 529 tuneAksel = 0.9;
gustavaditya 45:964ae71a30e3 530
gustavaditya 45:964ae71a30e3 531 motorDpn.speed(tuneAksel);
gustavaditya 45:964ae71a30e3 532 motorBlk.speed(-tuneAksel);
Najib_irvani 43:3807a95aa284 533 motorR.brake(1);
Najib_irvani 43:3807a95aa284 534 motorL.brake(1);
Najib_irvani 43:3807a95aa284 535 break;
Najib_irvani 43:3807a95aa284 536 }
Najib_irvani 43:3807a95aa284 537 case (8) :
Najib_irvani 43:3807a95aa284 538 {
Najib_irvani 43:3807a95aa284 539 // Maju
gustavaditya 45:964ae71a30e3 540 aksel++;
gustavaditya 45:964ae71a30e3 541 if (aksel>300)
gustavaditya 45:964ae71a30e3 542 tuneAksel = 0.9;
gustavaditya 45:964ae71a30e3 543
Najib_irvani 47:6cac4f1a3c8e 544 motorR.speed(tuneAksel);
Najib_irvani 47:6cac4f1a3c8e 545 motorL.speed(-tuneAksel);
Najib_irvani 43:3807a95aa284 546 motorDpn.brake(1);
Najib_irvani 43:3807a95aa284 547 motorBlk.brake(1);
Najib_irvani 43:3807a95aa284 548 break;
Najib_irvani 43:3807a95aa284 549 }
Najib_irvani 43:3807a95aa284 550 case (9) :
Najib_irvani 43:3807a95aa284 551 {
Najib_irvani 43:3807a95aa284 552 // Mundur
gustavaditya 45:964ae71a30e3 553 aksel++;
gustavaditya 45:964ae71a30e3 554 if (aksel>300)
gustavaditya 45:964ae71a30e3 555 tuneAksel = 0.9;
gustavaditya 45:964ae71a30e3 556
Najib_irvani 47:6cac4f1a3c8e 557 motorR.speed(-tuneAksel);
Najib_irvani 47:6cac4f1a3c8e 558 motorL.speed(tuneAksel);
Najib_irvani 43:3807a95aa284 559 motorDpn.brake(1);
Najib_irvani 43:3807a95aa284 560 motorBlk.brake(1);
gustavaditya 31:d5cbda07fd95 561 break;
gustavaditya 31:d5cbda07fd95 562 }
gustavaditya 31:d5cbda07fd95 563 case (5) :
gustavaditya 31:d5cbda07fd95 564 {
gustavaditya 31:d5cbda07fd95 565 // Aktifkan motor atas
gustavaditya 31:d5cbda07fd95 566 isLauncher = !isLauncher;
gustavaditya 31:d5cbda07fd95 567 break;
Joshua23 8:0711dea61312 568 }
gustavaditya 31:d5cbda07fd95 569 case (6) :
gustavaditya 31:d5cbda07fd95 570 {
gustavaditya 31:d5cbda07fd95 571 // Target Pulse PID ++ Motor Depan
gustavaditya 39:11358f3f61ff 572 target_rpm2 = target_rpm2+1.0;
gustavaditya 39:11358f3f61ff 573 target_rpm = target_rpm+1.0;
gustavaditya 37:67d54563af90 574 init_rpm();
gustavaditya 31:d5cbda07fd95 575 break;
gustavaditya 31:d5cbda07fd95 576 }
gustavaditya 31:d5cbda07fd95 577 case (7) :
gustavaditya 31:d5cbda07fd95 578 {
gustavaditya 31:d5cbda07fd95 579 // Target Pulse PID -- Motor Depan
gustavaditya 39:11358f3f61ff 580 target_rpm2 = target_rpm2-1.0;
gustavaditya 39:11358f3f61ff 581 target_rpm = target_rpm-1.0;
gustavaditya 37:67d54563af90 582 init_rpm();
gustavaditya 31:d5cbda07fd95 583 break;
gustavaditya 31:d5cbda07fd95 584 }
gustavaditya 31:d5cbda07fd95 585 case (10) :
gustavaditya 31:d5cbda07fd95 586 {
gustavaditya 31:d5cbda07fd95 587 // Pneumatik
Najib_irvani 44:452c214d9cf5 588 if (ready)
Najib_irvani 44:452c214d9cf5 589 {
Najib_irvani 44:452c214d9cf5 590 pneumatik = 0;
Najib_irvani 44:452c214d9cf5 591 previousMillis3 = millis();
Najib_irvani 44:452c214d9cf5 592 flag_Pneu = true;
Najib_irvani 44:452c214d9cf5 593 ready = false;
gustavaditya 45:964ae71a30e3 594
Najib_irvani 44:452c214d9cf5 595 }
gustavaditya 31:d5cbda07fd95 596 break;
gustavaditya 31:d5cbda07fd95 597 }
gustavaditya 31:d5cbda07fd95 598 case (11) :
gustavaditya 31:d5cbda07fd95 599 {
gustavaditya 31:d5cbda07fd95 600 // Power Screw Up
gustavaditya 40:5b937cac959a 601 ReloadOn = !ReloadOn;
Najib_irvani 43:3807a95aa284 602 isReload = false;
gustavaditya 31:d5cbda07fd95 603 break;
gustavaditya 31:d5cbda07fd95 604 }
Najib_irvani 44:452c214d9cf5 605 case (31) :
Najib_irvani 44:452c214d9cf5 606 {
Najib_irvani 44:452c214d9cf5 607 // start
Najib_irvani 47:6cac4f1a3c8e 608 target_rpm2 = 23;
Najib_irvani 47:6cac4f1a3c8e 609 target_rpm = 23;
Najib_irvani 44:452c214d9cf5 610 init_rpm();
Najib_irvani 44:452c214d9cf5 611 break;
Najib_irvani 44:452c214d9cf5 612 }
Najib_irvani 44:452c214d9cf5 613 case (32) :
Najib_irvani 44:452c214d9cf5 614 {
Najib_irvani 44:452c214d9cf5 615 // select
Najib_irvani 46:85169ae8659b 616 target_rpm2 = 11;
Najib_irvani 46:85169ae8659b 617 target_rpm = 11;
Najib_irvani 44:452c214d9cf5 618 init_rpm();
Najib_irvani 44:452c214d9cf5 619 break;
Najib_irvani 44:452c214d9cf5 620 }
Najib_irvani 44:452c214d9cf5 621 case (33) :
Najib_irvani 44:452c214d9cf5 622 {
Najib_irvani 44:452c214d9cf5 623 // R3
Najib_irvani 47:6cac4f1a3c8e 624 target_rpm2 = 18;
Najib_irvani 47:6cac4f1a3c8e 625 target_rpm = 18;
Najib_irvani 44:452c214d9cf5 626 init_rpm();
Najib_irvani 44:452c214d9cf5 627 break;
Najib_irvani 44:452c214d9cf5 628 }
gustavaditya 31:d5cbda07fd95 629 case (12) :
gustavaditya 31:d5cbda07fd95 630 {
gustavaditya 31:d5cbda07fd95 631 // Power Screw Down
Najib_irvani 43:3807a95aa284 632 ReloadOn = !ReloadOn;
Najib_irvani 43:3807a95aa284 633 isReload = true;
gustavaditya 31:d5cbda07fd95 634 break;
gustavaditya 31:d5cbda07fd95 635 }
Najib_irvani 47:6cac4f1a3c8e 636 case (34) :{
Najib_irvani 47:6cac4f1a3c8e 637 pneu_paku = !pneu_paku;
Najib_irvani 47:6cac4f1a3c8e 638 wait_ms(50);
Najib_irvani 47:6cac4f1a3c8e 639 if (pneu_paku == 1){
Najib_irvani 47:6cac4f1a3c8e 640 PIVOT = 0.17;
Najib_irvani 47:6cac4f1a3c8e 641 }else{
Najib_irvani 47:6cac4f1a3c8e 642 PIVOT = 0.8;
Najib_irvani 47:6cac4f1a3c8e 643 }
Najib_irvani 47:6cac4f1a3c8e 644 }
gustavaditya 31:d5cbda07fd95 645 default :
gustavaditya 31:d5cbda07fd95 646 {
gustavaditya 45:964ae71a30e3 647 tuneAksel = 0.6;
gustavaditya 45:964ae71a30e3 648 aksel = 0;
gustavaditya 31:d5cbda07fd95 649 motorDpn.brake(1);
gustavaditya 31:d5cbda07fd95 650 motorBlk.brake(1);
Najib_irvani 43:3807a95aa284 651 motorR.brake(1);
Najib_irvani 43:3807a95aa284 652 motorL.brake(1);
gustavaditya 31:d5cbda07fd95 653 }
gustavaditya 31:d5cbda07fd95 654 } // End Switch
gustavaditya 31:d5cbda07fd95 655 }
gustavaditya 31:d5cbda07fd95 656
gustavaditya 40:5b937cac959a 657 void reloader()
rizqicahyo 36:5963c9a49485 658 {
rizqicahyo 36:5963c9a49485 659 if(ReloadOn){
rizqicahyo 36:5963c9a49485 660 if(isReload){
rizqicahyo 36:5963c9a49485 661 powerScrew.speed(pwmPowerDown);
Najib_irvani 47:6cac4f1a3c8e 662 pc.printf("%.2f\n", jarak_ping);
Najib_irvani 44:452c214d9cf5 663 if((!limitBawah)||(!limitBawah1)){
rizqicahyo 36:5963c9a49485 664 isReload = false;
rizqicahyo 36:5963c9a49485 665 ReloadOn = false;
rizqicahyo 36:5963c9a49485 666 }
rizqicahyo 36:5963c9a49485 667 }
rizqicahyo 36:5963c9a49485 668 else if(!limitTengah){
rizqicahyo 36:5963c9a49485 669 isReload = true;
rizqicahyo 36:5963c9a49485 670 }
Najib_irvani 46:85169ae8659b 671 else if(!flag_Pneu){
Najib_irvani 46:85169ae8659b 672 //pc.printf("%.2f\n", ping_pwm);
Najib_irvani 46:85169ae8659b 673 ping_current_error = (double) (ping_target-jarak_ping);
Najib_irvani 46:85169ae8659b 674
Najib_irvani 46:85169ae8659b 675 ping_sum_error += ping_current_error*ping_Ts;
Najib_irvani 48:3006386dc8df 676 ping_pwm = (double) ping_Kp*ping_current_error + ping_Ki*(ping_sum_error+ping_current_error)*ping_Ts;
Najib_irvani 48:3006386dc8df 677 ping_sum_error = ping_sum_error+ping_current_error;
Najib_irvani 46:85169ae8659b 678
Najib_irvani 47:6cac4f1a3c8e 679 pc.printf("%.2f\n", jarak_ping);
Najib_irvani 46:85169ae8659b 680 powerScrew.speed(ping_pwm);
Najib_irvani 46:85169ae8659b 681
Najib_irvani 46:85169ae8659b 682 ping_previous_error1 = ping_current_error;
gustavaditya 40:5b937cac959a 683 }
Najib_irvani 47:6cac4f1a3c8e 684 if ((jarak_ping>(ping_target-2))&&(jarak_ping<(ping_target+2))){
Najib_irvani 46:85169ae8659b 685 ready = true;
Najib_irvani 46:85169ae8659b 686 }else{
Najib_irvani 44:452c214d9cf5 687 ready = false;
rizqicahyo 36:5963c9a49485 688 }
rizqicahyo 36:5963c9a49485 689 }
rizqicahyo 36:5963c9a49485 690 else{
rizqicahyo 36:5963c9a49485 691 powerScrew.brake(1);
rizqicahyo 36:5963c9a49485 692 }
gustavaditya 40:5b937cac959a 693 }
rizqicahyo 36:5963c9a49485 694
rizqicahyo 36:5963c9a49485 695
gustavaditya 31:d5cbda07fd95 696 void launcher()
gustavaditya 31:d5cbda07fd95 697 {
gustavaditya 31:d5cbda07fd95 698 if (isLauncher)
Sufa 30:d69cc27ac644 699 {
be_bryan 28:2d0746dc2d7d 700 currentMillis = millis();
be_bryan 28:2d0746dc2d7d 701 currentMillis2 = millis();
be_bryan 28:2d0746dc2d7d 702
Najib_irvani 46:85169ae8659b 703 // PID Launcher Belakang
Najib_irvani 46:85169ae8659b 704 if (currentMillis-previousMillis>=Ts)
be_bryan 26:256160a1a82d 705 {
gustavaditya 31:d5cbda07fd95 706 rpm = (float)encLauncherBlk.getPulses();
Najib_irvani 46:85169ae8659b 707 current_error1 = target_rpm - rpm;
Najib_irvani 46:85169ae8659b 708 a1 = kpA1 + kiA1*Ts/2 + kdA1/Ts;
Najib_irvani 46:85169ae8659b 709 b1 = -kpA1 + kiA1*Ts/2 - 2*kdA1/Ts;
Najib_irvani 46:85169ae8659b 710 c1 = kdA1/Ts;
Najib_irvani 46:85169ae8659b 711 speed = previous_speed1 + a1*current_error1 + b1*previous_error1_1 + c1*previous_error1_2;
gustavaditya 38:3ef6754bd8d8 712 //init_speed();
gustavaditya 38:3ef6754bd8d8 713 if(speed > maxSpeed){
gustavaditya 38:3ef6754bd8d8 714 launcherBlk.speed(maxSpeed);
gustavaditya 38:3ef6754bd8d8 715 }
gustavaditya 39:11358f3f61ff 716 else if ( speed < minSpeed){
gustavaditya 39:11358f3f61ff 717 launcherBlk.speed(minSpeed);
gustavaditya 39:11358f3f61ff 718 }
gustavaditya 38:3ef6754bd8d8 719 else {
gustavaditya 38:3ef6754bd8d8 720 launcherBlk.speed(speed);
gustavaditya 38:3ef6754bd8d8 721 }
Najib_irvani 46:85169ae8659b 722 previous_speed1 = speed;
Najib_irvani 46:85169ae8659b 723 previous_error1_2 = previous_error1_1;
Najib_irvani 46:85169ae8659b 724 previous_error1_1 = current_error1;
gustavaditya 31:d5cbda07fd95 725 encLauncherBlk.reset();
be_bryan 26:256160a1a82d 726 previousMillis = currentMillis;
Najib_irvani 46:85169ae8659b 727
be_bryan 26:256160a1a82d 728 }
Najib_irvani 46:85169ae8659b 729 // PID Launcher Depan
Najib_irvani 46:85169ae8659b 730 if (currentMillis2-previousMillis2>=Ts)
be_bryan 27:68efb1622985 731 {
gustavaditya 31:d5cbda07fd95 732 rpm2 = (float)encLauncherDpn.getPulses();
be_bryan 27:68efb1622985 733 current_error2 = target_rpm2 - rpm2;
Najib_irvani 46:85169ae8659b 734 a2 = kpA2 + kiA2*Ts/2 + kdA2/Ts;
Najib_irvani 46:85169ae8659b 735 b2 = -kpA2 + kiA2*Ts/2 - 2*kdA2/Ts;
Najib_irvani 46:85169ae8659b 736 c2 = kdA2/Ts;
Najib_irvani 46:85169ae8659b 737 speed2 = previous_speed2 + a2*current_error2 + b2*previous_error2_1 + c2*previous_error2_2;
gustavaditya 38:3ef6754bd8d8 738 //init_speed();
gustavaditya 38:3ef6754bd8d8 739 if (speed2 > maxSpeed){
gustavaditya 38:3ef6754bd8d8 740 launcherDpn.speed(maxSpeed);
gustavaditya 38:3ef6754bd8d8 741 }
Najib_irvani 46:85169ae8659b 742 else if ( speed2 < minSpeed){
gustavaditya 39:11358f3f61ff 743 launcherDpn.speed(minSpeed);
gustavaditya 39:11358f3f61ff 744 }
gustavaditya 38:3ef6754bd8d8 745 else{
gustavaditya 38:3ef6754bd8d8 746 launcherDpn.speed(speed2);
gustavaditya 38:3ef6754bd8d8 747 }
Najib_irvani 46:85169ae8659b 748 previous_speed2 = speed2;
Najib_irvani 46:85169ae8659b 749 previous_error2_2 = previous_error2_1;
Najib_irvani 46:85169ae8659b 750 previous_error2_1 = current_error2;
gustavaditya 31:d5cbda07fd95 751 encLauncherDpn.reset();
be_bryan 27:68efb1622985 752 previousMillis2 = currentMillis2;
be_bryan 27:68efb1622985 753 }
Najib_irvani 47:6cac4f1a3c8e 754 //pc.printf("%.2f\t%.2f\n",rpm,rpm2);
rahmadirizki18 6:68293bed71ea 755 }
Sufa 29:7b372b0aaa61 756 else
Sufa 29:7b372b0aaa61 757 {
gustavaditya 31:d5cbda07fd95 758 launcherDpn.brake(1);
gustavaditya 31:d5cbda07fd95 759 launcherBlk.brake(1);
Najib_irvani 46:85169ae8659b 760
Najib_irvani 46:85169ae8659b 761 previous_error1_1 = 0;
Najib_irvani 46:85169ae8659b 762 previous_error1_2 = 0;
Najib_irvani 46:85169ae8659b 763 previous_error2_1 = 0;
Najib_irvani 46:85169ae8659b 764 previous_error2_2 = 0;
Najib_irvani 46:85169ae8659b 765 previous_speed1 = 0;
Najib_irvani 46:85169ae8659b 766 previous_speed2 = 0;
gustavaditya 31:d5cbda07fd95 767 }
rahmadirizki18 5:3aa203218306 768 }
gustavaditya 31:d5cbda07fd95 769
MarchioKevin 22:4632f58461e0 770 /*********************************************************/
MarchioKevin 22:4632f58461e0 771 /* Main Function */
MarchioKevin 22:4632f58461e0 772 /*********************************************************/
calmantara186 16:90119f03c5d1 773
gustavaditya 31:d5cbda07fd95 774 int main (void)
gustavaditya 31:d5cbda07fd95 775 {
gustavaditya 31:d5cbda07fd95 776 // Set baud rate - 115200
fanny868 0:9072e932503c 777 joystick.setup();
rahmadirizki18 23:023b522977b2 778 pc.baud(115200);
rahmadirizki18 6:68293bed71ea 779 wait_ms(1000);
gustavaditya 40:5b937cac959a 780
gustavaditya 40:5b937cac959a 781 // initializing encoder
gustavaditya 41:336a19289c2d 782 pneumatik =1;
gustavaditya 41:336a19289c2d 783
rahmadirizki18 5:3aa203218306 784 wait_ms(500);
gustavaditya 40:5b937cac959a 785
gustavaditya 40:5b937cac959a 786 //initializing PING
gustavaditya 40:5b937cac959a 787 pingAtas.Send();
gustavaditya 40:5b937cac959a 788
rahmadirizki18 23:023b522977b2 789 pc.printf("ready....");
gustavaditya 35:69a47b4cb3fc 790 startMillis();
fanny868 0:9072e932503c 791 while(1)
gustavaditya 40:5b937cac959a 792 {
gustavaditya 40:5b937cac959a 793 // interupsi pembacaan PING setiap 30 ms
Najib_irvani 46:85169ae8659b 794 if(millis() - previousMillis4 >= 10){ //30
Najib_irvani 46:85169ae8659b 795 jarak_ping = (float)pingAtas.Read_cm();
gustavaditya 40:5b937cac959a 796
gustavaditya 40:5b937cac959a 797 pingAtas.Send();
gustavaditya 40:5b937cac959a 798 previousMillis4 = millis();
gustavaditya 40:5b937cac959a 799 }
gustavaditya 40:5b937cac959a 800
fanny868 0:9072e932503c 801 // Interrupt Serial
calmantara186 16:90119f03c5d1 802 joystick.idle();
gustavaditya 31:d5cbda07fd95 803 if(joystick.readable())
gustavaditya 31:d5cbda07fd95 804 {
fanny868 0:9072e932503c 805 // Panggil fungsi pembacaan joystik
fanny868 0:9072e932503c 806 joystick.baca_data();
fanny868 0:9072e932503c 807 // Panggil fungsi pengolahan data joystik
fanny868 0:9072e932503c 808 joystick.olah_data();
gustavaditya 31:d5cbda07fd95 809 // Masuk ke case joystick
gustavaditya 31:d5cbda07fd95 810 case_joy = case_joystick();
Najib_irvani 44:452c214d9cf5 811 //pc.printf("%d\n",case_joy);
rahmadirizki18 3:1287fccc11be 812 aktuator();
gustavaditya 31:d5cbda07fd95 813 launcher();
gustavaditya 40:5b937cac959a 814 reloader();
Najib_irvani 43:3807a95aa284 815 if ((millis()-previousMillis3 >= 320)&&(flag_Pneu)){
be_bryan 26:256160a1a82d 816 pneumatik = 1;
gustavaditya 31:d5cbda07fd95 817 flag_Pneu = false;
be_bryan 26:256160a1a82d 818 }
be_bryan 26:256160a1a82d 819 }
gustavaditya 31:d5cbda07fd95 820 else
gustavaditya 31:d5cbda07fd95 821 {
gustavaditya 31:d5cbda07fd95 822 joystick.idle();
MarchioKevin 21:da2f3d04468f 823 }
franshendri 42:6caf8bd5abbc 824
Najib_irvani 44:452c214d9cf5 825 if(millis() - previousMillis5 >= 400)
Najib_irvani 44:452c214d9cf5 826 {
Najib_irvani 43:3807a95aa284 827 display.write(0,((int) rpm2) / 10);
Najib_irvani 43:3807a95aa284 828 display.write(1,((int)rpm2) % 10);
franshendri 42:6caf8bd5abbc 829 display.write(2, (int)target_rpm2 / 10);
franshendri 42:6caf8bd5abbc 830 display.write(3, (int)target_rpm2 % 10);
franshendri 42:6caf8bd5abbc 831 display.setColon(true);
franshendri 42:6caf8bd5abbc 832
franshendri 42:6caf8bd5abbc 833 previousMillis5 = millis();
franshendri 42:6caf8bd5abbc 834 }
fanny868 0:9072e932503c 835 }
be_bryan 28:2d0746dc2d7d 836 }