fixed L2 click
Dependencies: Motor PID Joystick_OrdoV5 mbed
Fork of Joystick_ManualV1 by
main.cpp@18:23412e950394, 2017-01-18 (annotated)
- Committer:
- rahmadirizki18
- Date:
- Wed Jan 18 10:28:01 2017 +0000
- Revision:
- 18:23412e950394
- Parent:
- 17:703072f5dce1
fixed L2 click
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
rahmadirizki18 | 5:3aa203218306 | 1 | /****************************************************************************/ |
rahmadirizki18 | 6:68293bed71ea | 2 | /* */ |
rahmadirizki18 | 6:68293bed71ea | 3 | /* Joystick */ |
rahmadirizki18 | 6:68293bed71ea | 4 | /* kanan => posisi target x ditambah 0.01 */ |
rahmadirizki18 | 6:68293bed71ea | 5 | /* kiri => posisi target x dikurang 0.01 */ |
rahmadirizki18 | 6:68293bed71ea | 6 | /* atas => posisi target y ditambah 0.01 */ |
rahmadirizki18 | 6:68293bed71ea | 7 | /* bawah => posisi target y dikurang 0.01 */ |
rahmadirizki18 | 6:68293bed71ea | 8 | /* */ |
rahmadirizki18 | 6:68293bed71ea | 9 | /* Tombol silang => Kembali keposisi Awal */ |
rahmadirizki18 | 6:68293bed71ea | 10 | /* Tombol segitiga => Aktif motor Launcher */ |
rahmadirizki18 | 13:8ab42383a2ca | 11 | /* Tombol lingkaran=> Aktif servo Launcher */ |
rahmadirizki18 | 13:8ab42383a2ca | 12 | /* Tombol L3 => PWM Launcher dikurangin */ |
rahmadirizki18 | 13:8ab42383a2ca | 13 | /* Tombol R3 => PWM Launcher ditambahin */ |
rahmadirizki18 | 13:8ab42383a2ca | 14 | /* */ |
rahmadirizki18 | 13:8ab42383a2ca | 15 | /* */ |
rahmadirizki18 | 6:68293bed71ea | 16 | /* */ |
rahmadirizki18 | 6:68293bed71ea | 17 | /****************************************************************************/ |
rahmadirizki18 | 6:68293bed71ea | 18 | |
fanny868 | 0:9072e932503c | 19 | |
fanny868 | 0:9072e932503c | 20 | #include "mbed.h" |
fanny868 | 0:9072e932503c | 21 | #include "JoystickPS3.h" |
fanny868 | 0:9072e932503c | 22 | #include "Motor.h" |
rahmadirizki18 | 6:68293bed71ea | 23 | #include "Servo.h" |
fanny868 | 0:9072e932503c | 24 | |
fanny868 | 0:9072e932503c | 25 | //#define koefperlambatan 0.8 |
rahmadirizki18 | 16:89093194ccc2 | 26 | //#include "encoderKRAI.h" |
rahmadirizki18 | 16:89093194ccc2 | 27 | /* |
rahmadirizki18 | 5:3aa203218306 | 28 | #define pi 22/7 |
rahmadirizki18 | 5:3aa203218306 | 29 | #define diaEncoder 0.058 |
rahmadirizki18 | 5:3aa203218306 | 30 | #define PPR 1000 |
rahmadirizki18 | 5:3aa203218306 | 31 | #define diaRobot 0.64 |
rahmadirizki18 | 16:89093194ccc2 | 32 | */ |
rahmadirizki18 | 17:703072f5dce1 | 33 | #define vmax 0.3 //0.4 |
rahmadirizki18 | 17:703072f5dce1 | 34 | #define vmaxserong 0.3 //0.3 |
rahmadirizki18 | 17:703072f5dce1 | 35 | #define vmaxpivot 0.3 //0.3 |
rahmadirizki18 | 17:703072f5dce1 | 36 | #define vmaxanalog 0.3 //0.3 |
rahmadirizki18 | 16:89093194ccc2 | 37 | #define ax 0.005 |
Joshua23 | 9:5a50782510fb | 38 | #define pinservo1 PC_8 |
Joshua23 | 9:5a50782510fb | 39 | #define pinservo2 PC_9 |
rahmadirizki18 | 5:3aa203218306 | 40 | |
rahmadirizki18 | 5:3aa203218306 | 41 | float speed1=0.6; |
rahmadirizki18 | 5:3aa203218306 | 42 | float speed2=0.6; |
rahmadirizki18 | 5:3aa203218306 | 43 | float speed3=0.6; |
rahmadirizki18 | 5:3aa203218306 | 44 | float speed4=0.6; |
franshendri | 12:e07c59c28c29 | 45 | float speedB=0.43 ; |
franshendri | 12:e07c59c28c29 | 46 | float speedL=0.4; |
rahmadirizki18 | 5:3aa203218306 | 47 | |
rahmadirizki18 | 6:68293bed71ea | 48 | |
fanny868 | 0:9072e932503c | 49 | |
fanny868 | 0:9072e932503c | 50 | // Deklarasi variabel motor |
rahmadirizki18 | 17:703072f5dce1 | 51 | Motor motor1(PB_7, PA_15 , PA_14); // pwm, fwd, rev |
rahmadirizki18 | 17:703072f5dce1 | 52 | Motor motor2(PB_8, PB_0 ,PA_13); // pwm, fwd, rev |
rahmadirizki18 | 17:703072f5dce1 | 53 | Motor motor3(PB_9, PC_5 ,PA_12); // pwm, fwd, rev |
rahmadirizki18 | 17:703072f5dce1 | 54 | Motor motor4(PB_6, PB_12 ,PB_1); // pwm, fwd, rev |
rahmadirizki18 | 5:3aa203218306 | 55 | |
rahmadirizki18 | 6:68293bed71ea | 56 | //Motor Atas |
rahmadirizki18 | 14:6d389e99981c | 57 | Motor motorld(PA_8, PC_1 , PC_2); // pwm, fwd, rev |
rahmadirizki18 | 14:6d389e99981c | 58 | Motor motorlb(PA_9, PA_4, PC_15 ); // pwm, fwd, rev |
rahmadirizki18 | 6:68293bed71ea | 59 | |
rahmadirizki18 | 6:68293bed71ea | 60 | //Servo Atas |
rahmadirizki18 | 14:6d389e99981c | 61 | Servo servoS(PB_2); |
rahmadirizki18 | 14:6d389e99981c | 62 | Servo servoB(PA_5); |
rahmadirizki18 | 6:68293bed71ea | 63 | |
rahmadirizki18 | 5:3aa203218306 | 64 | float jarak, posX, posY; |
rahmadirizki18 | 5:3aa203218306 | 65 | |
fanny868 | 0:9072e932503c | 66 | // Inisialisasi Pin TX-RX Joystik dan PC |
rahmadirizki18 | 3:1287fccc11be | 67 | joysticknucleo joystick(PA_0,PA_1); |
rahmadirizki18 | 3:1287fccc11be | 68 | Serial pc(USBTX,USBRX); |
fanny868 | 0:9072e932503c | 69 | |
rahmadirizki18 | 5:3aa203218306 | 70 | //encoder variable |
rahmadirizki18 | 5:3aa203218306 | 71 | float errX, errY, errT, Vt, Vx, Vy; |
rahmadirizki18 | 5:3aa203218306 | 72 | float V1, V2, V3, V4; |
rahmadirizki18 | 5:3aa203218306 | 73 | |
fanny868 | 0:9072e932503c | 74 | //bool perlambatan=0; |
fanny868 | 0:9072e932503c | 75 | char case_ger; |
rahmadirizki18 | 3:1287fccc11be | 76 | bool maju=false,mundur=false,pivka=false,pivki=false,kiri=false,kanan=false,saka=false,saki=false,sbka=false,sbki=false,cw1=false,ccw1=false,cw2=false,ccw2=false,cw3=false,ccw3=false,analog=false; |
fanny868 | 0:9072e932503c | 77 | bool stop = true; |
rahmadirizki18 | 6:68293bed71ea | 78 | bool Launcher = false,ServoGo = false; |
rahmadirizki18 | 4:483c07cc22e1 | 79 | float jLX,jLY; |
rahmadirizki18 | 5:3aa203218306 | 80 | double vcurr; |
rahmadirizki18 | 4:483c07cc22e1 | 81 | float x,y; // untuk analoghat kiri |
rahmadirizki18 | 3:1287fccc11be | 82 | float errorx=0,errory=0; |
rahmadirizki18 | 3:1287fccc11be | 83 | |
rahmadirizki18 | 4:483c07cc22e1 | 84 | // Fungsi mapping 0-255 ke -128 sampai 127 |
rahmadirizki18 | 4:483c07cc22e1 | 85 | float mapping(float a,float error) |
rahmadirizki18 | 3:1287fccc11be | 86 | { |
rahmadirizki18 | 4:483c07cc22e1 | 87 | float hasil,b; |
rahmadirizki18 | 4:483c07cc22e1 | 88 | b = (float)((a-128)/128); |
rahmadirizki18 | 4:483c07cc22e1 | 89 | if (b>(error - 0.2) && b<(error + 0.2)) |
rahmadirizki18 | 4:483c07cc22e1 | 90 | { |
rahmadirizki18 | 4:483c07cc22e1 | 91 | hasil = 0; |
rahmadirizki18 | 4:483c07cc22e1 | 92 | } else { |
rahmadirizki18 | 4:483c07cc22e1 | 93 | hasil = b; |
rahmadirizki18 | 4:483c07cc22e1 | 94 | } |
rahmadirizki18 | 3:1287fccc11be | 95 | return (hasil); |
rahmadirizki18 | 3:1287fccc11be | 96 | } |
fanny868 | 0:9072e932503c | 97 | |
rahmadirizki18 | 4:483c07cc22e1 | 98 | // Kalibrasi tombol analog kiri |
rahmadirizki18 | 4:483c07cc22e1 | 99 | void kalibrasi() |
rahmadirizki18 | 4:483c07cc22e1 | 100 | { |
rahmadirizki18 | 4:483c07cc22e1 | 101 | errorx = (jLX - 128)/128; |
rahmadirizki18 | 4:483c07cc22e1 | 102 | errory = (jLY - 128)/128; |
rahmadirizki18 | 4:483c07cc22e1 | 103 | |
rahmadirizki18 | 4:483c07cc22e1 | 104 | } |
rahmadirizki18 | 4:483c07cc22e1 | 105 | |
rahmadirizki18 | 3:1287fccc11be | 106 | // simpan data analog |
rahmadirizki18 | 3:1287fccc11be | 107 | void baca_analog() |
rahmadirizki18 | 3:1287fccc11be | 108 | { |
rahmadirizki18 | 3:1287fccc11be | 109 | jLX = joystick.LX; |
rahmadirizki18 | 3:1287fccc11be | 110 | jLY = joystick.LY; |
rahmadirizki18 | 3:1287fccc11be | 111 | |
rahmadirizki18 | 3:1287fccc11be | 112 | // Pembacaan nilai Y terbalik |
rahmadirizki18 | 4:483c07cc22e1 | 113 | x = mapping(jLX,errorx); |
rahmadirizki18 | 4:483c07cc22e1 | 114 | y = -mapping(jLY,errory); |
rahmadirizki18 | 3:1287fccc11be | 115 | } |
fanny868 | 0:9072e932503c | 116 | |
rahmadirizki18 | 3:1287fccc11be | 117 | // Gerak dari Motor base |
fanny868 | 0:9072e932503c | 118 | int case_gerak() |
fanny868 | 0:9072e932503c | 119 | { |
fanny868 | 0:9072e932503c | 120 | int casegerak; |
rahmadirizki18 | 3:1287fccc11be | 121 | baca_analog(); |
rahmadirizki18 | 3:1287fccc11be | 122 | if (!joystick.L1 && joystick.R1) { |
fanny868 | 0:9072e932503c | 123 | // Pivot Kanan |
fanny868 | 0:9072e932503c | 124 | casegerak = 1; |
fanny868 | 0:9072e932503c | 125 | } else if (!joystick.R1 && joystick.L1) { |
fanny868 | 0:9072e932503c | 126 | // Pivot Kiri |
fanny868 | 0:9072e932503c | 127 | casegerak = 2; |
rahmadirizki18 | 3:1287fccc11be | 128 | } else if ((!joystick.R1)&&(!joystick.L1)&&(joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) { |
fanny868 | 0:9072e932503c | 129 | // Maju |
rahmadirizki18 | 3:1287fccc11be | 130 | casegerak = 3; |
rahmadirizki18 | 3:1287fccc11be | 131 | } else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) { |
fanny868 | 0:9072e932503c | 132 | // Mundur |
fanny868 | 0:9072e932503c | 133 | casegerak = 4; |
rahmadirizki18 | 3:1287fccc11be | 134 | } else if ((!joystick.R1)&&(!joystick.L1)&&(joystick.atas)&&(!joystick.bawah)&&(!joystick.kiri)&&(joystick.kanan)) { |
fanny868 | 0:9072e932503c | 135 | // Serong Atas Kanan |
fanny868 | 0:9072e932503c | 136 | casegerak = 5; |
rahmadirizki18 | 3:1287fccc11be | 137 | } else if((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(joystick.bawah)&&(!joystick.kiri)&&(joystick.kanan)) { |
fanny868 | 0:9072e932503c | 138 | // Serong Bawah Kanan |
fanny868 | 0:9072e932503c | 139 | casegerak = 6; |
rahmadirizki18 | 3:1287fccc11be | 140 | } else if ((!joystick.R1)&&(!joystick.L1)&&(joystick.atas)&&(!joystick.bawah)&&(joystick.kiri)&&(!joystick.kanan)) { |
fanny868 | 0:9072e932503c | 141 | // Serong Atas Kiri |
fanny868 | 0:9072e932503c | 142 | casegerak = 7; |
rahmadirizki18 | 3:1287fccc11be | 143 | } else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(joystick.bawah)&&(joystick.kiri)&&(!joystick.kanan)) { |
fanny868 | 0:9072e932503c | 144 | // Serong Bawah Kiri |
fanny868 | 0:9072e932503c | 145 | casegerak = 8; |
rahmadirizki18 | 3:1287fccc11be | 146 | } else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri)) { |
fanny868 | 0:9072e932503c | 147 | // Kanan |
fanny868 | 0:9072e932503c | 148 | casegerak = 9; |
rahmadirizki18 | 3:1287fccc11be | 149 | } else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)) { |
fanny868 | 0:9072e932503c | 150 | // Kiri |
rahmadirizki18 | 3:1287fccc11be | 151 | casegerak = 10; |
rahmadirizki18 | 3:1287fccc11be | 152 | } else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) { |
rahmadirizki18 | 3:1287fccc11be | 153 | // case gerak analog on off |
rahmadirizki18 | 3:1287fccc11be | 154 | if (analog){ |
rahmadirizki18 | 3:1287fccc11be | 155 | casegerak = 11; |
rahmadirizki18 | 3:1287fccc11be | 156 | } else { |
rahmadirizki18 | 3:1287fccc11be | 157 | casegerak = 12; |
rahmadirizki18 | 3:1287fccc11be | 158 | } |
rahmadirizki18 | 3:1287fccc11be | 159 | } |
fanny868 | 0:9072e932503c | 160 | return(casegerak); |
fanny868 | 0:9072e932503c | 161 | } |
fanny868 | 0:9072e932503c | 162 | |
fanny868 | 0:9072e932503c | 163 | |
fanny868 | 0:9072e932503c | 164 | |
fanny868 | 0:9072e932503c | 165 | /** |
fanny868 | 0:9072e932503c | 166 | |
rahmadirizki18 | 3:1287fccc11be | 167 | ** Case 1 : Pivot kanan |
fanny868 | 0:9072e932503c | 168 | ** Case 2 : Pivot Kiri |
fanny868 | 0:9072e932503c | 169 | ** Case 3 : Maju |
fanny868 | 0:9072e932503c | 170 | ** Case 4 : Mundur |
fanny868 | 0:9072e932503c | 171 | ** Case 5 : Serong Atas Kanan |
fanny868 | 0:9072e932503c | 172 | ** Case 6 : Serong Bawah Kanan |
fanny868 | 0:9072e932503c | 173 | ** Case 7 : Serong Atas Kiri |
fanny868 | 0:9072e932503c | 174 | ** Case 8 : Serong Bawah Kiri |
fanny868 | 0:9072e932503c | 175 | ** Case 9 : Kanan |
fanny868 | 0:9072e932503c | 176 | ** Case 10 : Kiri |
rahmadirizki18 | 3:1287fccc11be | 177 | ** Case 11 : Analog |
rahmadirizki18 | 3:1287fccc11be | 178 | ** Case 11 : break |
fanny868 | 0:9072e932503c | 179 | |
fanny868 | 0:9072e932503c | 180 | **/ |
rahmadirizki18 | 3:1287fccc11be | 181 | |
rahmadirizki18 | 5:3aa203218306 | 182 | |
rahmadirizki18 | 3:1287fccc11be | 183 | // Pergerakan dari base |
fanny868 | 0:9072e932503c | 184 | void aktuator() |
fanny868 | 0:9072e932503c | 185 | { |
rahmadirizki18 | 6:68293bed71ea | 186 | //Servo |
rahmadirizki18 | 7:d138c56dab20 | 187 | if (ServoGo){ |
franshendri | 12:e07c59c28c29 | 188 | servoS.position(20); |
franshendri | 10:f0f0dc3904e0 | 189 | wait_ms(500); |
franshendri | 12:e07c59c28c29 | 190 | servoS.position(-28); |
Joshua23 | 8:0711dea61312 | 191 | wait_ms(500); |
franshendri | 12:e07c59c28c29 | 192 | servoS.position(20); |
Joshua23 | 8:0711dea61312 | 193 | wait_ms(500); |
franshendri | 12:e07c59c28c29 | 194 | for (int i = -0; i<=70; i++){ |
Joshua23 | 8:0711dea61312 | 195 | servoB.position(i); |
Joshua23 | 8:0711dea61312 | 196 | wait_ms(10); |
Joshua23 | 8:0711dea61312 | 197 | } |
Joshua23 | 8:0711dea61312 | 198 | wait_ms(500); |
Joshua23 | 8:0711dea61312 | 199 | servoB.position(0); |
rahmadirizki18 | 7:d138c56dab20 | 200 | ServoGo = false; |
rahmadirizki18 | 6:68293bed71ea | 201 | |
rahmadirizki18 | 6:68293bed71ea | 202 | }else{ |
franshendri | 12:e07c59c28c29 | 203 | servoS.position(20); |
rahmadirizki18 | 6:68293bed71ea | 204 | servoB.position(0); |
fanny868 | 0:9072e932503c | 205 | |
rahmadirizki18 | 7:d138c56dab20 | 206 | } |
rahmadirizki18 | 6:68293bed71ea | 207 | |
rahmadirizki18 | 6:68293bed71ea | 208 | // Motor Atas |
rahmadirizki18 | 6:68293bed71ea | 209 | if (Launcher) { |
rahmadirizki18 | 7:d138c56dab20 | 210 | motorld.speed(speedL); |
franshendri | 12:e07c59c28c29 | 211 | motorlb.speed(speedB); |
rahmadirizki18 | 6:68293bed71ea | 212 | }else{ |
rahmadirizki18 | 6:68293bed71ea | 213 | motorld.speed(0); |
rahmadirizki18 | 6:68293bed71ea | 214 | motorlb.speed(0); |
rahmadirizki18 | 6:68293bed71ea | 215 | } |
rahmadirizki18 | 6:68293bed71ea | 216 | |
rahmadirizki18 | 16:89093194ccc2 | 217 | double s1=0,s2=0,s3=0,s4=0,s1t=0,s2t=0,s3t=0,s4t=0; |
rahmadirizki18 | 16:89093194ccc2 | 218 | |
rahmadirizki18 | 16:89093194ccc2 | 219 | // MOTOR BAWAH |
fanny868 | 0:9072e932503c | 220 | switch (case_ger) |
fanny868 | 0:9072e932503c | 221 | { |
rahmadirizki18 | 3:1287fccc11be | 222 | case (1): |
fanny868 | 0:9072e932503c | 223 | { |
rahmadirizki18 | 16:89093194ccc2 | 224 | if (pivka) { |
rahmadirizki18 | 16:89093194ccc2 | 225 | if(vcurr<0.1) { |
rahmadirizki18 | 16:89093194ccc2 | 226 | vcurr=0.1; |
rahmadirizki18 | 16:89093194ccc2 | 227 | } else { |
rahmadirizki18 | 16:89093194ccc2 | 228 | vcurr+=ax; |
rahmadirizki18 | 16:89093194ccc2 | 229 | } |
rahmadirizki18 | 16:89093194ccc2 | 230 | //perlambatan=0; |
rahmadirizki18 | 16:89093194ccc2 | 231 | } else { |
rahmadirizki18 | 16:89093194ccc2 | 232 | //perlambatan=1; |
rahmadirizki18 | 16:89093194ccc2 | 233 | } |
rahmadirizki18 | 16:89093194ccc2 | 234 | |
rahmadirizki18 | 16:89093194ccc2 | 235 | if (vcurr>=vmaxpivot) { |
rahmadirizki18 | 16:89093194ccc2 | 236 | vcurr=vmaxpivot; |
rahmadirizki18 | 16:89093194ccc2 | 237 | } |
rahmadirizki18 | 16:89093194ccc2 | 238 | |
rahmadirizki18 | 16:89093194ccc2 | 239 | |
rahmadirizki18 | 18:23412e950394 | 240 | s1 = (float)(-0.5* vcurr); |
rahmadirizki18 | 18:23412e950394 | 241 | s2 = (float)(-0.5* vcurr); |
rahmadirizki18 | 18:23412e950394 | 242 | s3 = (float)(-0.5* vcurr); |
rahmadirizki18 | 18:23412e950394 | 243 | s4 = (float)(-0.5* vcurr); |
rahmadirizki18 | 16:89093194ccc2 | 244 | |
fanny868 | 0:9072e932503c | 245 | pivka=true; |
rahmadirizki18 | 3:1287fccc11be | 246 | maju=mundur=analog=kiri=kanan=saka=saki=sbka=sbki=pivki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false; |
fanny868 | 0:9072e932503c | 247 | |
rahmadirizki18 | 17:703072f5dce1 | 248 | //pc.printf("pivKa\n"); |
fanny868 | 0:9072e932503c | 249 | |
rahmadirizki18 | 16:89093194ccc2 | 250 | motor1.speed(s1); |
rahmadirizki18 | 16:89093194ccc2 | 251 | motor2.speed(s2); |
rahmadirizki18 | 16:89093194ccc2 | 252 | motor3.speed(s3); |
rahmadirizki18 | 16:89093194ccc2 | 253 | motor4.speed(s4); |
rahmadirizki18 | 16:89093194ccc2 | 254 | |
fanny868 | 0:9072e932503c | 255 | break; |
fanny868 | 0:9072e932503c | 256 | } |
fanny868 | 0:9072e932503c | 257 | case (2): |
fanny868 | 0:9072e932503c | 258 | { |
rahmadirizki18 | 16:89093194ccc2 | 259 | if (pivki){ |
rahmadirizki18 | 16:89093194ccc2 | 260 | if(vcurr<0.1) { |
rahmadirizki18 | 16:89093194ccc2 | 261 | vcurr=0.1; |
rahmadirizki18 | 16:89093194ccc2 | 262 | } else { |
rahmadirizki18 | 16:89093194ccc2 | 263 | vcurr+=ax; |
rahmadirizki18 | 16:89093194ccc2 | 264 | } |
rahmadirizki18 | 16:89093194ccc2 | 265 | //perlambatan=0; |
rahmadirizki18 | 16:89093194ccc2 | 266 | } else { |
rahmadirizki18 | 16:89093194ccc2 | 267 | //perlambatan=1; |
rahmadirizki18 | 16:89093194ccc2 | 268 | } |
rahmadirizki18 | 16:89093194ccc2 | 269 | |
rahmadirizki18 | 16:89093194ccc2 | 270 | if (vcurr>=vmaxpivot) { |
rahmadirizki18 | 16:89093194ccc2 | 271 | vcurr=vmaxpivot; |
rahmadirizki18 | 16:89093194ccc2 | 272 | } |
rahmadirizki18 | 16:89093194ccc2 | 273 | |
rahmadirizki18 | 18:23412e950394 | 274 | |
rahmadirizki18 | 18:23412e950394 | 275 | s1 = (float)(0.5* vcurr); |
rahmadirizki18 | 18:23412e950394 | 276 | s2 = (float)(0.5* vcurr); |
rahmadirizki18 | 18:23412e950394 | 277 | s3 = (float)(0.5* vcurr); |
rahmadirizki18 | 18:23412e950394 | 278 | s4 = (float)(0.5* vcurr); |
fanny868 | 0:9072e932503c | 279 | |
fanny868 | 0:9072e932503c | 280 | pivki=true; |
rahmadirizki18 | 3:1287fccc11be | 281 | maju=mundur=kiri=analog=kanan=saka=saki=sbka=sbki=pivka=cw1=ccw1=cw2=ccw2=cw3=ccw3=false; |
fanny868 | 0:9072e932503c | 282 | |
rahmadirizki18 | 17:703072f5dce1 | 283 | //pc.printf("pivKi\n"); |
fanny868 | 0:9072e932503c | 284 | |
rahmadirizki18 | 16:89093194ccc2 | 285 | motor1.speed(s1); |
rahmadirizki18 | 16:89093194ccc2 | 286 | motor2.speed(s2); |
rahmadirizki18 | 16:89093194ccc2 | 287 | motor3.speed(s3); |
rahmadirizki18 | 16:89093194ccc2 | 288 | motor4.speed(s4); |
rahmadirizki18 | 16:89093194ccc2 | 289 | |
fanny868 | 0:9072e932503c | 290 | break; |
fanny868 | 0:9072e932503c | 291 | } |
fanny868 | 0:9072e932503c | 292 | case (3): |
fanny868 | 0:9072e932503c | 293 | { |
rahmadirizki18 | 16:89093194ccc2 | 294 | if (maju) { |
rahmadirizki18 | 16:89093194ccc2 | 295 | if(vcurr<0.1) { |
rahmadirizki18 | 16:89093194ccc2 | 296 | vcurr=0.1; |
rahmadirizki18 | 16:89093194ccc2 | 297 | } else { |
rahmadirizki18 | 16:89093194ccc2 | 298 | vcurr+=ax; |
rahmadirizki18 | 16:89093194ccc2 | 299 | } |
rahmadirizki18 | 16:89093194ccc2 | 300 | //perlambatan=0; |
rahmadirizki18 | 16:89093194ccc2 | 301 | } else { |
rahmadirizki18 | 16:89093194ccc2 | 302 | //perlambatan=1; |
rahmadirizki18 | 16:89093194ccc2 | 303 | } |
rahmadirizki18 | 16:89093194ccc2 | 304 | |
rahmadirizki18 | 16:89093194ccc2 | 305 | if (vcurr>=vmax) { |
rahmadirizki18 | 16:89093194ccc2 | 306 | vcurr=vmax; |
rahmadirizki18 | 16:89093194ccc2 | 307 | } |
rahmadirizki18 | 16:89093194ccc2 | 308 | |
rahmadirizki18 | 16:89093194ccc2 | 309 | |
rahmadirizki18 | 16:89093194ccc2 | 310 | //Case s1 untuk mode L2 lebih lambat |
rahmadirizki18 | 18:23412e950394 | 311 | s1 = (float)(-1* (vcurr)); |
rahmadirizki18 | 18:23412e950394 | 312 | s2 = (float)(1.0* vcurr); |
rahmadirizki18 | 18:23412e950394 | 313 | s3 = (float)(1.0* vcurr); |
rahmadirizki18 | 18:23412e950394 | 314 | s4 = (float)(-1* vcurr); |
rahmadirizki18 | 16:89093194ccc2 | 315 | |
rahmadirizki18 | 18:23412e950394 | 316 | //s1 =-0.8* vcurr; |
rahmadirizki18 | 18:23412e950394 | 317 | //s2 = vcurr; |
rahmadirizki18 | 18:23412e950394 | 318 | //s3 =- vcurr; |
rahmadirizki18 | 18:23412e950394 | 319 | //s4 = vcurr; |
fanny868 | 0:9072e932503c | 320 | |
fanny868 | 0:9072e932503c | 321 | maju=true; |
rahmadirizki18 | 3:1287fccc11be | 322 | mundur=kiri=kanan=saka=saki=sbka=sbki=analog=pivka=pivki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false; |
fanny868 | 0:9072e932503c | 323 | |
rahmadirizki18 | 17:703072f5dce1 | 324 | //pc.printf("maju\n"); |
fanny868 | 0:9072e932503c | 325 | |
rahmadirizki18 | 16:89093194ccc2 | 326 | motor1.speed(s1); |
rahmadirizki18 | 16:89093194ccc2 | 327 | motor2.speed(s2); |
rahmadirizki18 | 16:89093194ccc2 | 328 | motor3.speed(s3); |
rahmadirizki18 | 16:89093194ccc2 | 329 | motor4.speed(s4); |
rahmadirizki18 | 16:89093194ccc2 | 330 | |
fanny868 | 0:9072e932503c | 331 | break; |
fanny868 | 0:9072e932503c | 332 | } |
fanny868 | 0:9072e932503c | 333 | case (4): |
fanny868 | 0:9072e932503c | 334 | { |
rahmadirizki18 | 16:89093194ccc2 | 335 | if (mundur) { |
rahmadirizki18 | 16:89093194ccc2 | 336 | if(vcurr<0.1) { |
rahmadirizki18 | 16:89093194ccc2 | 337 | vcurr=0.1; |
rahmadirizki18 | 16:89093194ccc2 | 338 | } else { |
rahmadirizki18 | 16:89093194ccc2 | 339 | vcurr+=ax; |
rahmadirizki18 | 16:89093194ccc2 | 340 | } |
rahmadirizki18 | 16:89093194ccc2 | 341 | //perlambatan=0; |
rahmadirizki18 | 16:89093194ccc2 | 342 | } else { |
rahmadirizki18 | 16:89093194ccc2 | 343 | //perlambatan=1; |
rahmadirizki18 | 16:89093194ccc2 | 344 | } |
rahmadirizki18 | 16:89093194ccc2 | 345 | |
rahmadirizki18 | 16:89093194ccc2 | 346 | if (vcurr>=vmax) { |
rahmadirizki18 | 16:89093194ccc2 | 347 | vcurr=vmax; |
rahmadirizki18 | 16:89093194ccc2 | 348 | } |
rahmadirizki18 | 16:89093194ccc2 | 349 | |
rahmadirizki18 | 17:703072f5dce1 | 350 | |
rahmadirizki18 | 18:23412e950394 | 351 | s1 = (float)(1* (vcurr)); |
rahmadirizki18 | 18:23412e950394 | 352 | s2 = (float)(-1* (vcurr)); |
rahmadirizki18 | 18:23412e950394 | 353 | s3 = (float)(-1* (vcurr)); |
rahmadirizki18 | 18:23412e950394 | 354 | s4 = (float)(1* (vcurr)); |
fanny868 | 0:9072e932503c | 355 | |
fanny868 | 0:9072e932503c | 356 | mundur=true; |
rahmadirizki18 | 3:1287fccc11be | 357 | maju=kiri=kanan=saka=saki=sbka=sbki=analog=pivka=pivki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false; |
fanny868 | 0:9072e932503c | 358 | |
rahmadirizki18 | 17:703072f5dce1 | 359 | //pc.printf("mundur\n"); |
fanny868 | 0:9072e932503c | 360 | |
rahmadirizki18 | 16:89093194ccc2 | 361 | motor1.speed(s1); |
rahmadirizki18 | 16:89093194ccc2 | 362 | motor2.speed(s2); |
rahmadirizki18 | 16:89093194ccc2 | 363 | motor3.speed(s3); |
rahmadirizki18 | 16:89093194ccc2 | 364 | motor4.speed(s4); |
fanny868 | 0:9072e932503c | 365 | |
fanny868 | 0:9072e932503c | 366 | break; |
fanny868 | 0:9072e932503c | 367 | } |
fanny868 | 0:9072e932503c | 368 | case (5) : |
fanny868 | 0:9072e932503c | 369 | { |
rahmadirizki18 | 16:89093194ccc2 | 370 | if (saka) { |
rahmadirizki18 | 16:89093194ccc2 | 371 | if(vcurr<0.1) { |
rahmadirizki18 | 16:89093194ccc2 | 372 | vcurr=0.1; |
rahmadirizki18 | 16:89093194ccc2 | 373 | } else { |
rahmadirizki18 | 16:89093194ccc2 | 374 | vcurr+=ax; |
rahmadirizki18 | 16:89093194ccc2 | 375 | } |
rahmadirizki18 | 16:89093194ccc2 | 376 | //perlambatan=0; |
rahmadirizki18 | 16:89093194ccc2 | 377 | } else { |
rahmadirizki18 | 16:89093194ccc2 | 378 | //perlambatan=1; |
rahmadirizki18 | 16:89093194ccc2 | 379 | } |
rahmadirizki18 | 16:89093194ccc2 | 380 | |
rahmadirizki18 | 16:89093194ccc2 | 381 | if (vcurr>=vmax) { |
rahmadirizki18 | 16:89093194ccc2 | 382 | vcurr=vmax; |
rahmadirizki18 | 18:23412e950394 | 383 | } |
rahmadirizki18 | 18:23412e950394 | 384 | |
rahmadirizki18 | 16:89093194ccc2 | 385 | |
rahmadirizki18 | 18:23412e950394 | 386 | s1 = (float)(- vcurr); |
rahmadirizki18 | 18:23412e950394 | 387 | s2 = (float)(0); // 0.1*vcurr; |
rahmadirizki18 | 18:23412e950394 | 388 | s3 = (float)( vcurr); |
rahmadirizki18 | 18:23412e950394 | 389 | s4 = (float)(0); //- 0.1*vcurr; |
fanny868 | 0:9072e932503c | 390 | |
fanny868 | 0:9072e932503c | 391 | saka=true; |
rahmadirizki18 | 3:1287fccc11be | 392 | maju=mundur=kiri=kanan=sbka=saki=sbki=analog=pivka=pivki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false; |
fanny868 | 0:9072e932503c | 393 | |
rahmadirizki18 | 17:703072f5dce1 | 394 | //pc.printf("saka\n"); |
fanny868 | 0:9072e932503c | 395 | |
rahmadirizki18 | 16:89093194ccc2 | 396 | motor1.speed(s1); |
rahmadirizki18 | 16:89093194ccc2 | 397 | motor2.brake(1); |
rahmadirizki18 | 16:89093194ccc2 | 398 | //motor2.speed(s2); |
rahmadirizki18 | 16:89093194ccc2 | 399 | motor3.speed(s3); |
rahmadirizki18 | 16:89093194ccc2 | 400 | motor4.brake(1); |
rahmadirizki18 | 16:89093194ccc2 | 401 | //motor4.speed(s4); |
fanny868 | 0:9072e932503c | 402 | |
fanny868 | 0:9072e932503c | 403 | break; |
fanny868 | 0:9072e932503c | 404 | } |
fanny868 | 0:9072e932503c | 405 | case (6) : |
fanny868 | 0:9072e932503c | 406 | { |
rahmadirizki18 | 16:89093194ccc2 | 407 | if (sbka){ |
rahmadirizki18 | 16:89093194ccc2 | 408 | if(vcurr<0.1) { |
rahmadirizki18 | 16:89093194ccc2 | 409 | vcurr=0.1; |
rahmadirizki18 | 16:89093194ccc2 | 410 | } else { |
rahmadirizki18 | 16:89093194ccc2 | 411 | vcurr+=ax; |
rahmadirizki18 | 16:89093194ccc2 | 412 | } |
rahmadirizki18 | 16:89093194ccc2 | 413 | //perlambatan=0; |
rahmadirizki18 | 16:89093194ccc2 | 414 | } else { |
rahmadirizki18 | 16:89093194ccc2 | 415 | //perlambatan=1; |
rahmadirizki18 | 16:89093194ccc2 | 416 | } |
rahmadirizki18 | 16:89093194ccc2 | 417 | |
rahmadirizki18 | 16:89093194ccc2 | 418 | if (vcurr>=vmaxserong) { |
rahmadirizki18 | 16:89093194ccc2 | 419 | vcurr=vmaxserong; |
rahmadirizki18 | 16:89093194ccc2 | 420 | } |
rahmadirizki18 | 16:89093194ccc2 | 421 | |
rahmadirizki18 | 16:89093194ccc2 | 422 | |
rahmadirizki18 | 18:23412e950394 | 423 | s1 = (float)(0); // 0.1*vcurr; |
rahmadirizki18 | 18:23412e950394 | 424 | s2 = (float)(- vcurr); |
rahmadirizki18 | 18:23412e950394 | 425 | s3 = (float)(0); //- 0.1*vcurr; |
rahmadirizki18 | 18:23412e950394 | 426 | s4 = (float)( vcurr); |
fanny868 | 0:9072e932503c | 427 | |
fanny868 | 0:9072e932503c | 428 | sbka=true; |
rahmadirizki18 | 3:1287fccc11be | 429 | maju=mundur=kiri=kanan=saka=saki=sbki=analog=pivka=pivki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false; |
fanny868 | 0:9072e932503c | 430 | |
rahmadirizki18 | 17:703072f5dce1 | 431 | //pc.printf("sbka\n"); |
fanny868 | 0:9072e932503c | 432 | |
rahmadirizki18 | 16:89093194ccc2 | 433 | //motor1.speed(s1); |
rahmadirizki18 | 16:89093194ccc2 | 434 | motor1.brake(1); |
rahmadirizki18 | 16:89093194ccc2 | 435 | motor2.speed(s2); |
rahmadirizki18 | 16:89093194ccc2 | 436 | //motor3.speed(s3); |
rahmadirizki18 | 16:89093194ccc2 | 437 | motor3.brake(1); |
rahmadirizki18 | 16:89093194ccc2 | 438 | motor4.speed(s4); |
fanny868 | 0:9072e932503c | 439 | |
fanny868 | 0:9072e932503c | 440 | break; |
fanny868 | 0:9072e932503c | 441 | } |
fanny868 | 0:9072e932503c | 442 | case (7) : |
fanny868 | 0:9072e932503c | 443 | { |
rahmadirizki18 | 16:89093194ccc2 | 444 | if (saki) { |
rahmadirizki18 | 16:89093194ccc2 | 445 | if(vcurr<0.1) { |
rahmadirizki18 | 16:89093194ccc2 | 446 | vcurr=0.1; |
rahmadirizki18 | 16:89093194ccc2 | 447 | } else { |
rahmadirizki18 | 16:89093194ccc2 | 448 | vcurr+=ax; |
rahmadirizki18 | 16:89093194ccc2 | 449 | } |
rahmadirizki18 | 16:89093194ccc2 | 450 | //perlambatan=0; |
rahmadirizki18 | 16:89093194ccc2 | 451 | } else { |
rahmadirizki18 | 16:89093194ccc2 | 452 | //perlambatan=1; |
rahmadirizki18 | 16:89093194ccc2 | 453 | } |
rahmadirizki18 | 16:89093194ccc2 | 454 | |
rahmadirizki18 | 16:89093194ccc2 | 455 | if (vcurr>=vmaxserong) { |
rahmadirizki18 | 16:89093194ccc2 | 456 | vcurr=vmaxserong; |
rahmadirizki18 | 16:89093194ccc2 | 457 | } |
rahmadirizki18 | 16:89093194ccc2 | 458 | |
rahmadirizki18 | 16:89093194ccc2 | 459 | |
rahmadirizki18 | 18:23412e950394 | 460 | s1 = (float)(0); //- 0.1*vcurr; |
rahmadirizki18 | 18:23412e950394 | 461 | s2 = (float)( vcurr); |
rahmadirizki18 | 18:23412e950394 | 462 | s3 = (float)(0); // 0.1*vcurr; |
rahmadirizki18 | 18:23412e950394 | 463 | s4 = (float)(- vcurr); |
fanny868 | 0:9072e932503c | 464 | |
fanny868 | 0:9072e932503c | 465 | saki=true; |
rahmadirizki18 | 3:1287fccc11be | 466 | maju=kiri=kanan=saka=mundur=sbka=sbki=analog=pivka=pivki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false; |
fanny868 | 0:9072e932503c | 467 | |
rahmadirizki18 | 17:703072f5dce1 | 468 | //pc.printf("saki\n"); |
fanny868 | 0:9072e932503c | 469 | |
rahmadirizki18 | 16:89093194ccc2 | 470 | //motor1.speed(s1); |
rahmadirizki18 | 16:89093194ccc2 | 471 | motor1.brake(1); |
rahmadirizki18 | 16:89093194ccc2 | 472 | motor2.speed(s2); |
rahmadirizki18 | 16:89093194ccc2 | 473 | //motor3.speed(s3); |
rahmadirizki18 | 16:89093194ccc2 | 474 | motor3.brake(1); |
rahmadirizki18 | 16:89093194ccc2 | 475 | motor4.speed(s4); |
fanny868 | 0:9072e932503c | 476 | |
fanny868 | 0:9072e932503c | 477 | break; |
fanny868 | 0:9072e932503c | 478 | } |
fanny868 | 0:9072e932503c | 479 | case (8) : |
fanny868 | 0:9072e932503c | 480 | { |
rahmadirizki18 | 16:89093194ccc2 | 481 | if (sbki) { |
rahmadirizki18 | 16:89093194ccc2 | 482 | if(vcurr<0.1) { |
rahmadirizki18 | 16:89093194ccc2 | 483 | vcurr=0.1; |
rahmadirizki18 | 16:89093194ccc2 | 484 | } else { |
rahmadirizki18 | 16:89093194ccc2 | 485 | vcurr+=ax; |
rahmadirizki18 | 16:89093194ccc2 | 486 | } |
rahmadirizki18 | 16:89093194ccc2 | 487 | //perlambatan=0; |
rahmadirizki18 | 16:89093194ccc2 | 488 | } else { |
rahmadirizki18 | 16:89093194ccc2 | 489 | //perlambatan=1; |
rahmadirizki18 | 16:89093194ccc2 | 490 | } |
rahmadirizki18 | 16:89093194ccc2 | 491 | |
rahmadirizki18 | 16:89093194ccc2 | 492 | if (vcurr>=vmaxserong) { |
rahmadirizki18 | 16:89093194ccc2 | 493 | vcurr=vmaxserong; |
rahmadirizki18 | 16:89093194ccc2 | 494 | } |
fanny868 | 0:9072e932503c | 495 | |
rahmadirizki18 | 16:89093194ccc2 | 496 | |
rahmadirizki18 | 18:23412e950394 | 497 | s1 = (float)( vcurr); |
rahmadirizki18 | 18:23412e950394 | 498 | s2 = (float)(0); //- 0.1*vcurr; |
rahmadirizki18 | 18:23412e950394 | 499 | s3 = (float)(- vcurr); |
rahmadirizki18 | 18:23412e950394 | 500 | s4 = (float)(0); // 0.1*vcurr; |
rahmadirizki18 | 16:89093194ccc2 | 501 | |
rahmadirizki18 | 16:89093194ccc2 | 502 | sbki=true; |
rahmadirizki18 | 16:89093194ccc2 | 503 | maju=kiri=kanan=saka=saki=sbka=mundur=analog=pivka=pivki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false; |
rahmadirizki18 | 16:89093194ccc2 | 504 | |
rahmadirizki18 | 17:703072f5dce1 | 505 | //pc.printf("sbki\n"); |
rahmadirizki18 | 16:89093194ccc2 | 506 | |
rahmadirizki18 | 16:89093194ccc2 | 507 | motor1.speed(s1); |
rahmadirizki18 | 16:89093194ccc2 | 508 | //motor2.speed(s2); |
rahmadirizki18 | 16:89093194ccc2 | 509 | motor2.brake(1); |
rahmadirizki18 | 16:89093194ccc2 | 510 | motor3.speed(s3); |
rahmadirizki18 | 16:89093194ccc2 | 511 | //motor4.speed(s4); |
rahmadirizki18 | 16:89093194ccc2 | 512 | motor4.brake(1); |
fanny868 | 0:9072e932503c | 513 | |
fanny868 | 0:9072e932503c | 514 | break; |
fanny868 | 0:9072e932503c | 515 | } |
fanny868 | 0:9072e932503c | 516 | case (9) : |
fanny868 | 0:9072e932503c | 517 | { |
rahmadirizki18 | 16:89093194ccc2 | 518 | if (kanan) { |
rahmadirizki18 | 16:89093194ccc2 | 519 | if(vcurr<0.1) { |
rahmadirizki18 | 16:89093194ccc2 | 520 | vcurr=0.1; |
rahmadirizki18 | 16:89093194ccc2 | 521 | } else { |
rahmadirizki18 | 16:89093194ccc2 | 522 | vcurr+=ax; |
rahmadirizki18 | 16:89093194ccc2 | 523 | } |
rahmadirizki18 | 16:89093194ccc2 | 524 | //perlambatan=0; |
rahmadirizki18 | 16:89093194ccc2 | 525 | } else { |
rahmadirizki18 | 16:89093194ccc2 | 526 | //perlambatan=1; |
rahmadirizki18 | 16:89093194ccc2 | 527 | } |
rahmadirizki18 | 16:89093194ccc2 | 528 | |
rahmadirizki18 | 16:89093194ccc2 | 529 | if (vcurr>=vmax) { |
rahmadirizki18 | 16:89093194ccc2 | 530 | vcurr=vmax; |
rahmadirizki18 | 16:89093194ccc2 | 531 | } |
rahmadirizki18 | 16:89093194ccc2 | 532 | |
rahmadirizki18 | 16:89093194ccc2 | 533 | |
rahmadirizki18 | 18:23412e950394 | 534 | s1 =(float)(-1* vcurr); |
rahmadirizki18 | 18:23412e950394 | 535 | s2 =(float)(-1.0* vcurr); |
rahmadirizki18 | 18:23412e950394 | 536 | s3 =(float)(1* vcurr); |
rahmadirizki18 | 18:23412e950394 | 537 | s4 =(float)(1.0* (vcurr+0.005)); |
rahmadirizki18 | 16:89093194ccc2 | 538 | |
fanny868 | 0:9072e932503c | 539 | kanan=true; |
rahmadirizki18 | 3:1287fccc11be | 540 | maju=kiri=mundur=saka=saki=sbka=sbki=analog=pivka=pivki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false; |
fanny868 | 0:9072e932503c | 541 | |
rahmadirizki18 | 17:703072f5dce1 | 542 | //pc.printf("Kanan\n"); |
fanny868 | 0:9072e932503c | 543 | |
rahmadirizki18 | 16:89093194ccc2 | 544 | motor1.speed(s1); |
rahmadirizki18 | 16:89093194ccc2 | 545 | motor2.speed(s2); |
rahmadirizki18 | 16:89093194ccc2 | 546 | motor3.speed(s3); |
rahmadirizki18 | 16:89093194ccc2 | 547 | motor4.speed(s4); |
fanny868 | 0:9072e932503c | 548 | break; |
fanny868 | 0:9072e932503c | 549 | } |
fanny868 | 0:9072e932503c | 550 | case (10) : |
fanny868 | 0:9072e932503c | 551 | { |
rahmadirizki18 | 16:89093194ccc2 | 552 | if (kiri) { |
rahmadirizki18 | 16:89093194ccc2 | 553 | if(vcurr<0.1) { |
rahmadirizki18 | 16:89093194ccc2 | 554 | vcurr=0.1; |
rahmadirizki18 | 16:89093194ccc2 | 555 | } else { |
rahmadirizki18 | 16:89093194ccc2 | 556 | vcurr+=ax; |
rahmadirizki18 | 16:89093194ccc2 | 557 | } |
rahmadirizki18 | 16:89093194ccc2 | 558 | //perlambatan=1; |
rahmadirizki18 | 16:89093194ccc2 | 559 | } else { |
rahmadirizki18 | 16:89093194ccc2 | 560 | //perlambatan=1; |
rahmadirizki18 | 16:89093194ccc2 | 561 | } |
rahmadirizki18 | 16:89093194ccc2 | 562 | |
rahmadirizki18 | 16:89093194ccc2 | 563 | if (vcurr>=vmax) { |
rahmadirizki18 | 16:89093194ccc2 | 564 | vcurr=vmax; |
rahmadirizki18 | 16:89093194ccc2 | 565 | } |
rahmadirizki18 | 16:89093194ccc2 | 566 | |
rahmadirizki18 | 16:89093194ccc2 | 567 | |
rahmadirizki18 | 18:23412e950394 | 568 | s1 =(float)(1* vcurr); |
rahmadirizki18 | 18:23412e950394 | 569 | s2 =(float)(1* (vcurr+0.003)); |
rahmadirizki18 | 18:23412e950394 | 570 | s3 =(float)(-1* vcurr); |
rahmadirizki18 | 18:23412e950394 | 571 | s4 =(float)(-1.0* vcurr); |
fanny868 | 0:9072e932503c | 572 | |
fanny868 | 0:9072e932503c | 573 | kiri=true; |
rahmadirizki18 | 3:1287fccc11be | 574 | maju=kanan=mundur=saka=saki=sbka=sbki=analog=pivka=pivki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false; |
fanny868 | 0:9072e932503c | 575 | |
rahmadirizki18 | 17:703072f5dce1 | 576 | //pc.printf("Kiri\n"); |
fanny868 | 0:9072e932503c | 577 | |
rahmadirizki18 | 16:89093194ccc2 | 578 | motor1.speed(s1); |
rahmadirizki18 | 16:89093194ccc2 | 579 | motor2.speed(s2); |
rahmadirizki18 | 16:89093194ccc2 | 580 | motor3.speed(s3); |
rahmadirizki18 | 16:89093194ccc2 | 581 | motor4.speed(s4); |
fanny868 | 0:9072e932503c | 582 | |
fanny868 | 0:9072e932503c | 583 | break; |
fanny868 | 0:9072e932503c | 584 | } |
rahmadirizki18 | 3:1287fccc11be | 585 | case (11): |
rahmadirizki18 | 3:1287fccc11be | 586 | { |
rahmadirizki18 | 4:483c07cc22e1 | 587 | |
rahmadirizki18 | 16:89093194ccc2 | 588 | |
rahmadirizki18 | 16:89093194ccc2 | 589 | s1t = (vmaxanalog*(-x+y)); |
rahmadirizki18 | 16:89093194ccc2 | 590 | s2t = (vmaxanalog*(-x-y)); |
rahmadirizki18 | 16:89093194ccc2 | 591 | s3t = (vmaxanalog*(x-y)); |
rahmadirizki18 | 16:89093194ccc2 | 592 | s4t = (vmaxanalog*(x+y)); |
rahmadirizki18 | 16:89093194ccc2 | 593 | |
rahmadirizki18 | 18:23412e950394 | 594 | s1 = (float)(0.5* s1t); |
rahmadirizki18 | 18:23412e950394 | 595 | s2 = (float)(0.5* s2t); |
rahmadirizki18 | 18:23412e950394 | 596 | s3 = (float)(0.5* s3t); |
rahmadirizki18 | 18:23412e950394 | 597 | s4 = (float)(0.5* s4t); |
rahmadirizki18 | 16:89093194ccc2 | 598 | |
rahmadirizki18 | 16:89093194ccc2 | 599 | |
rahmadirizki18 | 3:1287fccc11be | 600 | |
rahmadirizki18 | 3:1287fccc11be | 601 | analog=true; |
rahmadirizki18 | 3:1287fccc11be | 602 | maju=mundur=kiri=kanan=saka=saki=sbka=sbki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false; |
rahmadirizki18 | 3:1287fccc11be | 603 | |
rahmadirizki18 | 17:703072f5dce1 | 604 | //pc.printf("analog X =%.2f Y =%.2f \n ",x,y); |
rahmadirizki18 | 3:1287fccc11be | 605 | |
rahmadirizki18 | 16:89093194ccc2 | 606 | |
rahmadirizki18 | 16:89093194ccc2 | 607 | motor1.speed(s1); |
rahmadirizki18 | 16:89093194ccc2 | 608 | motor2.speed(s2); |
rahmadirizki18 | 16:89093194ccc2 | 609 | motor3.speed(s3); |
rahmadirizki18 | 16:89093194ccc2 | 610 | motor4.speed(s4); |
rahmadirizki18 | 3:1287fccc11be | 611 | break; |
rahmadirizki18 | 3:1287fccc11be | 612 | } |
rahmadirizki18 | 3:1287fccc11be | 613 | default : |
fanny868 | 0:9072e932503c | 614 | { |
rahmadirizki18 | 16:89093194ccc2 | 615 | motor1.brake(1); |
rahmadirizki18 | 16:89093194ccc2 | 616 | motor2.brake(1); |
rahmadirizki18 | 16:89093194ccc2 | 617 | motor3.brake(1); |
rahmadirizki18 | 16:89093194ccc2 | 618 | motor4.brake(1); |
rahmadirizki18 | 16:89093194ccc2 | 619 | |
rahmadirizki18 | 3:1287fccc11be | 620 | maju=mundur=kiri=kanan=saka=saki=sbka=sbki=analog=cw1=ccw1=cw2=ccw2=cw3=ccw3=false; |
fanny868 | 0:9072e932503c | 621 | stop = true; |
fanny868 | 0:9072e932503c | 622 | |
fanny868 | 0:9072e932503c | 623 | |
rahmadirizki18 | 17:703072f5dce1 | 624 | //pc.printf("Stop\n"); |
rahmadirizki18 | 16:89093194ccc2 | 625 | } |
rahmadirizki18 | 5:3aa203218306 | 626 | } |
rahmadirizki18 | 5:3aa203218306 | 627 | } |
rahmadirizki18 | 5:3aa203218306 | 628 | |
rahmadirizki18 | 5:3aa203218306 | 629 | |
rahmadirizki18 | 5:3aa203218306 | 630 | |
rahmadirizki18 | 7:d138c56dab20 | 631 | void speedLauncher() |
rahmadirizki18 | 7:d138c56dab20 | 632 | { |
franshendri | 12:e07c59c28c29 | 633 | if (joystick.R3_click and speedL < 0.8){ |
franshendri | 12:e07c59c28c29 | 634 | speedL = speedL + 0.01;} |
rahmadirizki18 | 7:d138c56dab20 | 635 | if (joystick.L3_click and speedL > 0.1){ |
franshendri | 12:e07c59c28c29 | 636 | speedL = speedL - 0.01;} |
rahmadirizki18 | 13:8ab42383a2ca | 637 | if (joystick.R2_click and speedB < 0.8 ){ |
rahmadirizki18 | 13:8ab42383a2ca | 638 | speedB = speedB + 0.01;} |
rahmadirizki18 | 13:8ab42383a2ca | 639 | if (joystick.L2_click and speedB > 0.1 ){ |
rahmadirizki18 | 13:8ab42383a2ca | 640 | speedB = speedB - 0.01;} |
rahmadirizki18 | 15:98f0d56b14f0 | 641 | //pc.printf("Pwm depan = %.3f\t Pwm belakang = %.3f\n", speedL, speedB); |
rahmadirizki18 | 7:d138c56dab20 | 642 | } |
franshendri | 12:e07c59c28c29 | 643 | |
franshendri | 12:e07c59c28c29 | 644 | |
franshendri | 12:e07c59c28c29 | 645 | |
fanny868 | 0:9072e932503c | 646 | int main (void) |
fanny868 | 0:9072e932503c | 647 | { |
fanny868 | 0:9072e932503c | 648 | // Set baud rate - 115200 |
fanny868 | 0:9072e932503c | 649 | joystick.setup(); |
rahmadirizki18 | 3:1287fccc11be | 650 | pc.baud(115200); |
rahmadirizki18 | 5:3aa203218306 | 651 | wait_ms(500); |
rahmadirizki18 | 5:3aa203218306 | 652 | |
rahmadirizki18 | 3:1287fccc11be | 653 | pc.printf("Ready...\n"); |
rahmadirizki18 | 4:483c07cc22e1 | 654 | kalibrasi(); |
fanny868 | 0:9072e932503c | 655 | while(1) |
fanny868 | 0:9072e932503c | 656 | { |
fanny868 | 0:9072e932503c | 657 | // Interrupt Serial |
fanny868 | 0:9072e932503c | 658 | joystick.idle(); |
fanny868 | 0:9072e932503c | 659 | if(joystick.readable() ) { |
fanny868 | 0:9072e932503c | 660 | // Panggil fungsi pembacaan joystik |
fanny868 | 0:9072e932503c | 661 | joystick.baca_data(); |
fanny868 | 0:9072e932503c | 662 | // Panggil fungsi pengolahan data joystik |
fanny868 | 0:9072e932503c | 663 | joystick.olah_data(); |
franshendri | 12:e07c59c28c29 | 664 | //pc.printf("%3d %3d\n\r",joystick.R2, joystick.L2); |
fanny868 | 0:9072e932503c | 665 | //pc.printf("%2x %2x %2x %2x %3d %3d %3d %3d %3d %3d\n\r",joystick.button, joystick.RL, joystick.button_click, joystick.RL_click, joystick.R2, joystick.L2, joystick.RX, joystick.RY, joystick.LX, joystick.LY); |
fanny868 | 0:9072e932503c | 666 | case_ger = case_gerak(); |
rahmadirizki18 | 3:1287fccc11be | 667 | aktuator(); |
rahmadirizki18 | 6:68293bed71ea | 668 | |
franshendri | 12:e07c59c28c29 | 669 | //pc.printf("bacaS = %.2f\tbacaB = %.2f\n",servoS.read(), servoB.read()); |
rahmadirizki18 | 6:68293bed71ea | 670 | |
rahmadirizki18 | 3:1287fccc11be | 671 | //kalibrasi |
rahmadirizki18 | 4:483c07cc22e1 | 672 | if (joystick.START){ |
rahmadirizki18 | 4:483c07cc22e1 | 673 | kalibrasi();} |
rahmadirizki18 | 4:483c07cc22e1 | 674 | // analog switch mode |
rahmadirizki18 | 6:68293bed71ea | 675 | if (joystick.SELECT_click) {analog = !analog;} |
rahmadirizki18 | 6:68293bed71ea | 676 | if (joystick.segitiga_click) {Launcher = !Launcher;} |
rahmadirizki18 | 6:68293bed71ea | 677 | if (joystick.lingkaran_click){ |
rahmadirizki18 | 6:68293bed71ea | 678 | ServoGo = true; |
rahmadirizki18 | 6:68293bed71ea | 679 | } |
rahmadirizki18 | 7:d138c56dab20 | 680 | speedLauncher(); |
franshendri | 12:e07c59c28c29 | 681 | |
fanny868 | 0:9072e932503c | 682 | } else { |
fanny868 | 0:9072e932503c | 683 | joystick.idle(); |
fanny868 | 0:9072e932503c | 684 | |
fanny868 | 0:9072e932503c | 685 | } |
rahmadirizki18 | 16:89093194ccc2 | 686 | // gotoXYT(XT,YT,Tetha); |
rahmadirizki18 | 5:3aa203218306 | 687 | |
fanny868 | 0:9072e932503c | 688 | } |
fanny868 | 0:9072e932503c | 689 | } |