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aman semoga
Dependencies: Motor PID Joystick_OrdoV5 mbed
Fork of Joystick_ManualV2 by
Diff: main.cpp
- Revision:
- 12:e07c59c28c29
- Parent:
- 10:f0f0dc3904e0
- Child:
- 13:8ab42383a2ca
--- a/main.cpp Tue Nov 29 15:26:09 2016 +0000 +++ b/main.cpp Sat Dec 03 05:43:10 2016 +0000 @@ -54,7 +54,8 @@ float speed2=0.6; float speed3=0.6; float speed4=0.6; -float speedL=0.6; +float speedB=0.43 ; +float speedL=0.4; float KpX=0.5, KpY=0.5, Kp_tetha=0.03; @@ -105,9 +106,6 @@ float getX(); float getTetha(); - - - // Inisialisasi Pin TX-RX Joystik dan PC joysticknucleo joystick(PA_0,PA_1); Serial pc(USBTX,USBRX); @@ -233,13 +231,13 @@ { //Servo if (ServoGo){ - servoS.position(10); + servoS.position(20); wait_ms(500); - servoS.position(-70); + servoS.position(-28); wait_ms(500); - servoS.position(10); + servoS.position(20); wait_ms(500); - for (int i = 0; i<=90; i++){ + for (int i = -0; i<=70; i++){ servoB.position(i); wait_ms(10); } @@ -248,7 +246,7 @@ ServoGo = false; }else{ - servoS.position(10); + servoS.position(20); servoB.position(0); } @@ -256,7 +254,7 @@ // Motor Atas if (Launcher) { motorld.speed(speedL); - motorlb.speed(speedL); + motorlb.speed(speedB); }else{ motorld.speed(0); motorlb.speed(0); @@ -508,13 +506,19 @@ void speedLauncher() { - if (joystick.R3_click and speedL < 0.7){ - speedL = speedL + 0.1;} + if (joystick.R3_click and speedL < 0.8){ + speedL = speedL + 0.01;} if (joystick.L3_click and speedL > 0.1){ - speedL = speedL - 0.1;} - + speedL = speedL - 0.01;} + /* if (joystick.R2>0 and speedB < 0.8){ + speedB = speedB + 0.01;} + if (joystick.L2>0 and speedB > 0.1){ + speedB = speedB - 0.01;}*/ + pc.printf("Pwm depan = %.3f\n ", speedL); } - + + + int main (void) { // Set baud rate - 115200 @@ -530,8 +534,6 @@ Tetha = 0; pc.printf("Ready...\n"); kalibrasi(); - servoS.position(90); - servoB.position(0); waktu.start(); while(1) { @@ -542,11 +544,12 @@ joystick.baca_data(); // Panggil fungsi pengolahan data joystik joystick.olah_data(); + //pc.printf("%3d %3d\n\r",joystick.R2, joystick.L2); //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); case_ger = case_gerak(); aktuator(); - pc.printf("bacaS = %.2f\tbacaB = %.2f\n",servoS.read(), servoB.read()); + //pc.printf("bacaS = %.2f\tbacaB = %.2f\n",servoS.read(), servoB.read()); //kalibrasi if (joystick.START){ @@ -565,6 +568,7 @@ pc.printf("x..\n"); } speedLauncher(); + } else { joystick.idle();