KRAI 2017
/
Joystick_ManualV1
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Dependencies: Motor PID Joystick_OrdoV5 mbed
Fork of
Joystick_OrdoV6_2
by 
KRAI 2017
Revision 17:703072f5dce1, committed 2017-01-14
- Comitter:
- rahmadirizki18
- Date:
- Sat Jan 14 08:01:09 2017 +0000
- Parent:
- 16:89093194ccc2
- Commit message:
- yoi;
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Thu Jan 12 11:15:01 2017 +0000
+++ b/main.cpp Sat Jan 14 08:01:09 2017 +0000
@@ -30,10 +30,10 @@
#define PPR 1000
#define diaRobot 0.64
*/
-#define vmax 1
-#define vmaxserong 0.9
-#define vmaxpivot 0.7
-#define vmaxanalog 0.9
+#define vmax 0.3 //0.4
+#define vmaxserong 0.3 //0.3
+#define vmaxpivot 0.3 //0.3
+#define vmaxanalog 0.3 //0.3
#define ax 0.005
#define pinservo1 PC_8
#define pinservo2 PC_9
@@ -48,10 +48,10 @@
// Deklarasi variabel motor
-Motor motor1(PB_7, PA_14 , PA_15); // pwm, fwd, rev
-Motor motor2(PB_8, PA_13 ,PB_0); // pwm, fwd, rev
-Motor motor3(PB_9, PA_12 ,PC_5); // pwm, fwd, rev
-Motor motor4(PB_6, PB_1 ,PB_12); // pwm, fwd, rev
+Motor motor1(PB_7, PA_15 , PA_14); // pwm, fwd, rev
+Motor motor2(PB_8, PB_0 ,PA_13); // pwm, fwd, rev
+Motor motor3(PB_9, PC_5 ,PA_12); // pwm, fwd, rev
+Motor motor4(PB_6, PB_12 ,PB_1); // pwm, fwd, rev
//Motor Atas
Motor motorld(PA_8, PC_1 , PC_2); // pwm, fwd, rev
@@ -254,7 +254,7 @@
pivka=true;
maju=mundur=analog=kiri=kanan=saka=saki=sbka=sbki=pivki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false;
- pc.printf("pivKa\n");
+ //pc.printf("pivKa\n");
motor1.speed(s1);
motor2.speed(s2);
@@ -296,7 +296,7 @@
pivki=true;
maju=mundur=kiri=analog=kanan=saka=saki=sbka=sbki=pivka=cw1=ccw1=cw2=ccw2=cw3=ccw3=false;
- pc.printf("pivKi\n");
+ //pc.printf("pivKi\n");
motor1.speed(s1);
motor2.speed(s2);
@@ -330,8 +330,7 @@
}
//Case s1 untuk mode L2 lebih lambat
- s1 = (float)(-1*koef*(vcurr+0.005));
-
+ s1 = (float)(-1*koef*(vcurr));
s2 = (float)(1.0*koef*vcurr);
s3 = (float)(1.0*koef*vcurr);
s4 = (float)(-1*koef*vcurr);
@@ -344,7 +343,7 @@
maju=true;
mundur=kiri=kanan=saka=saki=sbka=sbki=analog=pivka=pivki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false;
- pc.printf("maju\n");
+ //pc.printf("maju\n");
motor1.speed(s1);
motor2.speed(s2);
@@ -377,16 +376,16 @@
} else {
koef=1;
}
- //Motor 4 telat mulai
- s1 = (float)(1*koef*(vcurr-0.008));
- s2 = (float)(-1*koef*(vcurr-0.005));
- s3 = (float)(-1*koef*(vcurr-0.005));
- s4 = (float)(1*koef*(vcurr+0.005));
+
+ s1 = (float)(1*koef*(vcurr));
+ s2 = (float)(-1*koef*(vcurr));
+ s3 = (float)(-1*koef*(vcurr));
+ s4 = (float)(1*koef*(vcurr));
mundur=true;
maju=kiri=kanan=saka=saki=sbka=sbki=analog=pivka=pivki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false;
- pc.printf("mundur\n");
+ //pc.printf("mundur\n");
motor1.speed(s1);
motor2.speed(s2);
@@ -426,7 +425,7 @@
saka=true;
maju=mundur=kiri=kanan=sbka=saki=sbki=analog=pivka=pivki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false;
- pc.printf("saka\n");
+ //pc.printf("saka\n");
motor1.speed(s1);
motor2.brake(1);
@@ -470,7 +469,7 @@
sbka=true;
maju=mundur=kiri=kanan=saka=saki=sbki=analog=pivka=pivki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false;
- pc.printf("sbka\n");
+ //pc.printf("sbka\n");
//motor1.speed(s1);
motor1.brake(1);
@@ -514,7 +513,7 @@
saki=true;
maju=kiri=kanan=saka=mundur=sbka=sbki=analog=pivka=pivki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false;
- pc.printf("saki\n");
+ //pc.printf("saki\n");
//motor1.speed(s1);
motor1.brake(1);
@@ -558,7 +557,7 @@
sbki=true;
maju=kiri=kanan=saka=saki=sbka=mundur=analog=pivka=pivki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false;
- pc.printf("sbki\n");
+ //pc.printf("sbki\n");
motor1.speed(s1);
//motor2.speed(s2);
@@ -597,12 +596,12 @@
s1 =(float)(-1*koef*vcurr);
s2 =(float)(-1.0*koef*vcurr);
s3 =(float)(1*koef*vcurr);
- s4 =(float)(1.0*koef*vcurr);
+ s4 =(float)(1.0*koef*(vcurr+0.005));
kanan=true;
maju=kiri=mundur=saka=saki=sbka=sbki=analog=pivka=pivki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false;
- pc.printf("Kanan\n");
+ //pc.printf("Kanan\n");
motor1.speed(s1);
motor2.speed(s2);
@@ -636,14 +635,14 @@
}
s1 =(float)(1*koef*vcurr);
- s2 =(float)(1*koef*vcurr);
+ s2 =(float)(1*koef*(vcurr+0.003));
s3 =(float)(-1*koef*vcurr);
s4 =(float)(-1.0*koef*vcurr);
kiri=true;
maju=kanan=mundur=saka=saki=sbka=sbki=analog=pivka=pivki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false;
- pc.printf("Kiri\n");
+ //pc.printf("Kiri\n");
motor1.speed(s1);
motor2.speed(s2);
@@ -679,7 +678,7 @@
analog=true;
maju=mundur=kiri=kanan=saka=saki=sbka=sbki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false;
- pc.printf("analog X =%.2f Y =%.2f \n ",x,y);
+ //pc.printf("analog X =%.2f Y =%.2f \n ",x,y);
motor1.speed(s1);
@@ -699,7 +698,7 @@
stop = true;
- pc.printf("Stop\n");
+ //pc.printf("Stop\n");
}
}
}
@@ -755,10 +754,6 @@
if (joystick.lingkaran_click){
ServoGo = true;
}
- if (joystick.silang) {
-
- //pc.printf("x..\n");
- }
speedLauncher();
} else {