malam minggu ngakak
Dependencies: DigitDisplay Motor PID Ping mbed millis
Fork of DagonFly__RoadToJapan_13Mei by
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?
User | Revision | Line number | New 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 | } |