fixed L2 click
Dependencies: Motor PID Joystick_OrdoV5 mbed
Fork of Joystick_ManualV1 by
main.cpp@17:703072f5dce1, 2017-01-14 (annotated)
- Committer:
- rahmadirizki18
- Date:
- Sat Jan 14 08:01:09 2017 +0000
- Revision:
- 17:703072f5dce1
- Parent:
- 16:89093194ccc2
- Child:
- 18:23412e950394
yoi;
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 koef; |
rahmadirizki18 | 16:89093194ccc2 | 218 | double s1=0,s2=0,s3=0,s4=0,s1t=0,s2t=0,s3t=0,s4t=0; |
rahmadirizki18 | 16:89093194ccc2 | 219 | |
rahmadirizki18 | 16:89093194ccc2 | 220 | // MOTOR BAWAH |
fanny868 | 0:9072e932503c | 221 | switch (case_ger) |
fanny868 | 0:9072e932503c | 222 | { |
rahmadirizki18 | 3:1287fccc11be | 223 | case (1): |
fanny868 | 0:9072e932503c | 224 | { |
rahmadirizki18 | 16:89093194ccc2 | 225 | if (pivka) { |
rahmadirizki18 | 16:89093194ccc2 | 226 | if(vcurr<0.1) { |
rahmadirizki18 | 16:89093194ccc2 | 227 | vcurr=0.1; |
rahmadirizki18 | 16:89093194ccc2 | 228 | } else { |
rahmadirizki18 | 16:89093194ccc2 | 229 | vcurr+=ax; |
rahmadirizki18 | 16:89093194ccc2 | 230 | } |
rahmadirizki18 | 16:89093194ccc2 | 231 | //perlambatan=0; |
rahmadirizki18 | 16:89093194ccc2 | 232 | } else { |
rahmadirizki18 | 16:89093194ccc2 | 233 | //perlambatan=1; |
rahmadirizki18 | 16:89093194ccc2 | 234 | } |
rahmadirizki18 | 16:89093194ccc2 | 235 | |
rahmadirizki18 | 16:89093194ccc2 | 236 | if (vcurr>=vmaxpivot) { |
rahmadirizki18 | 16:89093194ccc2 | 237 | vcurr=vmaxpivot; |
rahmadirizki18 | 16:89093194ccc2 | 238 | } |
rahmadirizki18 | 16:89093194ccc2 | 239 | |
rahmadirizki18 | 16:89093194ccc2 | 240 | if(joystick.R2==255 && joystick.L2==0) { |
rahmadirizki18 | 16:89093194ccc2 | 241 | koef=2; |
rahmadirizki18 | 16:89093194ccc2 | 242 | } else if (joystick.L2==255 && joystick.R2==0) { |
rahmadirizki18 | 16:89093194ccc2 | 243 | koef=0.5; |
rahmadirizki18 | 16:89093194ccc2 | 244 | } |
rahmadirizki18 | 16:89093194ccc2 | 245 | else { |
rahmadirizki18 | 16:89093194ccc2 | 246 | koef=1; |
rahmadirizki18 | 16:89093194ccc2 | 247 | } |
rahmadirizki18 | 16:89093194ccc2 | 248 | |
rahmadirizki18 | 16:89093194ccc2 | 249 | s1 = (float)(-0.5*koef*vcurr); |
rahmadirizki18 | 16:89093194ccc2 | 250 | s2 = (float)(-0.5*koef*vcurr); |
rahmadirizki18 | 16:89093194ccc2 | 251 | s3 = (float)(-0.5*koef*vcurr); |
rahmadirizki18 | 16:89093194ccc2 | 252 | s4 = (float)(-0.5*koef*vcurr); |
rahmadirizki18 | 16:89093194ccc2 | 253 | |
fanny868 | 0:9072e932503c | 254 | pivka=true; |
rahmadirizki18 | 3:1287fccc11be | 255 | maju=mundur=analog=kiri=kanan=saka=saki=sbka=sbki=pivki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false; |
fanny868 | 0:9072e932503c | 256 | |
rahmadirizki18 | 17:703072f5dce1 | 257 | //pc.printf("pivKa\n"); |
fanny868 | 0:9072e932503c | 258 | |
rahmadirizki18 | 16:89093194ccc2 | 259 | motor1.speed(s1); |
rahmadirizki18 | 16:89093194ccc2 | 260 | motor2.speed(s2); |
rahmadirizki18 | 16:89093194ccc2 | 261 | motor3.speed(s3); |
rahmadirizki18 | 16:89093194ccc2 | 262 | motor4.speed(s4); |
rahmadirizki18 | 16:89093194ccc2 | 263 | |
fanny868 | 0:9072e932503c | 264 | break; |
fanny868 | 0:9072e932503c | 265 | } |
fanny868 | 0:9072e932503c | 266 | case (2): |
fanny868 | 0:9072e932503c | 267 | { |
rahmadirizki18 | 16:89093194ccc2 | 268 | if (pivki){ |
rahmadirizki18 | 16:89093194ccc2 | 269 | if(vcurr<0.1) { |
rahmadirizki18 | 16:89093194ccc2 | 270 | vcurr=0.1; |
rahmadirizki18 | 16:89093194ccc2 | 271 | } else { |
rahmadirizki18 | 16:89093194ccc2 | 272 | vcurr+=ax; |
rahmadirizki18 | 16:89093194ccc2 | 273 | } |
rahmadirizki18 | 16:89093194ccc2 | 274 | //perlambatan=0; |
rahmadirizki18 | 16:89093194ccc2 | 275 | } else { |
rahmadirizki18 | 16:89093194ccc2 | 276 | //perlambatan=1; |
rahmadirizki18 | 16:89093194ccc2 | 277 | } |
rahmadirizki18 | 16:89093194ccc2 | 278 | |
rahmadirizki18 | 16:89093194ccc2 | 279 | if (vcurr>=vmaxpivot) { |
rahmadirizki18 | 16:89093194ccc2 | 280 | vcurr=vmaxpivot; |
rahmadirizki18 | 16:89093194ccc2 | 281 | } |
rahmadirizki18 | 16:89093194ccc2 | 282 | |
rahmadirizki18 | 16:89093194ccc2 | 283 | if(joystick.R2==255 && joystick.L2==0) { |
rahmadirizki18 | 16:89093194ccc2 | 284 | koef=2; |
rahmadirizki18 | 16:89093194ccc2 | 285 | } else if (joystick.L2==255 && joystick.R2==0) { |
rahmadirizki18 | 16:89093194ccc2 | 286 | koef=0.5; |
rahmadirizki18 | 16:89093194ccc2 | 287 | } else { |
rahmadirizki18 | 16:89093194ccc2 | 288 | koef=1; |
rahmadirizki18 | 16:89093194ccc2 | 289 | } |
rahmadirizki18 | 16:89093194ccc2 | 290 | |
rahmadirizki18 | 16:89093194ccc2 | 291 | s1 = (float)(0.5*koef*vcurr); |
rahmadirizki18 | 16:89093194ccc2 | 292 | s2 = (float)(0.5*koef*vcurr); |
rahmadirizki18 | 16:89093194ccc2 | 293 | s3 = (float)(0.5*koef*vcurr); |
rahmadirizki18 | 16:89093194ccc2 | 294 | s4 = (float)(0.5*koef*vcurr); |
fanny868 | 0:9072e932503c | 295 | |
fanny868 | 0:9072e932503c | 296 | pivki=true; |
rahmadirizki18 | 3:1287fccc11be | 297 | maju=mundur=kiri=analog=kanan=saka=saki=sbka=sbki=pivka=cw1=ccw1=cw2=ccw2=cw3=ccw3=false; |
fanny868 | 0:9072e932503c | 298 | |
rahmadirizki18 | 17:703072f5dce1 | 299 | //pc.printf("pivKi\n"); |
fanny868 | 0:9072e932503c | 300 | |
rahmadirizki18 | 16:89093194ccc2 | 301 | motor1.speed(s1); |
rahmadirizki18 | 16:89093194ccc2 | 302 | motor2.speed(s2); |
rahmadirizki18 | 16:89093194ccc2 | 303 | motor3.speed(s3); |
rahmadirizki18 | 16:89093194ccc2 | 304 | motor4.speed(s4); |
rahmadirizki18 | 16:89093194ccc2 | 305 | |
fanny868 | 0:9072e932503c | 306 | break; |
fanny868 | 0:9072e932503c | 307 | } |
fanny868 | 0:9072e932503c | 308 | case (3): |
fanny868 | 0:9072e932503c | 309 | { |
rahmadirizki18 | 16:89093194ccc2 | 310 | if (maju) { |
rahmadirizki18 | 16:89093194ccc2 | 311 | if(vcurr<0.1) { |
rahmadirizki18 | 16:89093194ccc2 | 312 | vcurr=0.1; |
rahmadirizki18 | 16:89093194ccc2 | 313 | } else { |
rahmadirizki18 | 16:89093194ccc2 | 314 | vcurr+=ax; |
rahmadirizki18 | 16:89093194ccc2 | 315 | } |
rahmadirizki18 | 16:89093194ccc2 | 316 | //perlambatan=0; |
rahmadirizki18 | 16:89093194ccc2 | 317 | } else { |
rahmadirizki18 | 16:89093194ccc2 | 318 | //perlambatan=1; |
rahmadirizki18 | 16:89093194ccc2 | 319 | } |
rahmadirizki18 | 16:89093194ccc2 | 320 | |
rahmadirizki18 | 16:89093194ccc2 | 321 | if (vcurr>=vmax) { |
rahmadirizki18 | 16:89093194ccc2 | 322 | vcurr=vmax; |
rahmadirizki18 | 16:89093194ccc2 | 323 | } |
rahmadirizki18 | 16:89093194ccc2 | 324 | |
rahmadirizki18 | 16:89093194ccc2 | 325 | if(joystick.R2==255 && joystick.L2==0) { |
rahmadirizki18 | 16:89093194ccc2 | 326 | koef=2; |
rahmadirizki18 | 16:89093194ccc2 | 327 | } else if (joystick.L2==255 && joystick.R2==0) { koef=0.5;} |
rahmadirizki18 | 16:89093194ccc2 | 328 | else { |
rahmadirizki18 | 16:89093194ccc2 | 329 | koef=1; |
rahmadirizki18 | 16:89093194ccc2 | 330 | } |
rahmadirizki18 | 16:89093194ccc2 | 331 | |
rahmadirizki18 | 16:89093194ccc2 | 332 | //Case s1 untuk mode L2 lebih lambat |
rahmadirizki18 | 17:703072f5dce1 | 333 | s1 = (float)(-1*koef*(vcurr)); |
rahmadirizki18 | 16:89093194ccc2 | 334 | s2 = (float)(1.0*koef*vcurr); |
rahmadirizki18 | 16:89093194ccc2 | 335 | s3 = (float)(1.0*koef*vcurr); |
rahmadirizki18 | 16:89093194ccc2 | 336 | s4 = (float)(-1*koef*vcurr); |
rahmadirizki18 | 16:89093194ccc2 | 337 | |
rahmadirizki18 | 16:89093194ccc2 | 338 | //s1 =-0.8*koef*vcurr; |
rahmadirizki18 | 16:89093194ccc2 | 339 | //s2 =koef*vcurr; |
rahmadirizki18 | 16:89093194ccc2 | 340 | //s3 =-koef*vcurr; |
rahmadirizki18 | 16:89093194ccc2 | 341 | //s4 =koef*vcurr; |
fanny868 | 0:9072e932503c | 342 | |
fanny868 | 0:9072e932503c | 343 | maju=true; |
rahmadirizki18 | 3:1287fccc11be | 344 | mundur=kiri=kanan=saka=saki=sbka=sbki=analog=pivka=pivki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false; |
fanny868 | 0:9072e932503c | 345 | |
rahmadirizki18 | 17:703072f5dce1 | 346 | //pc.printf("maju\n"); |
fanny868 | 0:9072e932503c | 347 | |
rahmadirizki18 | 16:89093194ccc2 | 348 | motor1.speed(s1); |
rahmadirizki18 | 16:89093194ccc2 | 349 | motor2.speed(s2); |
rahmadirizki18 | 16:89093194ccc2 | 350 | motor3.speed(s3); |
rahmadirizki18 | 16:89093194ccc2 | 351 | motor4.speed(s4); |
rahmadirizki18 | 16:89093194ccc2 | 352 | |
fanny868 | 0:9072e932503c | 353 | break; |
fanny868 | 0:9072e932503c | 354 | } |
fanny868 | 0:9072e932503c | 355 | case (4): |
fanny868 | 0:9072e932503c | 356 | { |
rahmadirizki18 | 16:89093194ccc2 | 357 | if (mundur) { |
rahmadirizki18 | 16:89093194ccc2 | 358 | if(vcurr<0.1) { |
rahmadirizki18 | 16:89093194ccc2 | 359 | vcurr=0.1; |
rahmadirizki18 | 16:89093194ccc2 | 360 | } else { |
rahmadirizki18 | 16:89093194ccc2 | 361 | vcurr+=ax; |
rahmadirizki18 | 16:89093194ccc2 | 362 | } |
rahmadirizki18 | 16:89093194ccc2 | 363 | //perlambatan=0; |
rahmadirizki18 | 16:89093194ccc2 | 364 | } else { |
rahmadirizki18 | 16:89093194ccc2 | 365 | //perlambatan=1; |
rahmadirizki18 | 16:89093194ccc2 | 366 | } |
rahmadirizki18 | 16:89093194ccc2 | 367 | |
rahmadirizki18 | 16:89093194ccc2 | 368 | if (vcurr>=vmax) { |
rahmadirizki18 | 16:89093194ccc2 | 369 | vcurr=vmax; |
rahmadirizki18 | 16:89093194ccc2 | 370 | } |
rahmadirizki18 | 16:89093194ccc2 | 371 | |
rahmadirizki18 | 16:89093194ccc2 | 372 | if(joystick.R2==255 && joystick.L2==0) { |
rahmadirizki18 | 16:89093194ccc2 | 373 | koef=2; |
rahmadirizki18 | 16:89093194ccc2 | 374 | } else if (joystick.L2==255 && joystick.R2==0) { |
rahmadirizki18 | 16:89093194ccc2 | 375 | koef=0.5; |
rahmadirizki18 | 16:89093194ccc2 | 376 | } else { |
rahmadirizki18 | 16:89093194ccc2 | 377 | koef=1; |
rahmadirizki18 | 16:89093194ccc2 | 378 | } |
rahmadirizki18 | 17:703072f5dce1 | 379 | |
rahmadirizki18 | 17:703072f5dce1 | 380 | s1 = (float)(1*koef*(vcurr)); |
rahmadirizki18 | 17:703072f5dce1 | 381 | s2 = (float)(-1*koef*(vcurr)); |
rahmadirizki18 | 17:703072f5dce1 | 382 | s3 = (float)(-1*koef*(vcurr)); |
rahmadirizki18 | 17:703072f5dce1 | 383 | s4 = (float)(1*koef*(vcurr)); |
fanny868 | 0:9072e932503c | 384 | |
fanny868 | 0:9072e932503c | 385 | mundur=true; |
rahmadirizki18 | 3:1287fccc11be | 386 | maju=kiri=kanan=saka=saki=sbka=sbki=analog=pivka=pivki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false; |
fanny868 | 0:9072e932503c | 387 | |
rahmadirizki18 | 17:703072f5dce1 | 388 | //pc.printf("mundur\n"); |
fanny868 | 0:9072e932503c | 389 | |
rahmadirizki18 | 16:89093194ccc2 | 390 | motor1.speed(s1); |
rahmadirizki18 | 16:89093194ccc2 | 391 | motor2.speed(s2); |
rahmadirizki18 | 16:89093194ccc2 | 392 | motor3.speed(s3); |
rahmadirizki18 | 16:89093194ccc2 | 393 | motor4.speed(s4); |
fanny868 | 0:9072e932503c | 394 | |
fanny868 | 0:9072e932503c | 395 | break; |
fanny868 | 0:9072e932503c | 396 | } |
fanny868 | 0:9072e932503c | 397 | case (5) : |
fanny868 | 0:9072e932503c | 398 | { |
rahmadirizki18 | 16:89093194ccc2 | 399 | if (saka) { |
rahmadirizki18 | 16:89093194ccc2 | 400 | if(vcurr<0.1) { |
rahmadirizki18 | 16:89093194ccc2 | 401 | vcurr=0.1; |
rahmadirizki18 | 16:89093194ccc2 | 402 | } else { |
rahmadirizki18 | 16:89093194ccc2 | 403 | vcurr+=ax; |
rahmadirizki18 | 16:89093194ccc2 | 404 | } |
rahmadirizki18 | 16:89093194ccc2 | 405 | //perlambatan=0; |
rahmadirizki18 | 16:89093194ccc2 | 406 | } else { |
rahmadirizki18 | 16:89093194ccc2 | 407 | //perlambatan=1; |
rahmadirizki18 | 16:89093194ccc2 | 408 | } |
rahmadirizki18 | 16:89093194ccc2 | 409 | |
rahmadirizki18 | 16:89093194ccc2 | 410 | if (vcurr>=vmax) { |
rahmadirizki18 | 16:89093194ccc2 | 411 | vcurr=vmax; |
rahmadirizki18 | 16:89093194ccc2 | 412 | } if(joystick.R2==255 && joystick.L2==0) { |
rahmadirizki18 | 16:89093194ccc2 | 413 | koef=2; |
rahmadirizki18 | 16:89093194ccc2 | 414 | } else if (joystick.L2==255 && joystick.R2==0) { |
rahmadirizki18 | 16:89093194ccc2 | 415 | koef=0.5; |
rahmadirizki18 | 16:89093194ccc2 | 416 | } else { |
rahmadirizki18 | 16:89093194ccc2 | 417 | koef=1; |
rahmadirizki18 | 16:89093194ccc2 | 418 | } |
rahmadirizki18 | 16:89093194ccc2 | 419 | |
rahmadirizki18 | 16:89093194ccc2 | 420 | s1 = (float)(-koef*vcurr); |
rahmadirizki18 | 16:89093194ccc2 | 421 | s2 = (float)(0); //koef*0.1*vcurr; |
rahmadirizki18 | 16:89093194ccc2 | 422 | s3 = (float)(koef*vcurr); |
rahmadirizki18 | 16:89093194ccc2 | 423 | s4 = (float)(0); //-koef*0.1*vcurr; |
fanny868 | 0:9072e932503c | 424 | |
fanny868 | 0:9072e932503c | 425 | saka=true; |
rahmadirizki18 | 3:1287fccc11be | 426 | maju=mundur=kiri=kanan=sbka=saki=sbki=analog=pivka=pivki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false; |
fanny868 | 0:9072e932503c | 427 | |
rahmadirizki18 | 17:703072f5dce1 | 428 | //pc.printf("saka\n"); |
fanny868 | 0:9072e932503c | 429 | |
rahmadirizki18 | 16:89093194ccc2 | 430 | motor1.speed(s1); |
rahmadirizki18 | 16:89093194ccc2 | 431 | motor2.brake(1); |
rahmadirizki18 | 16:89093194ccc2 | 432 | //motor2.speed(s2); |
rahmadirizki18 | 16:89093194ccc2 | 433 | motor3.speed(s3); |
rahmadirizki18 | 16:89093194ccc2 | 434 | motor4.brake(1); |
rahmadirizki18 | 16:89093194ccc2 | 435 | //motor4.speed(s4); |
fanny868 | 0:9072e932503c | 436 | |
fanny868 | 0:9072e932503c | 437 | break; |
fanny868 | 0:9072e932503c | 438 | } |
fanny868 | 0:9072e932503c | 439 | case (6) : |
fanny868 | 0:9072e932503c | 440 | { |
rahmadirizki18 | 16:89093194ccc2 | 441 | if (sbka){ |
rahmadirizki18 | 16:89093194ccc2 | 442 | if(vcurr<0.1) { |
rahmadirizki18 | 16:89093194ccc2 | 443 | vcurr=0.1; |
rahmadirizki18 | 16:89093194ccc2 | 444 | } else { |
rahmadirizki18 | 16:89093194ccc2 | 445 | vcurr+=ax; |
rahmadirizki18 | 16:89093194ccc2 | 446 | } |
rahmadirizki18 | 16:89093194ccc2 | 447 | //perlambatan=0; |
rahmadirizki18 | 16:89093194ccc2 | 448 | } else { |
rahmadirizki18 | 16:89093194ccc2 | 449 | //perlambatan=1; |
rahmadirizki18 | 16:89093194ccc2 | 450 | } |
rahmadirizki18 | 16:89093194ccc2 | 451 | |
rahmadirizki18 | 16:89093194ccc2 | 452 | if (vcurr>=vmaxserong) { |
rahmadirizki18 | 16:89093194ccc2 | 453 | vcurr=vmaxserong; |
rahmadirizki18 | 16:89093194ccc2 | 454 | } |
rahmadirizki18 | 16:89093194ccc2 | 455 | |
rahmadirizki18 | 16:89093194ccc2 | 456 | if(joystick.R2==255 && joystick.L2==0) { |
rahmadirizki18 | 16:89093194ccc2 | 457 | koef=2; |
rahmadirizki18 | 16:89093194ccc2 | 458 | } else if (joystick.L2==255 && joystick.R2==0) { |
rahmadirizki18 | 16:89093194ccc2 | 459 | koef=0.5; |
rahmadirizki18 | 16:89093194ccc2 | 460 | } else { |
rahmadirizki18 | 16:89093194ccc2 | 461 | koef=1; |
rahmadirizki18 | 16:89093194ccc2 | 462 | } |
rahmadirizki18 | 16:89093194ccc2 | 463 | |
rahmadirizki18 | 16:89093194ccc2 | 464 | s1 = (float)(0); //koef*0.1*vcurr; |
rahmadirizki18 | 16:89093194ccc2 | 465 | s2 = (float)(-koef*vcurr); |
rahmadirizki18 | 16:89093194ccc2 | 466 | s3 = (float)(0); //-koef*0.1*vcurr; |
rahmadirizki18 | 16:89093194ccc2 | 467 | s4 = (float)(koef*vcurr); |
fanny868 | 0:9072e932503c | 468 | |
fanny868 | 0:9072e932503c | 469 | sbka=true; |
rahmadirizki18 | 3:1287fccc11be | 470 | maju=mundur=kiri=kanan=saka=saki=sbki=analog=pivka=pivki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false; |
fanny868 | 0:9072e932503c | 471 | |
rahmadirizki18 | 17:703072f5dce1 | 472 | //pc.printf("sbka\n"); |
fanny868 | 0:9072e932503c | 473 | |
rahmadirizki18 | 16:89093194ccc2 | 474 | //motor1.speed(s1); |
rahmadirizki18 | 16:89093194ccc2 | 475 | motor1.brake(1); |
rahmadirizki18 | 16:89093194ccc2 | 476 | motor2.speed(s2); |
rahmadirizki18 | 16:89093194ccc2 | 477 | //motor3.speed(s3); |
rahmadirizki18 | 16:89093194ccc2 | 478 | motor3.brake(1); |
rahmadirizki18 | 16:89093194ccc2 | 479 | motor4.speed(s4); |
fanny868 | 0:9072e932503c | 480 | |
fanny868 | 0:9072e932503c | 481 | break; |
fanny868 | 0:9072e932503c | 482 | } |
fanny868 | 0:9072e932503c | 483 | case (7) : |
fanny868 | 0:9072e932503c | 484 | { |
rahmadirizki18 | 16:89093194ccc2 | 485 | if (saki) { |
rahmadirizki18 | 16:89093194ccc2 | 486 | if(vcurr<0.1) { |
rahmadirizki18 | 16:89093194ccc2 | 487 | vcurr=0.1; |
rahmadirizki18 | 16:89093194ccc2 | 488 | } else { |
rahmadirizki18 | 16:89093194ccc2 | 489 | vcurr+=ax; |
rahmadirizki18 | 16:89093194ccc2 | 490 | } |
rahmadirizki18 | 16:89093194ccc2 | 491 | //perlambatan=0; |
rahmadirizki18 | 16:89093194ccc2 | 492 | } else { |
rahmadirizki18 | 16:89093194ccc2 | 493 | //perlambatan=1; |
rahmadirizki18 | 16:89093194ccc2 | 494 | } |
rahmadirizki18 | 16:89093194ccc2 | 495 | |
rahmadirizki18 | 16:89093194ccc2 | 496 | if (vcurr>=vmaxserong) { |
rahmadirizki18 | 16:89093194ccc2 | 497 | vcurr=vmaxserong; |
rahmadirizki18 | 16:89093194ccc2 | 498 | } |
rahmadirizki18 | 16:89093194ccc2 | 499 | |
rahmadirizki18 | 16:89093194ccc2 | 500 | if(joystick.R2==255 && joystick.L2==0) { |
rahmadirizki18 | 16:89093194ccc2 | 501 | koef=2; |
rahmadirizki18 | 16:89093194ccc2 | 502 | } else if (joystick.L2==255 && joystick.R2==0) { |
rahmadirizki18 | 16:89093194ccc2 | 503 | koef=0.5; |
rahmadirizki18 | 16:89093194ccc2 | 504 | } else { |
rahmadirizki18 | 16:89093194ccc2 | 505 | koef=1; |
rahmadirizki18 | 16:89093194ccc2 | 506 | } |
rahmadirizki18 | 16:89093194ccc2 | 507 | |
rahmadirizki18 | 16:89093194ccc2 | 508 | s1 = (float)(0); //-koef*0.1*vcurr; |
rahmadirizki18 | 16:89093194ccc2 | 509 | s2 = (float)(koef*vcurr); |
rahmadirizki18 | 16:89093194ccc2 | 510 | s3 = (float)(0); //koef*0.1*vcurr; |
rahmadirizki18 | 16:89093194ccc2 | 511 | s4 = (float)(-koef*vcurr); |
fanny868 | 0:9072e932503c | 512 | |
fanny868 | 0:9072e932503c | 513 | saki=true; |
rahmadirizki18 | 3:1287fccc11be | 514 | maju=kiri=kanan=saka=mundur=sbka=sbki=analog=pivka=pivki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false; |
fanny868 | 0:9072e932503c | 515 | |
rahmadirizki18 | 17:703072f5dce1 | 516 | //pc.printf("saki\n"); |
fanny868 | 0:9072e932503c | 517 | |
rahmadirizki18 | 16:89093194ccc2 | 518 | //motor1.speed(s1); |
rahmadirizki18 | 16:89093194ccc2 | 519 | motor1.brake(1); |
rahmadirizki18 | 16:89093194ccc2 | 520 | motor2.speed(s2); |
rahmadirizki18 | 16:89093194ccc2 | 521 | //motor3.speed(s3); |
rahmadirizki18 | 16:89093194ccc2 | 522 | motor3.brake(1); |
rahmadirizki18 | 16:89093194ccc2 | 523 | motor4.speed(s4); |
fanny868 | 0:9072e932503c | 524 | |
fanny868 | 0:9072e932503c | 525 | break; |
fanny868 | 0:9072e932503c | 526 | } |
fanny868 | 0:9072e932503c | 527 | case (8) : |
fanny868 | 0:9072e932503c | 528 | { |
rahmadirizki18 | 16:89093194ccc2 | 529 | if (sbki) { |
rahmadirizki18 | 16:89093194ccc2 | 530 | if(vcurr<0.1) { |
rahmadirizki18 | 16:89093194ccc2 | 531 | vcurr=0.1; |
rahmadirizki18 | 16:89093194ccc2 | 532 | } else { |
rahmadirizki18 | 16:89093194ccc2 | 533 | vcurr+=ax; |
rahmadirizki18 | 16:89093194ccc2 | 534 | } |
rahmadirizki18 | 16:89093194ccc2 | 535 | //perlambatan=0; |
rahmadirizki18 | 16:89093194ccc2 | 536 | } else { |
rahmadirizki18 | 16:89093194ccc2 | 537 | //perlambatan=1; |
rahmadirizki18 | 16:89093194ccc2 | 538 | } |
rahmadirizki18 | 16:89093194ccc2 | 539 | |
rahmadirizki18 | 16:89093194ccc2 | 540 | if (vcurr>=vmaxserong) { |
rahmadirizki18 | 16:89093194ccc2 | 541 | vcurr=vmaxserong; |
rahmadirizki18 | 16:89093194ccc2 | 542 | } |
fanny868 | 0:9072e932503c | 543 | |
rahmadirizki18 | 16:89093194ccc2 | 544 | if(joystick.R2==255 && joystick.L2==0) { |
rahmadirizki18 | 16:89093194ccc2 | 545 | koef=2; |
rahmadirizki18 | 16:89093194ccc2 | 546 | } else if (joystick.L2==255 && joystick.R2==0) { |
rahmadirizki18 | 16:89093194ccc2 | 547 | koef=0.5; |
rahmadirizki18 | 16:89093194ccc2 | 548 | } else { |
rahmadirizki18 | 16:89093194ccc2 | 549 | koef=1; |
rahmadirizki18 | 16:89093194ccc2 | 550 | } |
rahmadirizki18 | 16:89093194ccc2 | 551 | |
rahmadirizki18 | 16:89093194ccc2 | 552 | s1 = (float)(koef*vcurr); |
rahmadirizki18 | 16:89093194ccc2 | 553 | s2 = (float)(0); //-koef*0.1*vcurr; |
rahmadirizki18 | 16:89093194ccc2 | 554 | s3 = (float)(-koef*vcurr); |
rahmadirizki18 | 16:89093194ccc2 | 555 | s4 = (float)(0); //koef*0.1*vcurr; |
rahmadirizki18 | 16:89093194ccc2 | 556 | |
rahmadirizki18 | 16:89093194ccc2 | 557 | sbki=true; |
rahmadirizki18 | 16:89093194ccc2 | 558 | maju=kiri=kanan=saka=saki=sbka=mundur=analog=pivka=pivki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false; |
rahmadirizki18 | 16:89093194ccc2 | 559 | |
rahmadirizki18 | 17:703072f5dce1 | 560 | //pc.printf("sbki\n"); |
rahmadirizki18 | 16:89093194ccc2 | 561 | |
rahmadirizki18 | 16:89093194ccc2 | 562 | motor1.speed(s1); |
rahmadirizki18 | 16:89093194ccc2 | 563 | //motor2.speed(s2); |
rahmadirizki18 | 16:89093194ccc2 | 564 | motor2.brake(1); |
rahmadirizki18 | 16:89093194ccc2 | 565 | motor3.speed(s3); |
rahmadirizki18 | 16:89093194ccc2 | 566 | //motor4.speed(s4); |
rahmadirizki18 | 16:89093194ccc2 | 567 | motor4.brake(1); |
fanny868 | 0:9072e932503c | 568 | |
fanny868 | 0:9072e932503c | 569 | break; |
fanny868 | 0:9072e932503c | 570 | } |
fanny868 | 0:9072e932503c | 571 | case (9) : |
fanny868 | 0:9072e932503c | 572 | { |
rahmadirizki18 | 16:89093194ccc2 | 573 | if (kanan) { |
rahmadirizki18 | 16:89093194ccc2 | 574 | if(vcurr<0.1) { |
rahmadirizki18 | 16:89093194ccc2 | 575 | vcurr=0.1; |
rahmadirizki18 | 16:89093194ccc2 | 576 | } else { |
rahmadirizki18 | 16:89093194ccc2 | 577 | vcurr+=ax; |
rahmadirizki18 | 16:89093194ccc2 | 578 | } |
rahmadirizki18 | 16:89093194ccc2 | 579 | //perlambatan=0; |
rahmadirizki18 | 16:89093194ccc2 | 580 | } else { |
rahmadirizki18 | 16:89093194ccc2 | 581 | //perlambatan=1; |
rahmadirizki18 | 16:89093194ccc2 | 582 | } |
rahmadirizki18 | 16:89093194ccc2 | 583 | |
rahmadirizki18 | 16:89093194ccc2 | 584 | if (vcurr>=vmax) { |
rahmadirizki18 | 16:89093194ccc2 | 585 | vcurr=vmax; |
rahmadirizki18 | 16:89093194ccc2 | 586 | } |
rahmadirizki18 | 16:89093194ccc2 | 587 | |
rahmadirizki18 | 16:89093194ccc2 | 588 | if(joystick.R2==255 && joystick.L2==0) { |
rahmadirizki18 | 16:89093194ccc2 | 589 | koef=2; |
rahmadirizki18 | 16:89093194ccc2 | 590 | } else if (joystick.L2==255 && joystick.R2==0) { |
rahmadirizki18 | 16:89093194ccc2 | 591 | koef=0.5; |
rahmadirizki18 | 16:89093194ccc2 | 592 | } else { |
rahmadirizki18 | 16:89093194ccc2 | 593 | koef=1; |
rahmadirizki18 | 16:89093194ccc2 | 594 | } |
rahmadirizki18 | 16:89093194ccc2 | 595 | |
rahmadirizki18 | 16:89093194ccc2 | 596 | s1 =(float)(-1*koef*vcurr); |
rahmadirizki18 | 16:89093194ccc2 | 597 | s2 =(float)(-1.0*koef*vcurr); |
rahmadirizki18 | 16:89093194ccc2 | 598 | s3 =(float)(1*koef*vcurr); |
rahmadirizki18 | 17:703072f5dce1 | 599 | s4 =(float)(1.0*koef*(vcurr+0.005)); |
rahmadirizki18 | 16:89093194ccc2 | 600 | |
fanny868 | 0:9072e932503c | 601 | kanan=true; |
rahmadirizki18 | 3:1287fccc11be | 602 | maju=kiri=mundur=saka=saki=sbka=sbki=analog=pivka=pivki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false; |
fanny868 | 0:9072e932503c | 603 | |
rahmadirizki18 | 17:703072f5dce1 | 604 | //pc.printf("Kanan\n"); |
fanny868 | 0:9072e932503c | 605 | |
rahmadirizki18 | 16:89093194ccc2 | 606 | motor1.speed(s1); |
rahmadirizki18 | 16:89093194ccc2 | 607 | motor2.speed(s2); |
rahmadirizki18 | 16:89093194ccc2 | 608 | motor3.speed(s3); |
rahmadirizki18 | 16:89093194ccc2 | 609 | motor4.speed(s4); |
fanny868 | 0:9072e932503c | 610 | break; |
fanny868 | 0:9072e932503c | 611 | } |
fanny868 | 0:9072e932503c | 612 | case (10) : |
fanny868 | 0:9072e932503c | 613 | { |
rahmadirizki18 | 16:89093194ccc2 | 614 | if (kiri) { |
rahmadirizki18 | 16:89093194ccc2 | 615 | if(vcurr<0.1) { |
rahmadirizki18 | 16:89093194ccc2 | 616 | vcurr=0.1; |
rahmadirizki18 | 16:89093194ccc2 | 617 | } else { |
rahmadirizki18 | 16:89093194ccc2 | 618 | vcurr+=ax; |
rahmadirizki18 | 16:89093194ccc2 | 619 | } |
rahmadirizki18 | 16:89093194ccc2 | 620 | //perlambatan=1; |
rahmadirizki18 | 16:89093194ccc2 | 621 | } else { |
rahmadirizki18 | 16:89093194ccc2 | 622 | //perlambatan=1; |
rahmadirizki18 | 16:89093194ccc2 | 623 | } |
rahmadirizki18 | 16:89093194ccc2 | 624 | |
rahmadirizki18 | 16:89093194ccc2 | 625 | if (vcurr>=vmax) { |
rahmadirizki18 | 16:89093194ccc2 | 626 | vcurr=vmax; |
rahmadirizki18 | 16:89093194ccc2 | 627 | } |
rahmadirizki18 | 16:89093194ccc2 | 628 | |
rahmadirizki18 | 16:89093194ccc2 | 629 | if(joystick.R2==255 && joystick.L2==0) { |
rahmadirizki18 | 16:89093194ccc2 | 630 | koef=2; |
rahmadirizki18 | 16:89093194ccc2 | 631 | } else if (joystick.L2==255 && joystick.R2==0) { |
rahmadirizki18 | 16:89093194ccc2 | 632 | koef=0.5; |
rahmadirizki18 | 16:89093194ccc2 | 633 | } else { |
rahmadirizki18 | 16:89093194ccc2 | 634 | koef=1; |
rahmadirizki18 | 16:89093194ccc2 | 635 | } |
rahmadirizki18 | 16:89093194ccc2 | 636 | |
rahmadirizki18 | 16:89093194ccc2 | 637 | s1 =(float)(1*koef*vcurr); |
rahmadirizki18 | 17:703072f5dce1 | 638 | s2 =(float)(1*koef*(vcurr+0.003)); |
rahmadirizki18 | 16:89093194ccc2 | 639 | s3 =(float)(-1*koef*vcurr); |
rahmadirizki18 | 16:89093194ccc2 | 640 | s4 =(float)(-1.0*koef*vcurr); |
fanny868 | 0:9072e932503c | 641 | |
fanny868 | 0:9072e932503c | 642 | kiri=true; |
rahmadirizki18 | 3:1287fccc11be | 643 | maju=kanan=mundur=saka=saki=sbka=sbki=analog=pivka=pivki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false; |
fanny868 | 0:9072e932503c | 644 | |
rahmadirizki18 | 17:703072f5dce1 | 645 | //pc.printf("Kiri\n"); |
fanny868 | 0:9072e932503c | 646 | |
rahmadirizki18 | 16:89093194ccc2 | 647 | motor1.speed(s1); |
rahmadirizki18 | 16:89093194ccc2 | 648 | motor2.speed(s2); |
rahmadirizki18 | 16:89093194ccc2 | 649 | motor3.speed(s3); |
rahmadirizki18 | 16:89093194ccc2 | 650 | motor4.speed(s4); |
fanny868 | 0:9072e932503c | 651 | |
fanny868 | 0:9072e932503c | 652 | break; |
fanny868 | 0:9072e932503c | 653 | } |
rahmadirizki18 | 3:1287fccc11be | 654 | case (11): |
rahmadirizki18 | 3:1287fccc11be | 655 | { |
rahmadirizki18 | 4:483c07cc22e1 | 656 | |
rahmadirizki18 | 16:89093194ccc2 | 657 | if(joystick.R2==255 && joystick.L2==0) { |
rahmadirizki18 | 16:89093194ccc2 | 658 | koef=2; |
rahmadirizki18 | 16:89093194ccc2 | 659 | } else if (joystick.L2==255 && joystick.R2==0) { |
rahmadirizki18 | 16:89093194ccc2 | 660 | koef=0.5; |
rahmadirizki18 | 16:89093194ccc2 | 661 | } |
rahmadirizki18 | 16:89093194ccc2 | 662 | else { |
rahmadirizki18 | 16:89093194ccc2 | 663 | koef=1; |
rahmadirizki18 | 16:89093194ccc2 | 664 | } |
rahmadirizki18 | 16:89093194ccc2 | 665 | |
rahmadirizki18 | 16:89093194ccc2 | 666 | s1t = (vmaxanalog*(-x+y)); |
rahmadirizki18 | 16:89093194ccc2 | 667 | s2t = (vmaxanalog*(-x-y)); |
rahmadirizki18 | 16:89093194ccc2 | 668 | s3t = (vmaxanalog*(x-y)); |
rahmadirizki18 | 16:89093194ccc2 | 669 | s4t = (vmaxanalog*(x+y)); |
rahmadirizki18 | 16:89093194ccc2 | 670 | |
rahmadirizki18 | 16:89093194ccc2 | 671 | s1 = (float)(0.5*koef*s1t); |
rahmadirizki18 | 16:89093194ccc2 | 672 | s2 = (float)(0.5*koef*s2t); |
rahmadirizki18 | 16:89093194ccc2 | 673 | s3 = (float)(0.5*koef*s3t); |
rahmadirizki18 | 16:89093194ccc2 | 674 | s4 = (float)(0.5*koef*s4t); |
rahmadirizki18 | 16:89093194ccc2 | 675 | |
rahmadirizki18 | 16:89093194ccc2 | 676 | |
rahmadirizki18 | 3:1287fccc11be | 677 | |
rahmadirizki18 | 3:1287fccc11be | 678 | analog=true; |
rahmadirizki18 | 3:1287fccc11be | 679 | maju=mundur=kiri=kanan=saka=saki=sbka=sbki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false; |
rahmadirizki18 | 3:1287fccc11be | 680 | |
rahmadirizki18 | 17:703072f5dce1 | 681 | //pc.printf("analog X =%.2f Y =%.2f \n ",x,y); |
rahmadirizki18 | 3:1287fccc11be | 682 | |
rahmadirizki18 | 16:89093194ccc2 | 683 | |
rahmadirizki18 | 16:89093194ccc2 | 684 | motor1.speed(s1); |
rahmadirizki18 | 16:89093194ccc2 | 685 | motor2.speed(s2); |
rahmadirizki18 | 16:89093194ccc2 | 686 | motor3.speed(s3); |
rahmadirizki18 | 16:89093194ccc2 | 687 | motor4.speed(s4); |
rahmadirizki18 | 3:1287fccc11be | 688 | break; |
rahmadirizki18 | 3:1287fccc11be | 689 | } |
rahmadirizki18 | 3:1287fccc11be | 690 | default : |
fanny868 | 0:9072e932503c | 691 | { |
rahmadirizki18 | 16:89093194ccc2 | 692 | motor1.brake(1); |
rahmadirizki18 | 16:89093194ccc2 | 693 | motor2.brake(1); |
rahmadirizki18 | 16:89093194ccc2 | 694 | motor3.brake(1); |
rahmadirizki18 | 16:89093194ccc2 | 695 | motor4.brake(1); |
rahmadirizki18 | 16:89093194ccc2 | 696 | |
rahmadirizki18 | 3:1287fccc11be | 697 | maju=mundur=kiri=kanan=saka=saki=sbka=sbki=analog=cw1=ccw1=cw2=ccw2=cw3=ccw3=false; |
fanny868 | 0:9072e932503c | 698 | stop = true; |
fanny868 | 0:9072e932503c | 699 | |
fanny868 | 0:9072e932503c | 700 | |
rahmadirizki18 | 17:703072f5dce1 | 701 | //pc.printf("Stop\n"); |
rahmadirizki18 | 16:89093194ccc2 | 702 | } |
rahmadirizki18 | 5:3aa203218306 | 703 | } |
rahmadirizki18 | 5:3aa203218306 | 704 | } |
rahmadirizki18 | 5:3aa203218306 | 705 | |
rahmadirizki18 | 5:3aa203218306 | 706 | |
rahmadirizki18 | 5:3aa203218306 | 707 | |
rahmadirizki18 | 7:d138c56dab20 | 708 | void speedLauncher() |
rahmadirizki18 | 7:d138c56dab20 | 709 | { |
franshendri | 12:e07c59c28c29 | 710 | if (joystick.R3_click and speedL < 0.8){ |
franshendri | 12:e07c59c28c29 | 711 | speedL = speedL + 0.01;} |
rahmadirizki18 | 7:d138c56dab20 | 712 | if (joystick.L3_click and speedL > 0.1){ |
franshendri | 12:e07c59c28c29 | 713 | speedL = speedL - 0.01;} |
rahmadirizki18 | 13:8ab42383a2ca | 714 | if (joystick.R2_click and speedB < 0.8 ){ |
rahmadirizki18 | 13:8ab42383a2ca | 715 | speedB = speedB + 0.01;} |
rahmadirizki18 | 13:8ab42383a2ca | 716 | if (joystick.L2_click and speedB > 0.1 ){ |
rahmadirizki18 | 13:8ab42383a2ca | 717 | speedB = speedB - 0.01;} |
rahmadirizki18 | 15:98f0d56b14f0 | 718 | //pc.printf("Pwm depan = %.3f\t Pwm belakang = %.3f\n", speedL, speedB); |
rahmadirizki18 | 7:d138c56dab20 | 719 | } |
franshendri | 12:e07c59c28c29 | 720 | |
franshendri | 12:e07c59c28c29 | 721 | |
franshendri | 12:e07c59c28c29 | 722 | |
fanny868 | 0:9072e932503c | 723 | int main (void) |
fanny868 | 0:9072e932503c | 724 | { |
fanny868 | 0:9072e932503c | 725 | // Set baud rate - 115200 |
fanny868 | 0:9072e932503c | 726 | joystick.setup(); |
rahmadirizki18 | 3:1287fccc11be | 727 | pc.baud(115200); |
rahmadirizki18 | 5:3aa203218306 | 728 | wait_ms(500); |
rahmadirizki18 | 5:3aa203218306 | 729 | |
rahmadirizki18 | 3:1287fccc11be | 730 | pc.printf("Ready...\n"); |
rahmadirizki18 | 4:483c07cc22e1 | 731 | kalibrasi(); |
fanny868 | 0:9072e932503c | 732 | while(1) |
fanny868 | 0:9072e932503c | 733 | { |
fanny868 | 0:9072e932503c | 734 | // Interrupt Serial |
fanny868 | 0:9072e932503c | 735 | joystick.idle(); |
fanny868 | 0:9072e932503c | 736 | if(joystick.readable() ) { |
fanny868 | 0:9072e932503c | 737 | // Panggil fungsi pembacaan joystik |
fanny868 | 0:9072e932503c | 738 | joystick.baca_data(); |
fanny868 | 0:9072e932503c | 739 | // Panggil fungsi pengolahan data joystik |
fanny868 | 0:9072e932503c | 740 | joystick.olah_data(); |
franshendri | 12:e07c59c28c29 | 741 | //pc.printf("%3d %3d\n\r",joystick.R2, joystick.L2); |
fanny868 | 0:9072e932503c | 742 | //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 | 743 | case_ger = case_gerak(); |
rahmadirizki18 | 3:1287fccc11be | 744 | aktuator(); |
rahmadirizki18 | 6:68293bed71ea | 745 | |
franshendri | 12:e07c59c28c29 | 746 | //pc.printf("bacaS = %.2f\tbacaB = %.2f\n",servoS.read(), servoB.read()); |
rahmadirizki18 | 6:68293bed71ea | 747 | |
rahmadirizki18 | 3:1287fccc11be | 748 | //kalibrasi |
rahmadirizki18 | 4:483c07cc22e1 | 749 | if (joystick.START){ |
rahmadirizki18 | 4:483c07cc22e1 | 750 | kalibrasi();} |
rahmadirizki18 | 4:483c07cc22e1 | 751 | // analog switch mode |
rahmadirizki18 | 6:68293bed71ea | 752 | if (joystick.SELECT_click) {analog = !analog;} |
rahmadirizki18 | 6:68293bed71ea | 753 | if (joystick.segitiga_click) {Launcher = !Launcher;} |
rahmadirizki18 | 6:68293bed71ea | 754 | if (joystick.lingkaran_click){ |
rahmadirizki18 | 6:68293bed71ea | 755 | ServoGo = true; |
rahmadirizki18 | 6:68293bed71ea | 756 | } |
rahmadirizki18 | 7:d138c56dab20 | 757 | speedLauncher(); |
franshendri | 12:e07c59c28c29 | 758 | |
fanny868 | 0:9072e932503c | 759 | } else { |
fanny868 | 0:9072e932503c | 760 | joystick.idle(); |
fanny868 | 0:9072e932503c | 761 | |
fanny868 | 0:9072e932503c | 762 | } |
rahmadirizki18 | 16:89093194ccc2 | 763 | // gotoXYT(XT,YT,Tetha); |
rahmadirizki18 | 5:3aa203218306 | 764 | |
fanny868 | 0:9072e932503c | 765 | } |
fanny868 | 0:9072e932503c | 766 | } |