![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
Penyesuaian pin
Dependencies: Motor PID Joystick_OrdoV5 mbed
Fork of Joystick_ManualBaseBaruV1 by
Diff: main.cpp
- Revision:
- 17:e4229d77a5ab
- Parent:
- 16:90119f03c5d1
- Child:
- 18:1da121ddb7c1
--- a/main.cpp Tue Jan 24 12:34:29 2017 +0000 +++ b/main.cpp Fri Jan 27 14:42:17 2017 +0000 @@ -47,6 +47,10 @@ #define PI 3.14159265 #define D_ENCODER 0.058 #define D_ROBOT 0.64 +#define VMAX 0.3 // Maju, Mundur, Kiri Kanan +#define SAMPING 0.3 // Saka, Saki, Sbka, Sbki +#define PIVOT 0.4 // Pivka, Pivki +#define PERPINDAHAN 1 // Perpindahan ke kanan dan kiri float k_enc = PI*D_ENCODER; float k_robot = PI*D_ROBOT; @@ -103,7 +107,7 @@ /* Variabel Stick */ char case_ger; -bool launcher = false,servoGo = false; +bool launcher = false, servoGo = false, manual = true, caseTadi = false, caseSekarang = false; /***********************************************/ /* Deklarasi Fungsi dan Procedure */ @@ -159,10 +163,12 @@ else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri)) { // Kanan casegerak = 9; + caseSekarang = true; } else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)) { // Kiri - casegerak = 10; + casegerak = 10; + caseSekarang = true; } else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) { casegerak = 12; @@ -203,53 +209,151 @@ } // MOTOR Bawah - switch (case_ger) { - case (1):{ - Tetha = Tetha - 0.05; + if (manual) { + // Mode Manual + switch (case_ger) { + case (1): { + // Pivot Kanan + motor1.speed(-PIVOT); + motor2.speed(-PIVOT); + motor3.speed(-PIVOT); + motor4.speed(-PIVOT); break; - } - case (2):{ - Tetha = Tetha + 0.05; + } + case (2): { + // Pivot Kiri + motor1.speed(PIVOT); + motor2.speed(PIVOT); + motor3.speed(PIVOT); + motor4.speed(PIVOT); + break; + } + case (3): { + // Maju + motor1.speed(-VMAX); + motor2.speed(VMAX); + motor3.speed(VMAX); + motor4.speed(-VMAX); break; } - case (3):{ - YT = YT + 0.01; + case (4): { + // Mundur + motor1.speed(VMAX); + motor2.speed(-VMAX); + motor3.speed(-VMAX); + motor4.speed(VMAX); + break; + } + case (5) : { + // Samping Atas Kanan + motor1.speed(-SAMPING); + motor2.brake(1); + motor3.speed(SAMPING); + motor4.brake(1); break; } - case (4):{ - YT = YT - 0.01; + case (6) : { + // Samping Bawah Kanan + motor1.brake(1); + motor2.speed(-SAMPING); + motor3.brake(1); + motor4.speed(SAMPING); break; } - case (5) :{ - XT = XT + 0.01; - YT = YT + 0.01; + case (7) : { + // Samping Atas Kiri + motor1.brake(1); + motor2.speed(SAMPING); + motor3.brake(1); + motor4.speed(-SAMPING); + break; + } + case (8) : { + // Samping Bawah Kiri + motor1.speed(SAMPING); + motor2.brake(1); + motor3.speed(-SAMPING); + motor4.brake(1); break; } - case (6) :{ - XT = XT + 0.01; - YT = YT - 0.01; - break; - } - case (7) :{ - XT = XT - 0.01; - YT = YT + 0.01; + case (9) : { + // Kanan + motor1.speed(-VMAX); + motor2.speed(-VMAX); + motor3.speed(VMAX); + motor4.speed(VMAX); break; } - case (8) :{ - XT = XT - 0.01; - YT = YT - 0.01; - break; - } - case (9) :{ - XT = XT + 0.01; + case (10) : { + // Kiri + motor1.speed(VMAX); + motor2.speed(VMAX); + motor3.speed(-VMAX); + motor4.speed(-VMAX); break; - } - case (10) :{ - XT = XT - 0.01; + } + default : { + motor1.brake(1); + motor2.brake(1); + motor3.brake(1); + motor4.brake(1); + } + } // End Switch + } else { + //Mode Encoder + switch (case_ger) { + case (1):{ + Tetha = Tetha - 0.05; + break; + } + case (2):{ + Tetha = Tetha + 0.05; + break; + } + case (3):{ + YT = YT + 0.01; + break; + } + case (4):{ + YT = YT - 0.01; + break; + } + case (5) :{ + XT = XT + 0.01; + YT = YT + 0.01; + break; + } + case (6) :{ + XT = XT + 0.01; + YT = YT - 0.01; + break; + } + case (7) :{ + XT = XT - 0.01; + YT = YT + 0.01; + break; + } + case (8) :{ + XT = XT - 0.01; + YT = YT - 0.01; + break; + } + case (9) :{ + // Kanan + if (caseSekarang != caseTadi) XT = XT + PERPINDAHAN; + caseTadi = caseSekarang; + break; - } - default :{} - } //end of switch + } + case (10) :{ + // Kiri + if (caseSekarang!= caseTadi) XT = XT - PERPINDAHAN; + caseTadi = caseSekarang; + break; + } + default :{} + } //end of switch + } } void setCenter(){ @@ -386,8 +490,9 @@ case_ger = case_gerak(); aktuator(); - if (joystick.segitiga_click) launcher = !launcher; - if (joystick.lingkaran_click) servoGo = true; + if (joystick.segitiga_click) launcher = !launcher; + if (joystick.lingkaran_click) servoGo = true; + if (joystick.SELECT_click) manual = !manual; if (joystick.silang) { XT = 0; YT = 0;