KRAI 2017 / Mbed 2 deprecated MainProgram_BaseBaru_17feb

Update 18 Februari 2017, PID laucnher dan Base sudah diperbarui

Dependencies:   Motor PID Joystick_OrdoV5 mbed millis

Fork of MainProgram_BaseBaru_otomatis-reloader by KRAI 2017

main.cpp@38:3ef6754bd8d8, 2017-02-17 (annotated)

Committer:
gustavaditya
Date:
Fri Feb 17 13:05:02 2017 +0000
Revision:
38:3ef6754bd8d8
Parent:
37:67d54563af90 
Update 17 Februari 2017, PID launcher sudah dibetulkan

Who changed what in which revision?

UserRevisionLine numberNew contents of line
rahmadirizki18 5:3aa203218306 1 /****************************************************************************/
rahmadirizki18 5:3aa203218306 2 /* PROGRAM UNTUK PID CLOSED LOOP */
rahmadirizki18 5:3aa203218306 3 /* */
gustavaditya 38:3ef6754bd8d8 4 /* Last Update : 18 Februari 2017 */
gustavaditya 31:d5cbda07fd95 5 /* */
rahmadirizki18 5:3aa203218306 6 /* - Digunakan encoder autonics */
rahmadirizki18 5:3aa203218306 7 /* - Konfigurasi Motor dan Encoder sbb : */
MarchioKevin 22:4632f58461e0 8 /* ______________________ */
MarchioKevin 22:4632f58461e0 9 /* / \ Rode Depan Belakang: */
MarchioKevin 22:4632f58461e0 10 /* / 2 (Belakang) \ Omniwheel */
MarchioKevin 22:4632f58461e0 11 /* | | */
MarchioKevin 22:4632f58461e0 12 /* | 3 (Encoder) 4 | Roda Kiri Kanan: */
MarchioKevin 22:4632f58461e0 13 /* | | Fixed Wheel */
MarchioKevin 22:4632f58461e0 14 /* \ 1 (Depan) / */
MarchioKevin 22:4632f58461e0 15 /* \______________________/ Putaran berlawanan arah */
MarchioKevin 22:4632f58461e0 16 /* jarum jam positif */
rahmadirizki18 5:3aa203218306 17 /* SETTINGS (WAJIB!) : */
rahmadirizki18 5:3aa203218306 18 /* 1. Settings Pin Encoder, Resolusi, dan Tipe encoding di omniPos.h */
rahmadirizki18 5:3aa203218306 19 /* 2. Deklarasi penggunaan library omniPos pada bagian deklarasi encoder */
rahmadirizki18 5:3aa203218306 20 /* */
rahmadirizki18 5:3aa203218306 21 /****************************************************************************/
rahmadirizki18 6:68293bed71ea 22 /* */
MarchioKevin 20:54dc93e7b016 23 /* Joystick */
Sufa 30:d69cc27ac644 24 /* Kanan => */
Sufa 30:d69cc27ac644 25 /* Kiri => */
rahmadirizki18 6:68293bed71ea 26 /* */
Sufa 30:d69cc27ac644 27 /* Tombol silang => Power Screw Aktif */
Sufa 30:d69cc27ac644 28 /* Tombol segitiga => Aktif motor Launcher */
Sufa 30:d69cc27ac644 29 /* Tombol lingkaran => Aktif Pneumatik Launcher */
Sufa 30:d69cc27ac644 30 /* Tombol L1 => Pivot Kiri */
Sufa 30:d69cc27ac644 31 /* Tombol R1 => Pivot Kanan */
Sufa 30:d69cc27ac644 32 /* Tombol L3 => PWM Motor Belakang Dikurangi */
Sufa 30:d69cc27ac644 33 /* Tombol R3 => PWM Motor Belakang Ditambah */
Sufa 30:d69cc27ac644 34 /* Tombol L2 => PWM Motor Depan Dikurangi */
Sufa 30:d69cc27ac644 35 /* Tombol R2 => PWM Motor Depan Ditambah */
rahmadirizki18 13:8ab42383a2ca 36 /* */
calmantara186 16:90119f03c5d1 37 /* Bismillahirahmanirrahim */
MarchioKevin 20:54dc93e7b016 38 /* Jagalah Kebersihan Kodingan */
rahmadirizki18 6:68293bed71ea 39 /****************************************************************************/
rahmadirizki18 6:68293bed71ea 40
fanny868 0:9072e932503c 41 #include "mbed.h"
fanny868 0:9072e932503c 42 #include "JoystickPS3.h"
fanny868 0:9072e932503c 43 #include "Motor.h"
rahmadirizki18 6:68293bed71ea 44 #include "Servo.h"
rahmadirizki18 5:3aa203218306 45 #include "encoderKRAI.h"
be_bryan 26:256160a1a82d 46 #include "millis.h"
rahmadirizki18 5:3aa203218306 47
calmantara186 16:90119f03c5d1 48 /***********************************************/
calmantara186 16:90119f03c5d1 49 /* Konstanta dan Variabel */
calmantara186 16:90119f03c5d1 50 /***********************************************/
calmantara186 16:90119f03c5d1 51 #define PI 3.14159265
be_bryan 26:256160a1a82d 52 #define D_ENCODER 10 // Diameter Roda Encoder
be_bryan 26:256160a1a82d 53 #define D_ROBOT 80 // Diameter Roda Robot
rahmadirizki18 17:e4229d77a5ab 54 #define PERPINDAHAN 1 // Perpindahan ke kanan dan kiri
rahmadirizki18 5:3aa203218306 55
be_bryan 26:256160a1a82d 56 // Variable Atas
gustavaditya 38:3ef6754bd8d8 57 double speed, speed2;
gustavaditya 38:3ef6754bd8d8 58 const double maxSpeed = 0.95;
gustavaditya 38:3ef6754bd8d8 59 const double kpA=0.6757, kdA=0.6757, kiA=0.00006757;
be_bryan 26:256160a1a82d 60 double p,i,d;
be_bryan 27:68efb1622985 61 double p2,i2,d2;
be_bryan 26:256160a1a82d 62 double last_error = 0, current_error, sum_error = 0;
be_bryan 27:68efb1622985 63 double last_error2 = 0, current_error2, sum_error2 = 0;
gustavaditya 38:3ef6754bd8d8 64 float rpm, rpm2;
gustavaditya 38:3ef6754bd8d8 65 float target_rpm = 12.0, target_rpm2 = 16.0;
gustavaditya 38:3ef6754bd8d8 66 const float maxRPM = 27, minRPM = 0; // Limit 25 atau 27
gustavaditya 38:3ef6754bd8d8 67
gustavaditya 38:3ef6754bd8d8 68 const float pwmPowerUp = 0.78;
gustavaditya 38:3ef6754bd8d8 69 const float pwmPowerDown = -0.9;
be_bryan 26:256160a1a82d 70
be_bryan 26:256160a1a82d 71 // Variable Bawah
Joshua23 25:054d3048dd03 72 float Vt;
gustavaditya 31:d5cbda07fd95 73 float keliling_enc = PI*D_ENCODER;
gustavaditya 31:d5cbda07fd95 74 float keliling_robot = PI*D_ROBOT;
gustavaditya 31:d5cbda07fd95 75 float speedT = 0.2;
gustavaditya 31:d5cbda07fd95 76 float vpid = 0;
gustavaditya 33:69d266bc3fe9 77 float PIVOT = 0.27; // PWM Pivot Kanan, Pivot Kiri
gustavaditya 33:69d266bc3fe9 78 float tuneDpn = 0.35; // Tunning PWM motor Depan
gustavaditya 33:69d266bc3fe9 79 float tuneBlk = 0.3; // Tunning PWM motor belakang
gustavaditya 31:d5cbda07fd95 80
gustavaditya 31:d5cbda07fd95 81 /* Variabel Encoder Bawah */
gustavaditya 31:d5cbda07fd95 82 float errTetha, Tetha; // Variabel yang didapatkan encoder
gustavaditya 31:d5cbda07fd95 83
gustavaditya 31:d5cbda07fd95 84 /* Deklarasi Variable Millis */
gustavaditya 33:69d266bc3fe9 85 unsigned long int previousMillis = 0; // PID launcher
gustavaditya 31:d5cbda07fd95 86 unsigned long int currentMillis;
gustavaditya 33:69d266bc3fe9 87 unsigned long int previousMillis2 = 0; // PID launcher
gustavaditya 31:d5cbda07fd95 88 unsigned long int currentMillis2;
gustavaditya 33:69d266bc3fe9 89 unsigned long int previousMillis3 = 0; // Pneumatik
MarchioKevin 22:4632f58461e0 90
gustavaditya 31:d5cbda07fd95 91 /* Variabel Stick */
gustavaditya 31:d5cbda07fd95 92 //Logic untuk masuk aktuator
gustavaditya 31:d5cbda07fd95 93 int case_joy;
gustavaditya 31:d5cbda07fd95 94 bool isLauncher = false;
gustavaditya 31:d5cbda07fd95 95 bool isReload = false;
rizqicahyo 36:5963c9a49485 96 bool ReloadOn = false;
gustavaditya 31:d5cbda07fd95 97 bool flag_Pneu = false;
gustavaditya 31:d5cbda07fd95 98
gustavaditya 31:d5cbda07fd95 99 /*****************************************************/
gustavaditya 31:d5cbda07fd95 100 /* Definisi Prosedur, Fungsi dan Setting Pinout */
gustavaditya 31:d5cbda07fd95 101 /*****************************************************/
gustavaditya 31:d5cbda07fd95 102
gustavaditya 31:d5cbda07fd95 103 /* Fungsi dan Procedur Encoder */
gustavaditya 31:d5cbda07fd95 104 void init_speed(); //
gustavaditya 31:d5cbda07fd95 105 void aktuator(); // Pergerakan aktuator berdasarkan case joystick
gustavaditya 31:d5cbda07fd95 106 int case_joystick(); // Mendapatkan case dari joystick
gustavaditya 33:69d266bc3fe9 107 //void speedKalibrasiMotor(); // Pertambahan target RPM motor atas melalui joystick
gustavaditya 31:d5cbda07fd95 108 void setCenter(); // Prosedur reset encoder, posisi saat itu diset jadi titik (0,0)
gustavaditya 31:d5cbda07fd95 109 float getTetha(); // Fungsi mendapatkan error Tetha
gustavaditya 31:d5cbda07fd95 110
gustavaditya 31:d5cbda07fd95 111 /* Inisialisasi Pin TX-RX Joystik dan PC */
gustavaditya 31:d5cbda07fd95 112 joysticknucleo joystick(PA_0,PA_1);
gustavaditya 31:d5cbda07fd95 113 Serial pc(USBTX,USBRX);
calmantara186 16:90119f03c5d1 114
be_bryan 26:256160a1a82d 115 /* Deklarasi Encoder Base */
gustavaditya 31:d5cbda07fd95 116 encoderKRAI encoderBase(PC_4, PB_15, 2000, encoderKRAI::X2_ENCODING); //inA, inB, pin Indeks (NC = tak ada), 2xresolusi, mode pembacaan
rahmadirizki18 15:98f0d56b14f0 117
be_bryan 26:256160a1a82d 118 /* Deklarasi Encoder Launcher */
gustavaditya 37:67d54563af90 119 encoderKRAI encLauncherBlk( PC_10, PC_11, 28, encoderKRAI::X4_ENCODING);
gustavaditya 37:67d54563af90 120 encoderKRAI encLauncherDpn( PD_2, PC_12, 28, encoderKRAI::X4_ENCODING);
be_bryan 26:256160a1a82d 121
calmantara186 16:90119f03c5d1 122 /* Deklarasi Motor Base */
gustavaditya 31:d5cbda07fd95 123 Motor motorDpn(PB_9, PA_12, PC_5); // pwm, fwd, rev
gustavaditya 31:d5cbda07fd95 124 Motor motorBlk(PB_6, PB_1, PB_12); // pwm, fwd, rev
fanny868 0:9072e932503c 125
calmantara186 16:90119f03c5d1 126 /* Deklarasi Motor Launcher */
gustavaditya 31:d5cbda07fd95 127 Motor launcherDpn(PA_8,PC_2,PC_1); // pwm ,fwd, rev
gustavaditya 31:d5cbda07fd95 128 Motor launcherBlk(PA_10, PC_3, PC_0); // pwm, fwd, rev
gustavaditya 31:d5cbda07fd95 129 Motor powerScrew(PB_7, PA_14, PA_15); // pwm, fwd, rev
rahmadirizki18 5:3aa203218306 130
be_bryan 26:256160a1a82d 131 /* Deklarasi Penumatik Launcher */
Sufa 29:7b372b0aaa61 132 DigitalOut pneumatik(PB_3, PullUp);
be_bryan 26:256160a1a82d 133
be_bryan 27:68efb1622985 134 /*Dekalrasi Limit Switch */
gustavaditya 34:1cfd9b1c7d27 135 DigitalIn infraAtas(PC_9, PullUp);
gustavaditya 31:d5cbda07fd95 136 DigitalIn limitTengah(PB_10, PullUp);
gustavaditya 31:d5cbda07fd95 137 DigitalIn limitBawah(PC_8, PullUp);
rahmadirizki18 5:3aa203218306 138
fanny868 0:9072e932503c 139
MarchioKevin 22:4632f58461e0 140 /****************************************************/
MarchioKevin 22:4632f58461e0 141 /* Deklarasi Fungsi dan Procedure */
MarchioKevin 22:4632f58461e0 142 /****************************************************/
gustavaditya 31:d5cbda07fd95 143 int case_joystick()
gustavaditya 31:d5cbda07fd95 144 {
gustavaditya 31:d5cbda07fd95 145 //---------------------------------------------------//
gustavaditya 31:d5cbda07fd95 146 // Gerak Motor Base //
gustavaditya 31:d5cbda07fd95 147 // Case 1 : Pivot kanan //
gustavaditya 31:d5cbda07fd95 148 // Case 2 : Pivot Kiri //
gustavaditya 31:d5cbda07fd95 149 // Case 3 : Kanan //
gustavaditya 31:d5cbda07fd95 150 // Case 4 : Kiri //
gustavaditya 31:d5cbda07fd95 151 // Case 5 : Break //
gustavaditya 31:d5cbda07fd95 152 //---------------------------------------------------//
gustavaditya 31:d5cbda07fd95 153
gustavaditya 31:d5cbda07fd95 154 int caseJoystick;
gustavaditya 31:d5cbda07fd95 155 if (!joystick.L1 && joystick.R1) {
gustavaditya 31:d5cbda07fd95 156 // Pivot Kanan
gustavaditya 31:d5cbda07fd95 157 caseJoystick = 1;
gustavaditya 31:d5cbda07fd95 158 }
gustavaditya 31:d5cbda07fd95 159 else if (!joystick.R1 && joystick.L1) {
gustavaditya 31:d5cbda07fd95 160 // Pivot Kiri
gustavaditya 31:d5cbda07fd95 161 caseJoystick = 2;
gustavaditya 31:d5cbda07fd95 162 }
gustavaditya 31:d5cbda07fd95 163 else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri)) {
gustavaditya 31:d5cbda07fd95 164 // Kanan
gustavaditya 31:d5cbda07fd95 165 caseJoystick = 3;
gustavaditya 33:69d266bc3fe9 166 //pc.printf("kanan");
gustavaditya 31:d5cbda07fd95 167 }
gustavaditya 31:d5cbda07fd95 168 else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)) {
gustavaditya 31:d5cbda07fd95 169 // Kiri
gustavaditya 31:d5cbda07fd95 170 caseJoystick = 4;
gustavaditya 33:69d266bc3fe9 171 //pc.printf("kiri");
gustavaditya 31:d5cbda07fd95 172 }
gustavaditya 38:3ef6754bd8d8 173 else if (joystick.segitiga_click){
gustavaditya 31:d5cbda07fd95 174 // Motor Launcher
gustavaditya 31:d5cbda07fd95 175 caseJoystick = 5;
gustavaditya 31:d5cbda07fd95 176 }
gustavaditya 38:3ef6754bd8d8 177 else if (joystick.R2_click){
gustavaditya 31:d5cbda07fd95 178 // Target Pulse PID ++ Motor Depan
gustavaditya 31:d5cbda07fd95 179 caseJoystick = 6;
gustavaditya 31:d5cbda07fd95 180 }
gustavaditya 38:3ef6754bd8d8 181 else if (joystick.L2_click){
gustavaditya 31:d5cbda07fd95 182 // Target Pulse PID -- Motor Depan
gustavaditya 31:d5cbda07fd95 183 caseJoystick = 7;
gustavaditya 31:d5cbda07fd95 184 }
gustavaditya 38:3ef6754bd8d8 185 /*else if (joystick.R3_click){
gustavaditya 31:d5cbda07fd95 186 // Target Pulse PID ++ Motor Belakang
gustavaditya 31:d5cbda07fd95 187 caseJoystick = 8;
gustavaditya 31:d5cbda07fd95 188 }
gustavaditya 38:3ef6754bd8d8 189 else if (joystick.L3_click){
gustavaditya 31:d5cbda07fd95 190 // Target Pulse PID -- Motor Belakang
gustavaditya 31:d5cbda07fd95 191 caseJoystick = 9;
gustavaditya 38:3ef6754bd8d8 192 }*/
gustavaditya 31:d5cbda07fd95 193 else if (joystick.silang_click){
gustavaditya 31:d5cbda07fd95 194 // Pnemuatik ON
gustavaditya 31:d5cbda07fd95 195 caseJoystick = 10;
gustavaditya 31:d5cbda07fd95 196 }
gustavaditya 31:d5cbda07fd95 197 else if ((joystick.atas)&&(!joystick.bawah)) {
gustavaditya 31:d5cbda07fd95 198 // Power Screw Up
gustavaditya 31:d5cbda07fd95 199 caseJoystick = 11;
gustavaditya 31:d5cbda07fd95 200 }
gustavaditya 31:d5cbda07fd95 201 else if ((!joystick.atas)&&(joystick.bawah)) {
gustavaditya 31:d5cbda07fd95 202 // Power Screw Down
gustavaditya 31:d5cbda07fd95 203 caseJoystick = 12;
gustavaditya 31:d5cbda07fd95 204 }
gustavaditya 31:d5cbda07fd95 205 else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) {
gustavaditya 31:d5cbda07fd95 206 // Break
gustavaditya 31:d5cbda07fd95 207 caseJoystick = 13;
gustavaditya 31:d5cbda07fd95 208 }
gustavaditya 31:d5cbda07fd95 209
gustavaditya 31:d5cbda07fd95 210 return(caseJoystick);
gustavaditya 31:d5cbda07fd95 211 }
gustavaditya 31:d5cbda07fd95 212
gustavaditya 31:d5cbda07fd95 213 float getTetha(){
gustavaditya 31:d5cbda07fd95 214 // Fungsi untuk mendapatkan nilai tetha
gustavaditya 31:d5cbda07fd95 215 float busur, tetha;
gustavaditya 31:d5cbda07fd95 216 busur = ((encoderBase.getPulses())/(float)(2000.0)*keliling_enc);
gustavaditya 31:d5cbda07fd95 217 tetha = busur/keliling_robot*360;
gustavaditya 31:d5cbda07fd95 218
gustavaditya 31:d5cbda07fd95 219 return -(tetha);
gustavaditya 31:d5cbda07fd95 220 }
gustavaditya 31:d5cbda07fd95 221
be_bryan 26:256160a1a82d 222 float pidBase(float Kp, float Ki, float Kd)
Joshua23 25:054d3048dd03 223 {
Joshua23 25:054d3048dd03 224 int errorP;
Joshua23 25:054d3048dd03 225 errorP = getTetha();
gustavaditya 33:69d266bc3fe9 226 if (errorP<3.5 && errorP>(-3.5))
gustavaditya 33:69d266bc3fe9 227 errorP = 0;
Joshua23 25:054d3048dd03 228 return (float)Kp*errorP;
Joshua23 25:054d3048dd03 229 }
gustavaditya 38:3ef6754bd8d8 230 /*
gustavaditya 31:d5cbda07fd95 231 void init_speed (){
gustavaditya 31:d5cbda07fd95 232 if (speed>maxSpeed){
gustavaditya 31:d5cbda07fd95 233 speed = maxSpeed;
gustavaditya 31:d5cbda07fd95 234 }
gustavaditya 31:d5cbda07fd95 235 if (speed<minSpeed){
gustavaditya 31:d5cbda07fd95 236 speed = minSpeed;
calmantara186 16:90119f03c5d1 237 }
gustavaditya 31:d5cbda07fd95 238 if (speed2>maxSpeed){
gustavaditya 31:d5cbda07fd95 239 speed2 = maxSpeed;
gustavaditya 31:d5cbda07fd95 240 }
gustavaditya 31:d5cbda07fd95 241 if (speed2<minSpeed){
gustavaditya 31:d5cbda07fd95 242 speed2 = minSpeed;
gustavaditya 31:d5cbda07fd95 243 }
gustavaditya 38:3ef6754bd8d8 244 }*/
gustavaditya 31:d5cbda07fd95 245
gustavaditya 31:d5cbda07fd95 246 void setCenter(){
gustavaditya 31:d5cbda07fd95 247 // Fungsi untuk menentukan center dari robot
gustavaditya 31:d5cbda07fd95 248 encoderBase.reset();
fanny868 0:9072e932503c 249 }
fanny868 0:9072e932503c 250
gustavaditya 37:67d54563af90 251 void init_rpm (){
gustavaditya 38:3ef6754bd8d8 252 if (target_rpm>maxRPM-2){
gustavaditya 38:3ef6754bd8d8 253 target_rpm = maxRPM-2;
gustavaditya 37:67d54563af90 254 }
gustavaditya 37:67d54563af90 255 if (target_rpm<minRPM){
gustavaditya 37:67d54563af90 256 target_rpm = minRPM;
gustavaditya 37:67d54563af90 257 }
gustavaditya 37:67d54563af90 258 if (target_rpm2>maxRPM){
gustavaditya 37:67d54563af90 259 target_rpm2 = maxRPM;
gustavaditya 37:67d54563af90 260 }
gustavaditya 38:3ef6754bd8d8 261 if (target_rpm2<minRPM+2){
gustavaditya 38:3ef6754bd8d8 262 target_rpm2 = minRPM+2;
gustavaditya 37:67d54563af90 263 }
gustavaditya 37:67d54563af90 264 }
gustavaditya 37:67d54563af90 265
gustavaditya 31:d5cbda07fd95 266 void aktuator()
gustavaditya 31:d5cbda07fd95 267 {
gustavaditya 31:d5cbda07fd95 268 switch (case_joy) {
gustavaditya 31:d5cbda07fd95 269 case (1):
gustavaditya 31:d5cbda07fd95 270 {
gustavaditya 31:d5cbda07fd95 271 // Pivot Kanan
gustavaditya 31:d5cbda07fd95 272 motorDpn.speed(-PIVOT);
gustavaditya 31:d5cbda07fd95 273 motorBlk.speed(-PIVOT);
gustavaditya 31:d5cbda07fd95 274 setCenter();
gustavaditya 31:d5cbda07fd95 275 break;
gustavaditya 31:d5cbda07fd95 276 }
gustavaditya 31:d5cbda07fd95 277 case (2):
gustavaditya 31:d5cbda07fd95 278 {
gustavaditya 31:d5cbda07fd95 279 // Pivot Kiri
gustavaditya 31:d5cbda07fd95 280 motorDpn.speed(PIVOT);
gustavaditya 31:d5cbda07fd95 281 motorBlk.speed(PIVOT);
gustavaditya 31:d5cbda07fd95 282 setCenter();
gustavaditya 31:d5cbda07fd95 283 break;
gustavaditya 31:d5cbda07fd95 284 }
gustavaditya 31:d5cbda07fd95 285 case (3) :
gustavaditya 31:d5cbda07fd95 286 {
gustavaditya 31:d5cbda07fd95 287 // Kanan
gustavaditya 33:69d266bc3fe9 288 motorDpn.speed(-tuneDpn + pidBase(0.009,0,0));
gustavaditya 33:69d266bc3fe9 289 motorBlk.speed(tuneBlk + pidBase(0.009,0,0));
gustavaditya 33:69d266bc3fe9 290 //speedDpn = tuneDpn + pidBase(0.009,0,0)
gustavaditya 33:69d266bc3fe9 291 //speedBlk = tuneBlk + pidBase(0.009,0,0)
gustavaditya 33:69d266bc3fe9 292 //motorDpn.speed(-tuneDpn);
gustavaditya 33:69d266bc3fe9 293 //motorBlk.speed(tuneBlk);
gustavaditya 31:d5cbda07fd95 294 break;
gustavaditya 31:d5cbda07fd95 295 }
gustavaditya 31:d5cbda07fd95 296 case (4) :
gustavaditya 31:d5cbda07fd95 297 {
gustavaditya 31:d5cbda07fd95 298 // Kiri
gustavaditya 33:69d266bc3fe9 299 motorDpn.speed(tuneDpn + pidBase(0.009,0,0));
gustavaditya 33:69d266bc3fe9 300 motorBlk.speed(-tuneBlk + pidBase(0.009,0,0));
gustavaditya 33:69d266bc3fe9 301 //motorDpn.speed(tuneDpn);
gustavaditya 33:69d266bc3fe9 302 //motorBlk.speed(-tuneBlk);
gustavaditya 31:d5cbda07fd95 303 break;
gustavaditya 31:d5cbda07fd95 304 }
gustavaditya 31:d5cbda07fd95 305 case (5) :
gustavaditya 31:d5cbda07fd95 306 {
gustavaditya 31:d5cbda07fd95 307 // Aktifkan motor atas
gustavaditya 31:d5cbda07fd95 308 isLauncher = !isLauncher;
gustavaditya 31:d5cbda07fd95 309 break;
Joshua23 8:0711dea61312 310 }
gustavaditya 31:d5cbda07fd95 311 case (6) :
gustavaditya 31:d5cbda07fd95 312 {
gustavaditya 31:d5cbda07fd95 313 // Target Pulse PID ++ Motor Depan
gustavaditya 31:d5cbda07fd95 314 target_rpm2 = target_rpm2++;
gustavaditya 38:3ef6754bd8d8 315 target_rpm = target_rpm++;
gustavaditya 37:67d54563af90 316 init_rpm();
gustavaditya 31:d5cbda07fd95 317 break;
gustavaditya 31:d5cbda07fd95 318 }
gustavaditya 31:d5cbda07fd95 319 case (7) :
gustavaditya 31:d5cbda07fd95 320 {
gustavaditya 31:d5cbda07fd95 321 // Target Pulse PID -- Motor Depan
gustavaditya 31:d5cbda07fd95 322 target_rpm2 = target_rpm2--;
gustavaditya 38:3ef6754bd8d8 323 target_rpm = target_rpm--;
gustavaditya 37:67d54563af90 324 init_rpm();
gustavaditya 31:d5cbda07fd95 325 break;
gustavaditya 31:d5cbda07fd95 326 }
gustavaditya 38:3ef6754bd8d8 327 /*case (8) :
gustavaditya 31:d5cbda07fd95 328 {
gustavaditya 32:581d4a2373f0 329 // Target Pulse PID ++ Motor Belakang=
gustavaditya 38:3ef6754bd8d8 330 //init_rpm();
gustavaditya 31:d5cbda07fd95 331 break;
gustavaditya 31:d5cbda07fd95 332 }
gustavaditya 31:d5cbda07fd95 333 case (9) :
be_bryan 27:68efb1622985 334 {
gustavaditya 31:d5cbda07fd95 335 // Target Pulse PID -- Motor Belakang
gustavaditya 38:3ef6754bd8d8 336 //init_rpm();
gustavaditya 31:d5cbda07fd95 337 break;
gustavaditya 38:3ef6754bd8d8 338 }*/
gustavaditya 31:d5cbda07fd95 339 case (10) :
gustavaditya 31:d5cbda07fd95 340 {
gustavaditya 31:d5cbda07fd95 341 // Pneumatik
gustavaditya 31:d5cbda07fd95 342 pneumatik = 0;
gustavaditya 31:d5cbda07fd95 343 previousMillis3 = millis();
gustavaditya 31:d5cbda07fd95 344 flag_Pneu = true;
gustavaditya 31:d5cbda07fd95 345 break;
gustavaditya 31:d5cbda07fd95 346 }
gustavaditya 31:d5cbda07fd95 347 case (11) :
gustavaditya 31:d5cbda07fd95 348 {
gustavaditya 31:d5cbda07fd95 349 // Power Screw Up
rizqicahyo 36:5963c9a49485 350 //powerScrew.speed(pwmPowerUp);
rizqicahyo 36:5963c9a49485 351 ReloadOn = !ReloadOn;
gustavaditya 31:d5cbda07fd95 352 break;
gustavaditya 31:d5cbda07fd95 353 }
gustavaditya 31:d5cbda07fd95 354 case (12) :
gustavaditya 31:d5cbda07fd95 355 {
gustavaditya 31:d5cbda07fd95 356 // Power Screw Down
rizqicahyo 36:5963c9a49485 357 //powerScrew.speed(pwmPowerDown);
gustavaditya 31:d5cbda07fd95 358 break;
gustavaditya 31:d5cbda07fd95 359 }
gustavaditya 31:d5cbda07fd95 360 default :
gustavaditya 31:d5cbda07fd95 361 {
gustavaditya 31:d5cbda07fd95 362 motorDpn.brake(1);
gustavaditya 31:d5cbda07fd95 363 motorBlk.brake(1);
rizqicahyo 36:5963c9a49485 364 // aktuator();
rizqicahyo 36:5963c9a49485 365 /* if (!infraAtas)
be_bryan 27:68efb1622985 366 {
gustavaditya 31:d5cbda07fd95 367 powerScrew.brake(1);
gustavaditya 31:d5cbda07fd95 368 }
gustavaditya 31:d5cbda07fd95 369 if (!limitTengah)
gustavaditya 31:d5cbda07fd95 370 {
gustavaditya 31:d5cbda07fd95 371 case_joy = 12;
gustavaditya 31:d5cbda07fd95 372 aktuator();
gustavaditya 31:d5cbda07fd95 373 }
gustavaditya 31:d5cbda07fd95 374 if (!limitBawah)
Sufa 30:d69cc27ac644 375 {
gustavaditya 31:d5cbda07fd95 376 case_joy = 11;
gustavaditya 31:d5cbda07fd95 377 aktuator();
rizqicahyo 36:5963c9a49485 378 }*/
gustavaditya 31:d5cbda07fd95 379 }
gustavaditya 31:d5cbda07fd95 380 } // End Switch
gustavaditya 31:d5cbda07fd95 381 }
gustavaditya 31:d5cbda07fd95 382
rizqicahyo 36:5963c9a49485 383 void reloader()
rizqicahyo 36:5963c9a49485 384 {
rizqicahyo 36:5963c9a49485 385 if(ReloadOn){
rizqicahyo 36:5963c9a49485 386 if(isReload){
rizqicahyo 36:5963c9a49485 387 powerScrew.speed(pwmPowerDown);
rizqicahyo 36:5963c9a49485 388 if(!limitBawah){
rizqicahyo 36:5963c9a49485 389 isReload = false;
rizqicahyo 36:5963c9a49485 390 ReloadOn = false;
rizqicahyo 36:5963c9a49485 391 }
rizqicahyo 36:5963c9a49485 392 }
rizqicahyo 36:5963c9a49485 393 else if(!limitTengah){
rizqicahyo 36:5963c9a49485 394 isReload = true;
rizqicahyo 36:5963c9a49485 395 }
rizqicahyo 36:5963c9a49485 396 else if(!infraAtas){
rizqicahyo 36:5963c9a49485 397 powerScrew.brake(1);
rizqicahyo 36:5963c9a49485 398 }
rizqicahyo 36:5963c9a49485 399 else{
rizqicahyo 36:5963c9a49485 400 powerScrew.speed(pwmPowerUp);
rizqicahyo 36:5963c9a49485 401 }
rizqicahyo 36:5963c9a49485 402 }
rizqicahyo 36:5963c9a49485 403 else{
rizqicahyo 36:5963c9a49485 404 powerScrew.brake(1);
rizqicahyo 36:5963c9a49485 405 }
rizqicahyo 36:5963c9a49485 406 }
rizqicahyo 36:5963c9a49485 407
rizqicahyo 36:5963c9a49485 408
gustavaditya 31:d5cbda07fd95 409 void launcher()
gustavaditya 31:d5cbda07fd95 410 {
gustavaditya 31:d5cbda07fd95 411 if (isLauncher)
Sufa 30:d69cc27ac644 412 {
be_bryan 28:2d0746dc2d7d 413 currentMillis = millis();
be_bryan 28:2d0746dc2d7d 414 currentMillis2 = millis();
be_bryan 28:2d0746dc2d7d 415
gustavaditya 31:d5cbda07fd95 416 // PID Launcher Depan
gustavaditya 38:3ef6754bd8d8 417 if (currentMillis-previousMillis>=12.5)
be_bryan 26:256160a1a82d 418 {
gustavaditya 31:d5cbda07fd95 419 rpm = (float)encLauncherBlk.getPulses();
be_bryan 26:256160a1a82d 420 current_error = target_rpm - rpm;
be_bryan 26:256160a1a82d 421 sum_error = sum_error + current_error;
be_bryan 26:256160a1a82d 422 p = current_error*kpA;
gustavaditya 38:3ef6754bd8d8 423 d = (current_error-last_error)*kdA/12.5;
gustavaditya 38:3ef6754bd8d8 424 i = sum_error*kiA*12.5;
be_bryan 26:256160a1a82d 425 speed = p + d + i;
gustavaditya 38:3ef6754bd8d8 426 //init_speed();
gustavaditya 38:3ef6754bd8d8 427 if(speed > maxSpeed){
gustavaditya 38:3ef6754bd8d8 428 launcherBlk.speed(maxSpeed);
gustavaditya 38:3ef6754bd8d8 429 }
gustavaditya 38:3ef6754bd8d8 430 else {
gustavaditya 38:3ef6754bd8d8 431 launcherBlk.speed(speed);
gustavaditya 38:3ef6754bd8d8 432 }
be_bryan 26:256160a1a82d 433 last_error = current_error;
gustavaditya 31:d5cbda07fd95 434 encLauncherBlk.reset();
be_bryan 26:256160a1a82d 435 //pc.printf("%.04lf\n",rpm);
be_bryan 26:256160a1a82d 436 previousMillis = currentMillis;
be_bryan 26:256160a1a82d 437 }
gustavaditya 38:3ef6754bd8d8 438 if (currentMillis2-previousMillis2>=12.5)
be_bryan 27:68efb1622985 439 {
gustavaditya 31:d5cbda07fd95 440 rpm2 = (float)encLauncherDpn.getPulses();
be_bryan 27:68efb1622985 441 current_error2 = target_rpm2 - rpm2;
be_bryan 27:68efb1622985 442 sum_error2 = sum_error2 + current_error2;
be_bryan 27:68efb1622985 443 p2 = current_error2*kpA;
gustavaditya 38:3ef6754bd8d8 444 d2 = (current_error2-last_error2)*kdA/12.5;
gustavaditya 38:3ef6754bd8d8 445 i2 = sum_error2*kiA*12.5;
be_bryan 27:68efb1622985 446 speed2 = p2 + d2 + i2;
gustavaditya 38:3ef6754bd8d8 447 //init_speed();
gustavaditya 38:3ef6754bd8d8 448 if (speed2 > maxSpeed){
gustavaditya 38:3ef6754bd8d8 449 launcherDpn.speed(maxSpeed);
gustavaditya 38:3ef6754bd8d8 450 }
gustavaditya 38:3ef6754bd8d8 451 else{
gustavaditya 38:3ef6754bd8d8 452 launcherDpn.speed(speed2);
gustavaditya 38:3ef6754bd8d8 453 }
be_bryan 27:68efb1622985 454 last_error2 = current_error2;
gustavaditya 31:d5cbda07fd95 455 encLauncherDpn.reset();
be_bryan 27:68efb1622985 456 previousMillis2 = currentMillis2;
be_bryan 27:68efb1622985 457 }
rahmadirizki18 6:68293bed71ea 458 }
Sufa 29:7b372b0aaa61 459 else
Sufa 29:7b372b0aaa61 460 {
gustavaditya 31:d5cbda07fd95 461 launcherDpn.brake(1);
gustavaditya 31:d5cbda07fd95 462 launcherBlk.brake(1);
gustavaditya 31:d5cbda07fd95 463 }
rahmadirizki18 5:3aa203218306 464 }
gustavaditya 31:d5cbda07fd95 465
MarchioKevin 22:4632f58461e0 466 /*********************************************************/
MarchioKevin 22:4632f58461e0 467 /* Main Function */
MarchioKevin 22:4632f58461e0 468 /*********************************************************/
calmantara186 16:90119f03c5d1 469
gustavaditya 31:d5cbda07fd95 470 int main (void)
gustavaditya 31:d5cbda07fd95 471 {
gustavaditya 31:d5cbda07fd95 472 // Set baud rate - 115200
fanny868 0:9072e932503c 473 joystick.setup();
rahmadirizki18 23:023b522977b2 474 pc.baud(115200);
rahmadirizki18 6:68293bed71ea 475 wait_ms(1000);
rahmadirizki18 5:3aa203218306 476 setCenter();
rahmadirizki18 5:3aa203218306 477 wait_ms(500);
rahmadirizki18 23:023b522977b2 478 pc.printf("ready....");
gustavaditya 35:69a47b4cb3fc 479 startMillis();
fanny868 0:9072e932503c 480 while(1)
fanny868 0:9072e932503c 481 {
fanny868 0:9072e932503c 482 // Interrupt Serial
calmantara186 16:90119f03c5d1 483 joystick.idle();
gustavaditya 31:d5cbda07fd95 484 if(joystick.readable())
gustavaditya 31:d5cbda07fd95 485 {
fanny868 0:9072e932503c 486 // Panggil fungsi pembacaan joystik
fanny868 0:9072e932503c 487 joystick.baca_data();
fanny868 0:9072e932503c 488 // Panggil fungsi pengolahan data joystik
fanny868 0:9072e932503c 489 joystick.olah_data();
gustavaditya 31:d5cbda07fd95 490 // Masuk ke case joystick
gustavaditya 31:d5cbda07fd95 491 case_joy = case_joystick();
rahmadirizki18 3:1287fccc11be 492 aktuator();
gustavaditya 31:d5cbda07fd95 493 launcher();
rizqicahyo 36:5963c9a49485 494 reloader();
gustavaditya 38:3ef6754bd8d8 495 if ((millis()-previousMillis3 >= 425)&&(flag_Pneu)){
be_bryan 26:256160a1a82d 496 pneumatik = 1;
gustavaditya 31:d5cbda07fd95 497 flag_Pneu = false;
be_bryan 26:256160a1a82d 498 }
be_bryan 26:256160a1a82d 499 }
gustavaditya 31:d5cbda07fd95 500 else
gustavaditya 31:d5cbda07fd95 501 {
gustavaditya 31:d5cbda07fd95 502 joystick.idle();
MarchioKevin 21:da2f3d04468f 503 }
fanny868 0:9072e932503c 504 }
be_bryan 28:2d0746dc2d7d 505 }