Revision 12:e07c59c28c29, committed 2016-12-03

Comitter:

franshendri

Date:

Sat Dec 03 05:43:10 2016 +0000

Parent:

11:e1efcc958f4b

Commit message:

tes H

Changed in this revision

--- a/JoystickPS3.h	Tue Nov 29 15:26:09 2016 +0000
+++ b/JoystickPS3.h	Sat Dec 03 05:43:10 2016 +0000
@@ -1,17 +1,17 @@
 #ifndef MBED_H
 #include "mbed.h"
 #endif
-
+ 
 #ifndef JoystickPS3__serialDEFAULT_BAUD
 #define JoystickPS3__serialDEFAULT_BAUD       115200
 #endif
-
+ 
 Serial debug(USBTX,USBRX);
-
-
+ 
+ 
  
 namespace JoystickPS3 {
-
+ 
 class joysticknucleo {
 public:
     joysticknucleo(PinName tx, PinName rx) : _serial(tx, rx)
@@ -31,7 +31,7 @@
         _serial.baud(JoystickPS3__serialDEFAULT_BAUD);
         debug.baud(9600);
         }
-
+ 
     /*********************************************************************************************/
     /**                                                                                         **/
     /** FUNGSI PEMBACAAN DATA                                                                   **/
@@ -170,8 +170,8 @@
   //          debug.printf("%2x %2x %2x %2x %3d %3d %3d %3d %3d %3d\n\r",button, RL, button_click, RL_click, R2, L2, RX, RY, LX, LY);
         }   
     }
-
-
+ 
+ 
     
     int readable(){
         return _serial.readable();
@@ -192,7 +192,7 @@
     virtual int _getc(){return _serial.getc();}
     Serial _serial;
 };
-
+ 
 };
-
+ 
 using namespace JoystickPS3;
\ No newline at end of file

--- a/PS3Arduino.txt	Tue Nov 29 15:26:09 2016 +0000
+++ b/PS3Arduino.txt	Sat Dec 03 05:43:10 2016 +0000
@@ -9,7 +9,7 @@
 /**                                                                                         **/
 /** Last Update : 01 Februar1 2015, 20.30                                                   **/
 /*********************************************************************************************/
-
+ 
 #include <PS3BT.h>
 #include <usbhub.h>
 //#include <PS3USB.h>
@@ -18,10 +18,10 @@
 #ifdef dobogusinclude
 #include <spi4teensy3.h>
 #endif
-
-
+ 
+ 
 USB Usb;
-
+ 
 // Bluetooth
 // You can create the instance of the class in two ways 
 BTD Btd(&Usb); // You have to create the Bluetooth Dongle instance like so
@@ -34,25 +34,25 @@
 PS3USB PS3(&Usb); // This will just create the instance
 //PS3USB PS3(&Btd, 0x00, 0x15, 0x83, 0x3D, 0x0A, 0x57); // This will also store the bluetooth address - this can be obtained from the dongle when running the sketch
 */
-
+ 
 boolean printAngle;
 uint8_t state = 0;
-
+ 
 // Deklarasi tombol
 boolean kiri_click=0, kanan_click=0, atas_click=0, bawah_click=0;
 boolean segitiga_click=0, lingkaran_click=0, kotak_click=0, silang_click=0;
 boolean L1_click=0, R1_click=0, L3_click=0, R3_click=0;
 boolean START_click=0, SELECT_click=0, PS_click=0;
-
+ 
 // Deklarasi variabel tombol analog
 unsigned char LX, LY, RX, RY, aL2, aR2;
-
+ 
 // Deklarasi varibel data yang dikirim
 unsigned char button;
 unsigned char RL;
 unsigned int button_click;
 unsigned int RL_click;
-
+ 
 void setup_joystik()
 {
     while (!Serial) // Wait for serial port to connect - used on Leonardo, Teensy and other boards with built-in USB CDC serial connection
@@ -70,7 +70,7 @@
     }
     //Serial.print(F("\r\nPS3 USB Library Started"));
 }
-
+ 
 /*********************************************************************************************/
 /**                                                                                         **/
 /** FUNGSI PENGIRIMAN DATA                                                                  **/
@@ -80,7 +80,7 @@
 /** |------|------|--------|----|--------------|----------|----|----|----|----|----|----|   **/
 /**                                                                                         **/
 /*********************************************************************************************/
-
+ 
 void kirimdatajoystik()
 {
     
@@ -96,9 +96,9 @@
     Serial.write(RY);
     Serial.write(LX);
     Serial.write(LY);
-
+ 
 // Debug    
-
+ 
 /*
     Serial.print(millis());
     Serial.print("\t");
@@ -123,20 +123,20 @@
     Serial.println(LY);
 */  
 }
-
+ 
 /*****************************************************************************************/
 /** SETUP REGISTER dan INISIALISASI                                                     **/
 /** -   Setup Joystik                                                                   **/
 /** -   Baud Rate Serial 115200, 8-bit, 1 stop, 0 parity                                **/
 /*****************************************************************************************/
-
+ 
 void setup() {
     Serial.begin(115200);
-
+ 
     setup_joystik();
 }
-
-
+ 
+ 
 /*****************************************************************************************/
 /**                                                                                     **/
 /** FUNGSI PEMBACAAN DATA JOYSTIK                                                       **/
@@ -168,14 +168,14 @@
 /**         |----|--------|-------|----|----|----|----|                                 **/
 /**                                                                                     **/
 /*****************************************************************************************/
-
+ 
 void loop() {
     button = 0;
     RL = 0;
         button_click=0;
         RL_click=0;
     Usb.Task();
-
+ 
     // Pembacaan data joystik dilakukan jika PS3 tersambung ke Arduino
     if (PS3.PS3Connected || PS3.PS3NavigationConnected) {
         // Pembacaan dan penggabungan data segitiga, lingkaran, silang, kotak, atas, kanan, bawah, kiri
@@ -204,7 +204,7 @@
         if(PS3.getButtonPress(LEFT)){
             button = button + (0x1 << 7);
         }
-
+ 
         // Pembacaan dan penggabungan data R1, R3, L1, L3, START, SELECT, dan PS
         // Data bernilai '1' jika tombol ditekan
         if(PS3.getButtonPress(R1)){
@@ -228,7 +228,7 @@
         if(PS3.getButtonPress(PS)){
             RL = RL + (0x1 << 6);
         }
-
+ 
         // Pembacaan dan penggabungan data segitiga, lingkaran, silang, kotak, atas, kanan, bawah, kiri
         // Data bernilai '1' hanya saat tombol pertama kali ditekan
         if(PS3.getButtonClick(TRIANGLE)){
@@ -255,7 +255,7 @@
         if(PS3.getButtonClick(LEFT)){
             button_click = button_click + (0x1 << 7);
         }
-
+ 
         if(PS3.getButtonClick(R1)){
             RL_click = RL_click + (0x1 << 0);
         }
@@ -277,7 +277,7 @@
         if(PS3.getButtonClick(PS)){
             RL_click = RL_click + (0x1 << 6);
         }
-
+ 
         // Tombol Analog
         LX = PS3.getAnalogHat(LeftHatX);
         LY = PS3.getAnalogHat(LeftHatY);
@@ -295,3 +295,5 @@
     }
     delay(3);
 }
+ 
+      
\ No newline at end of file

--- 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();