KRAI 2017 / Mbed 2 deprecated Encoder_Base_Nasioanal

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Dependencies:   Motor PID mbed millis

JoystickPS3.h@0:57124be75a63, 2017-05-29 (annotated)

Committer:
gustavaditya
Date:
Mon May 29 15:43:42 2017 +0000
Revision:
0:57124be75a63
CLOSED LOOP BASE

Who changed what in which revision?

UserRevisionLine numberNew contents of line
gustavaditya 0:57124be75a63 1 #ifndef MBED_H
gustavaditya 0:57124be75a63 2 #include "mbed.h"
gustavaditya 0:57124be75a63 3 #endif
gustavaditya 0:57124be75a63 4
gustavaditya 0:57124be75a63 5 #ifndef JoystickPS3__serialDEFAULT_BAUD
gustavaditya 0:57124be75a63 6 #define JoystickPS3__serialDEFAULT_BAUD 115200
gustavaditya 0:57124be75a63 7 #endif
gustavaditya 0:57124be75a63 8
gustavaditya 0:57124be75a63 9 Serial debug(USBTX,USBRX);
gustavaditya 0:57124be75a63 10
gustavaditya 0:57124be75a63 11 namespace JoystickPS3 {
gustavaditya 0:57124be75a63 12
gustavaditya 0:57124be75a63 13 class joysticknucleo {
gustavaditya 0:57124be75a63 14 public:
gustavaditya 0:57124be75a63 15 joysticknucleo(PinName tx, PinName rx) : _serial(tx, rx)
gustavaditya 0:57124be75a63 16 {
gustavaditya 0:57124be75a63 17
gustavaditya 0:57124be75a63 18 }
gustavaditya 0:57124be75a63 19
gustavaditya 0:57124be75a63 20 // Deklarasi variabel tombol analog
gustavaditya 0:57124be75a63 21 unsigned char LX, LY, RX, RY, R2, L2;
gustavaditya 0:57124be75a63 22
gustavaditya 0:57124be75a63 23 unsigned char button;
gustavaditya 0:57124be75a63 24 unsigned char RL;
gustavaditya 0:57124be75a63 25 unsigned char button_click;
gustavaditya 0:57124be75a63 26 unsigned char RL_click;
gustavaditya 0:57124be75a63 27
gustavaditya 0:57124be75a63 28 void setup(){
gustavaditya 0:57124be75a63 29 _serial.baud(JoystickPS3__serialDEFAULT_BAUD);
gustavaditya 0:57124be75a63 30 debug.baud(9600);
gustavaditya 0:57124be75a63 31 }
gustavaditya 0:57124be75a63 32
gustavaditya 0:57124be75a63 33 /*********************************************************************************************/
gustavaditya 0:57124be75a63 34 /** **/
gustavaditya 0:57124be75a63 35 /** FUNGSI PEMBACAAN DATA **/
gustavaditya 0:57124be75a63 36 /** - Data yang diterima dari Serial Arduino berbentuk 8-bit **/
gustavaditya 0:57124be75a63 37 /** - Data yang diterima diolah menjadi boolean / 1-bit untuk data tombol button dan RL **/
gustavaditya 0:57124be75a63 38 /** karena data yang digunakan adalah 1-bit (true/false) **/
gustavaditya 0:57124be75a63 39 /** - Untuk analog data yang diterima tidak diolah karena rentang data yang dikirimkan **/
gustavaditya 0:57124be75a63 40 /** memiliki rentang 0-255 / 8-bit, dan data yang akan digunakan adalah data 8-bit **/
gustavaditya 0:57124be75a63 41 /** **/
gustavaditya 0:57124be75a63 42 /** |------|-------|-------|------|-------|--------|-----------|----------| **/
gustavaditya 0:57124be75a63 43 /** Bit Ke | 7 | 6 | 5 | 4 | 3 | 2 | 1 | 0 | **/
gustavaditya 0:57124be75a63 44 /** |------|-------|-------|------|-------|--------|-----------|----------| **/
gustavaditya 0:57124be75a63 45 /** Data | kiri | bawah | kanan | atas | kotak | silang | lingkaran | segitiga | **/
gustavaditya 0:57124be75a63 46 /** |------|-------|-------|------|-------|--------|-----------|----------| **/
gustavaditya 0:57124be75a63 47 /** **/
gustavaditya 0:57124be75a63 48 /** - Penggabungan data R1, R2, L1, L2, R3, L3, START, dan SELECT disimpan dalam **/
gustavaditya 0:57124be75a63 49 /** variabel "RL" **/
gustavaditya 0:57124be75a63 50 /** - Urutan data pada variabel "RL" dan "RL_click" adalah **/
gustavaditya 0:57124be75a63 51 /** sebagai berikut **/
gustavaditya 0:57124be75a63 52 /** **/
gustavaditya 0:57124be75a63 53 /** |----|--------|-------|----|----|----|----| **/
gustavaditya 0:57124be75a63 54 /** Bit Ke | 6 | 5 | 4 | 3 | 2 | 1 | 0 | **/
gustavaditya 0:57124be75a63 55 /** |----|--------|-------|----|----|----|----| **/
gustavaditya 0:57124be75a63 56 /** Data | PS | SELECT | START | L3 | L1 | R3 | R1 | **/
gustavaditya 0:57124be75a63 57 /** |----|--------|-------|----|----|----|----| **/
gustavaditya 0:57124be75a63 58 /** **/
gustavaditya 0:57124be75a63 59 /*********************************************************************************************/
gustavaditya 0:57124be75a63 60
gustavaditya 0:57124be75a63 61 void olah_data()
gustavaditya 0:57124be75a63 62 {
gustavaditya 0:57124be75a63 63 // Pengolahan data dari data "button"
gustavaditya 0:57124be75a63 64 segitiga = (bool)((button >> 0) & 0x1);
gustavaditya 0:57124be75a63 65 lingkaran = (bool)((button >> 1) & 0x1);
gustavaditya 0:57124be75a63 66 silang = (bool)((button >> 2) & 0x1);
gustavaditya 0:57124be75a63 67 kotak = (bool)((button >> 3) & 0x1);
gustavaditya 0:57124be75a63 68 atas = (bool)((button >> 4) & 0x1);
gustavaditya 0:57124be75a63 69 kanan = (bool)((button >> 5) & 0x1);
gustavaditya 0:57124be75a63 70 bawah = (bool)((button >> 6) & 0x1);
gustavaditya 0:57124be75a63 71 kiri = (bool)((button >> 7) & 0x1);
gustavaditya 0:57124be75a63 72
gustavaditya 0:57124be75a63 73 // Pengolahan data dari data "RL"
gustavaditya 0:57124be75a63 74 R1 = (bool)((RL >> 0) & 0x1);
gustavaditya 0:57124be75a63 75 R3 = (bool)((RL >> 1) & 0x1);
gustavaditya 0:57124be75a63 76 L1 = (bool)((RL >> 2) & 0x1);
gustavaditya 0:57124be75a63 77 L3 = (bool)((RL >> 3) & 0x1);
gustavaditya 0:57124be75a63 78 START = (bool)((RL >> 4) & 0x1);
gustavaditya 0:57124be75a63 79 SELECT = (bool)((RL >> 5) & 0x1);
gustavaditya 0:57124be75a63 80 PS = (bool)((RL >> 6) & 0x1);
gustavaditya 0:57124be75a63 81
gustavaditya 0:57124be75a63 82 // R2 click dan L2 click
gustavaditya 0:57124be75a63 83 if (R2 > 100) {
gustavaditya 0:57124be75a63 84 if ( R2sebelum) { R2_click = false;
gustavaditya 0:57124be75a63 85 } else { R2_click = true;}
gustavaditya 0:57124be75a63 86 R2sebelum = true;
gustavaditya 0:57124be75a63 87 }else {
gustavaditya 0:57124be75a63 88 R2sebelum = false;
gustavaditya 0:57124be75a63 89 R2_click = false;
gustavaditya 0:57124be75a63 90 }
gustavaditya 0:57124be75a63 91 if (L2 > 100) {
gustavaditya 0:57124be75a63 92 if ( L2sebelum) { L2_click = false;
gustavaditya 0:57124be75a63 93 } else { L2_click = true;}
gustavaditya 0:57124be75a63 94 L2sebelum = true;
gustavaditya 0:57124be75a63 95 }else { L2sebelum = false;
gustavaditya 0:57124be75a63 96 L2_click = false;
gustavaditya 0:57124be75a63 97 }
gustavaditya 0:57124be75a63 98
gustavaditya 0:57124be75a63 99 segitiga_click = (bool)((button_click >> 0) & 0x1);
gustavaditya 0:57124be75a63 100 lingkaran_click = (bool)((button_click >> 1) & 0x1);
gustavaditya 0:57124be75a63 101 silang_click = (bool)((button_click >> 2) & 0x1);
gustavaditya 0:57124be75a63 102 kotak_click = (bool)((button_click >> 3) & 0x1);
gustavaditya 0:57124be75a63 103 atas_click = (bool)((button_click >> 4) & 0x1);
gustavaditya 0:57124be75a63 104 kanan_click = (bool)((button_click >> 5) & 0x1);
gustavaditya 0:57124be75a63 105 bawah_click = (bool)((button_click >> 6) & 0x1);
gustavaditya 0:57124be75a63 106 kiri_click = (bool)((button_click >> 7) & 0x1);
gustavaditya 0:57124be75a63 107
gustavaditya 0:57124be75a63 108 // Pengolahan data dari data "RL"
gustavaditya 0:57124be75a63 109 R1_click = (bool)((RL_click >> 0) & 0x1);
gustavaditya 0:57124be75a63 110 R3_click = (bool)((RL_click >> 1) & 0x1);
gustavaditya 0:57124be75a63 111 L1_click = (bool)((RL_click >> 2) & 0x1);
gustavaditya 0:57124be75a63 112 L3_click = (bool)((RL_click >> 3) & 0x1);
gustavaditya 0:57124be75a63 113 START_click = (bool)((RL_click >> 4) & 0x1);
gustavaditya 0:57124be75a63 114 SELECT_click = (bool)((RL_click >> 5) & 0x1);
gustavaditya 0:57124be75a63 115 PS_click = (bool)((RL_click >> 6) & 0x1);
gustavaditya 0:57124be75a63 116 }
gustavaditya 0:57124be75a63 117
gustavaditya 0:57124be75a63 118 /*********************************************************************************************/
gustavaditya 0:57124be75a63 119 /** **/
gustavaditya 0:57124be75a63 120 /** FUNGSI IDLE **/
gustavaditya 0:57124be75a63 121 /** - Fungsi dijalankan saat Arduino mengirimkan data yang merupakan **/
gustavaditya 0:57124be75a63 122 /** kondisi PS3 Disconnected **/
gustavaditya 0:57124be75a63 123 /** - Fungsi membuat semua data joystik bernilai 0 **/
gustavaditya 0:57124be75a63 124 /** **/
gustavaditya 0:57124be75a63 125 /*********************************************************************************************/
gustavaditya 0:57124be75a63 126
gustavaditya 0:57124be75a63 127 void idle(){
gustavaditya 0:57124be75a63 128 // Set 0
gustavaditya 0:57124be75a63 129 button = 0;
gustavaditya 0:57124be75a63 130 RL = 0;
gustavaditya 0:57124be75a63 131 button_click = 0;
gustavaditya 0:57124be75a63 132 RL_click = 0;
gustavaditya 0:57124be75a63 133 R2_click =0;
gustavaditya 0:57124be75a63 134 L2_click =0;
gustavaditya 0:57124be75a63 135 R2 = 0;
gustavaditya 0:57124be75a63 136 L2 = 0;
gustavaditya 0:57124be75a63 137 RX = 0;
gustavaditya 0:57124be75a63 138 RY = 0;
gustavaditya 0:57124be75a63 139 LX = 0;
gustavaditya 0:57124be75a63 140 LY = 0;
gustavaditya 0:57124be75a63 141
gustavaditya 0:57124be75a63 142 }
gustavaditya 0:57124be75a63 143
gustavaditya 0:57124be75a63 144 /*********************************************************************************************/
gustavaditya 0:57124be75a63 145 /** **/
gustavaditya 0:57124be75a63 146 /** FUNGSI PEMBACAAN DATA **/
gustavaditya 0:57124be75a63 147 /** - Fungsi pembacaan data yang dikirim dari arduino **/
gustavaditya 0:57124be75a63 148 /** - Data yang dikirim dari arduino merupakan paket data dengan format pengiriman **/
gustavaditya 0:57124be75a63 149 /** **/
gustavaditya 0:57124be75a63 150 /** |------|------|--------|----|--------------|----------|----|----|----|----|----|----| **/
gustavaditya 0:57124be75a63 151 /** | 0x88 | 0x08 | button | RL | button_click | RL_click | R2 | L2 | RX | RY | LX | LY | **/
gustavaditya 0:57124be75a63 152 /** |------|------|--------|----|--------------|----------|----|----|----|----|----|----| **/
gustavaditya 0:57124be75a63 153 /** **/
gustavaditya 0:57124be75a63 154 /** |------|------| **/
gustavaditya 0:57124be75a63 155 /** | 0x88 | 0x09 | **/
gustavaditya 0:57124be75a63 156 /** |------|------| **/
gustavaditya 0:57124be75a63 157 /** **/
gustavaditya 0:57124be75a63 158 /** - Jika urutan data yang diterima seperti tabel diatas, maka data tersebut akan **/
gustavaditya 0:57124be75a63 159 /** diolah untuk input ke aktuator **/
gustavaditya 0:57124be75a63 160 /** **/
gustavaditya 0:57124be75a63 161 /*********************************************************************************************/
gustavaditya 0:57124be75a63 162
gustavaditya 0:57124be75a63 163 void baca_data()
gustavaditya 0:57124be75a63 164 {
gustavaditya 0:57124be75a63 165 // Interrupt Serial
gustavaditya 0:57124be75a63 166 if(_serial.readable()&&(_serial.getc()==0x88)) {
gustavaditya 0:57124be75a63 167 // Pembacaan data dilakukan jika data awal yang diterima adalah 0x88 kemudian 0x08
gustavaditya 0:57124be75a63 168 if(_serial.getc()==0x08){
gustavaditya 0:57124be75a63 169 // Proses Pembacaan Data
gustavaditya 0:57124be75a63 170 button = _serial.getc();
gustavaditya 0:57124be75a63 171 RL = _serial.getc();
gustavaditya 0:57124be75a63 172 button_click = _serial.getc();
gustavaditya 0:57124be75a63 173 RL_click = _serial.getc();
gustavaditya 0:57124be75a63 174 R2 = _serial.getc();
gustavaditya 0:57124be75a63 175 L2 = _serial.getc();
gustavaditya 0:57124be75a63 176 RX = _serial.getc();
gustavaditya 0:57124be75a63 177 RY = _serial.getc();
gustavaditya 0:57124be75a63 178 LX = _serial.getc();
gustavaditya 0:57124be75a63 179 LY = _serial.getc();
gustavaditya 0:57124be75a63 180 } else if(_serial.getc()==0x09) {
gustavaditya 0:57124be75a63 181 // PS3 Disconnected
gustavaditya 0:57124be75a63 182 idle();
gustavaditya 0:57124be75a63 183 } else {
gustavaditya 0:57124be75a63 184 idle(); }
gustavaditya 0:57124be75a63 185 // Indikator - Print data pada monitor PC
gustavaditya 0:57124be75a63 186 // debug.printf("%2x %2x %2x %2x %3d %3d %3d %3d %3d %3d\n\r",button, RL, button_click, RL_click, R2, L2, RX, RY, LX, LY);
gustavaditya 0:57124be75a63 187 }
gustavaditya 0:57124be75a63 188 }
gustavaditya 0:57124be75a63 189
gustavaditya 0:57124be75a63 190
gustavaditya 0:57124be75a63 191 int readable(){
gustavaditya 0:57124be75a63 192 return _serial.readable();
gustavaditya 0:57124be75a63 193 }
gustavaditya 0:57124be75a63 194
gustavaditya 0:57124be75a63 195 public:
gustavaditya 0:57124be75a63 196 // Deklarasi variabel tombol joystik
gustavaditya 0:57124be75a63 197 bool kiri, kanan, atas, bawah;
gustavaditya 0:57124be75a63 198 bool segitiga, lingkaran, kotak, silang;
gustavaditya 0:57124be75a63 199 bool L1, R1, L3, R3, START, SELECT, PS;
gustavaditya 0:57124be75a63 200
gustavaditya 0:57124be75a63 201 bool kiri_click, kanan_click, atas_click, bawah_click;
gustavaditya 0:57124be75a63 202 bool segitiga_click, lingkaran_click, kotak_click, silang_click;
gustavaditya 0:57124be75a63 203 bool L1_click, R1_click, L3_click, R3_click, R2_click, L2_click;
gustavaditya 0:57124be75a63 204 bool R2sebelum,L2sebelum;
gustavaditya 0:57124be75a63 205 bool START_click, SELECT_click, PS_click;
gustavaditya 0:57124be75a63 206
gustavaditya 0:57124be75a63 207 protected:
gustavaditya 0:57124be75a63 208 virtual int _getc(){return _serial.getc();}
gustavaditya 0:57124be75a63 209 Serial _serial;
gustavaditya 0:57124be75a63 210 };
gustavaditya 0:57124be75a63 211
gustavaditya 0:57124be75a63 212 };
gustavaditya 0:57124be75a63 213
gustavaditya 0:57124be75a63 214 using namespace JoystickPS3;