KRAI 2017
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@20:54dc93e7b016, 2017-01-28 (annotated)
- Committer:
- MarchioKevin
- Date:
- Sat Jan 28 04:33:39 2017 +0000
- Revision:
- 20:54dc93e7b016
- Parent:
- 19:38f148ce00f0
- Child:
- 21:da2f3d04468f
Mode encoder sumbu X: Perpindahan; Bersih-bersih kodinga wkwk
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| rahmadirizki18 | 5:3aa203218306 | 1 | /****************************************************************************/ |
| rahmadirizki18 | 5:3aa203218306 | 2 | /* PROGRAM UNTUK PID CLOSED LOOP */ |
| rahmadirizki18 | 5:3aa203218306 | 3 | /* */ |
| rahmadirizki18 | 5:3aa203218306 | 4 | /* - Digunakan encoder autonics */ |
| rahmadirizki18 | 5:3aa203218306 | 5 | /* - Konfigurasi Motor dan Encoder sbb : */ |
| rahmadirizki18 | 5:3aa203218306 | 6 | /* _________________ */ |
| rahmadirizki18 | 5:3aa203218306 | 7 | /* | DEPAN | */ |
| rahmadirizki18 | 5:3aa203218306 | 8 | /* | 1. e .2 | Angka ==> Motor */ |
| rahmadirizki18 | 5:3aa203218306 | 9 | /* | ` ` | e ==> Encoder */ |
| rahmadirizki18 | 5:3aa203218306 | 10 | /* | e e | */ |
| rahmadirizki18 | 5:3aa203218306 | 11 | /* | . . | */ |
| rahmadirizki18 | 5:3aa203218306 | 12 | /* | 4` e `3 | */ |
| rahmadirizki18 | 5:3aa203218306 | 13 | /* |________________| */ |
| rahmadirizki18 | 5:3aa203218306 | 14 | /* */ |
| rahmadirizki18 | 5:3aa203218306 | 15 | /* SETTINGS (WAJIB!) : */ |
| rahmadirizki18 | 5:3aa203218306 | 16 | /* 1. Settings Pin Encoder, Resolusi, dan Tipe encoding di omniPos.h */ |
| rahmadirizki18 | 5:3aa203218306 | 17 | /* 2. Deklarasi penggunaan library omniPos pada bagian deklarasi encoder */ |
| rahmadirizki18 | 5:3aa203218306 | 18 | /* */ |
| rahmadirizki18 | 5:3aa203218306 | 19 | /****************************************************************************/ |
| rahmadirizki18 | 6:68293bed71ea | 20 | /* */ |
| MarchioKevin | 20:54dc93e7b016 | 21 | /* Joystick */ |
| MarchioKevin | 20:54dc93e7b016 | 22 | /* Kanan => Posisi target x ditambah 'perpindahan' */ |
| MarchioKevin | 20:54dc93e7b016 | 23 | /* Kiri => Posisi target x dikurang 'perpindahan' */ |
| MarchioKevin | 20:54dc93e7b016 | 24 | /* Atas => Posisi target y ditambah 0.01 */ |
| MarchioKevin | 20:54dc93e7b016 | 25 | /* Bawah => Posisi target y dikurang 0.01 */ |
| rahmadirizki18 | 6:68293bed71ea | 26 | /* */ |
| rahmadirizki18 | 6:68293bed71ea | 27 | /* Tombol silang => Kembali keposisi Awal */ |
| rahmadirizki18 | 6:68293bed71ea | 28 | /* Tombol segitiga => Aktif motor Launcher */ |
| rahmadirizki18 | 13:8ab42383a2ca | 29 | /* Tombol lingkaran=> Aktif servo Launcher */ |
| rahmadirizki18 | 13:8ab42383a2ca | 30 | /* Tombol L3 => PWM Launcher dikurangin */ |
| calmantara186 | 16:90119f03c5d1 | 31 | /* Tombol R3 => PWM Launcher ditambahin */ |
| rahmadirizki18 | 13:8ab42383a2ca | 32 | /* */ |
| calmantara186 | 16:90119f03c5d1 | 33 | /* Bismillahirahmanirrahim */ |
| MarchioKevin | 20:54dc93e7b016 | 34 | /* Jagalah Kebersihan Kodingan */ |
| rahmadirizki18 | 6:68293bed71ea | 35 | /****************************************************************************/ |
| rahmadirizki18 | 6:68293bed71ea | 36 | |
| fanny868 | 0:9072e932503c | 37 | #include "mbed.h" |
| fanny868 | 0:9072e932503c | 38 | #include "JoystickPS3.h" |
| fanny868 | 0:9072e932503c | 39 | #include "Motor.h" |
| rahmadirizki18 | 6:68293bed71ea | 40 | #include "Servo.h" |
| rahmadirizki18 | 5:3aa203218306 | 41 | #include "encoderKRAI.h" |
| rahmadirizki18 | 5:3aa203218306 | 42 | |
| calmantara186 | 16:90119f03c5d1 | 43 | /***********************************************/ |
| calmantara186 | 16:90119f03c5d1 | 44 | /* Konstanta dan Variabel */ |
| calmantara186 | 16:90119f03c5d1 | 45 | /***********************************************/ |
| calmantara186 | 16:90119f03c5d1 | 46 | #define PI 3.14159265 |
| calmantara186 | 16:90119f03c5d1 | 47 | #define D_ENCODER 0.058 |
| calmantara186 | 16:90119f03c5d1 | 48 | #define D_ROBOT 0.64 |
| rahmadirizki18 | 17:e4229d77a5ab | 49 | #define VMAX 0.3 // Maju, Mundur, Kiri Kanan |
| rahmadirizki18 | 17:e4229d77a5ab | 50 | #define SAMPING 0.3 // Saka, Saki, Sbka, Sbki |
| rahmadirizki18 | 17:e4229d77a5ab | 51 | #define PIVOT 0.4 // Pivka, Pivki |
| rahmadirizki18 | 17:e4229d77a5ab | 52 | #define PERPINDAHAN 1 // Perpindahan ke kanan dan kiri |
| rahmadirizki18 | 5:3aa203218306 | 53 | |
| calmantara186 | 16:90119f03c5d1 | 54 | float k_enc = PI*D_ENCODER; |
| calmantara186 | 16:90119f03c5d1 | 55 | float k_robot = PI*D_ROBOT; |
| rahmadirizki18 | 5:3aa203218306 | 56 | |
| calmantara186 | 16:90119f03c5d1 | 57 | float speed1 =0.6; |
| calmantara186 | 16:90119f03c5d1 | 58 | float speed2 =0.6; |
| calmantara186 | 16:90119f03c5d1 | 59 | float speed3 =0.6; |
| calmantara186 | 16:90119f03c5d1 | 60 | float speed4 =0.6; |
| calmantara186 | 16:90119f03c5d1 | 61 | float speedB =0.43; |
| calmantara186 | 16:90119f03c5d1 | 62 | float speedL =0.4; |
| rahmadirizki18 | 5:3aa203218306 | 63 | |
| calmantara186 | 16:90119f03c5d1 | 64 | float kpX=0.5, kpY=0.5, kp_tetha=0.03; |
| calmantara186 | 16:90119f03c5d1 | 65 | |
| calmantara186 | 16:90119f03c5d1 | 66 | /* Deklarasi encoder */ |
| MarchioKevin | 20:54dc93e7b016 | 67 | encoderKRAI encoderDepan( PB_13, PB_14, 2000, encoderKRAI::X2_ENCODING); //inA, inB, pin Indeks (NC = tak ada), resolusi, pembacaan |
| MarchioKevin | 20:54dc93e7b016 | 68 | encoderKRAI encoderBelakang( PC_11, PC_10, 2000, encoderKRAI::X2_ENCODING); //inA, inB, pin Indeks (NC = tak ada), resolusi, pembacaan |
| MarchioKevin | 20:54dc93e7b016 | 69 | encoderKRAI encoderKanan( PC_12, PD_2, 720, encoderKRAI::X2_ENCODING); //inA, inB, pin Indeks (NC = tak ada), resolusi, pembacaan |
| MarchioKevin | 20:54dc93e7b016 | 70 | encoderKRAI encoderKiri( PC_4, PB_15, 2000, encoderKRAI::X2_ENCODING); //inA, inB, pin Indeks (NC = tak ada), resolusi, pembacaan |
| rahmadirizki18 | 15:98f0d56b14f0 | 71 | |
| calmantara186 | 16:90119f03c5d1 | 72 | /* Deklarasi Motor Base */ |
| MarchioKevin | 20:54dc93e7b016 | 73 | Motor motor1(PB_7, PA_14, PA_15); // pwm, fwd, rev |
| MarchioKevin | 20:54dc93e7b016 | 74 | Motor motor2(PB_8, PA_13, PB_0); // pwm, fwd, rev |
| MarchioKevin | 20:54dc93e7b016 | 75 | Motor motor3(PB_9, PA_12, PC_5); // pwm, fwd, rev |
| MarchioKevin | 20:54dc93e7b016 | 76 | Motor motor4(PB_6, PB_1, PB_12); // pwm, fwd, rev |
| fanny868 | 0:9072e932503c | 77 | |
| calmantara186 | 16:90119f03c5d1 | 78 | /* Deklarasi Motor Launcher */ |
| MarchioKevin | 20:54dc93e7b016 | 79 | Motor motorld(PA_8, PC_1, PC_2); // pwm, fwd, rev |
| MarchioKevin | 20:54dc93e7b016 | 80 | Motor motorlb(PA_9, PA_4, PC_15 ); // pwm, fwd, rev |
| rahmadirizki18 | 5:3aa203218306 | 81 | |
| calmantara186 | 16:90119f03c5d1 | 82 | /* Deklarasi Servo Launcher */ |
| rahmadirizki18 | 14:6d389e99981c | 83 | Servo servoS(PB_2); |
| rahmadirizki18 | 14:6d389e99981c | 84 | Servo servoB(PA_5); |
| rahmadirizki18 | 6:68293bed71ea | 85 | |
| calmantara186 | 16:90119f03c5d1 | 86 | /** |
| calmantara186 | 16:90119f03c5d1 | 87 | * posX dan posY berdasarkan arah robot |
| calmantara186 | 16:90119f03c5d1 | 88 | * encoder Depan & Belakang sejajar sumbu Y |
| calmantara186 | 16:90119f03c5d1 | 89 | * encoder Kanan & Kiri sejajar sumbu X |
| calmantara186 | 16:90119f03c5d1 | 90 | **/ |
| rahmadirizki18 | 5:3aa203218306 | 91 | |
| calmantara186 | 16:90119f03c5d1 | 92 | /* Variabel Encoder */ |
| MarchioKevin | 20:54dc93e7b016 | 93 | float jarak, posX, posY; // |
| calmantara186 | 16:90119f03c5d1 | 94 | float XT, YT, Tetha; // Jarak Target Robot |
| calmantara186 | 16:90119f03c5d1 | 95 | float errX, errY, errT, Vt, Vx, Vy; // Variabel yang didapatkan encoder |
| calmantara186 | 16:90119f03c5d1 | 96 | float v1, v2, v3, v4; // Variabel kecepatan motor dari encoder |
| rahmadirizki18 | 5:3aa203218306 | 97 | |
| calmantara186 | 16:90119f03c5d1 | 98 | /* Fungsi dan Procedur Encoder */ |
| calmantara186 | 16:90119f03c5d1 | 99 | void setCenter(); // Fungsi reset agar robot di tengah |
| MarchioKevin | 20:54dc93e7b016 | 100 | float getY(); // Fungsi mendapatkan jarak Y |
| MarchioKevin | 20:54dc93e7b016 | 101 | float getX(); // Fungsi mendapatkan jarak X |
| MarchioKevin | 20:54dc93e7b016 | 102 | float getTetha(); // Fungsi mendapatkan jarak Tetha |
| calmantara186 | 16:90119f03c5d1 | 103 | |
| calmantara186 | 16:90119f03c5d1 | 104 | /* Inisialisasi Pin TX-RX Joystik dan PC */ |
| rahmadirizki18 | 3:1287fccc11be | 105 | joysticknucleo joystick(PA_0,PA_1); |
| fanny868 | 0:9072e932503c | 106 | |
| calmantara186 | 16:90119f03c5d1 | 107 | /* Variabel Stick */ |
| fanny868 | 0:9072e932503c | 108 | char case_ger; |
| rahmadirizki18 | 18:1da121ddb7c1 | 109 | bool launcher = false, servoGo = false, manual = true; |
| rahmadirizki18 | 18:1da121ddb7c1 | 110 | int caseSebelum; |
| fanny868 | 0:9072e932503c | 111 | |
| calmantara186 | 16:90119f03c5d1 | 112 | /***********************************************/ |
| calmantara186 | 16:90119f03c5d1 | 113 | /* Deklarasi Fungsi dan Procedure */ |
| calmantara186 | 16:90119f03c5d1 | 114 | /***********************************************/ |
| calmantara186 | 16:90119f03c5d1 | 115 | int case_gerak(){ |
| calmantara186 | 16:90119f03c5d1 | 116 | /***************************************************** |
| calmantara186 | 16:90119f03c5d1 | 117 | ** Gerak Motor Base |
| calmantara186 | 16:90119f03c5d1 | 118 | ** Case 1 : Pivot kanan |
| calmantara186 | 16:90119f03c5d1 | 119 | ** Case 2 : Pivot Kiri |
| calmantara186 | 16:90119f03c5d1 | 120 | ** Case 3 : Maju |
| calmantara186 | 16:90119f03c5d1 | 121 | ** Case 4 : Mundur |
| calmantara186 | 16:90119f03c5d1 | 122 | ** Case 5 : Serong Atas Kanan |
| calmantara186 | 16:90119f03c5d1 | 123 | ** Case 6 : Serong Bawah Kanan |
| calmantara186 | 16:90119f03c5d1 | 124 | ** Case 7 : Serong Atas Kiri |
| calmantara186 | 16:90119f03c5d1 | 125 | ** Case 8 : Serong Bawah Kiri |
| calmantara186 | 16:90119f03c5d1 | 126 | ** Case 9 : Kanan |
| calmantara186 | 16:90119f03c5d1 | 127 | ** Case 10 : Kiri |
| calmantara186 | 16:90119f03c5d1 | 128 | ** Case 12 : break |
| calmantara186 | 16:90119f03c5d1 | 129 | ****************************************************/ |
| fanny868 | 0:9072e932503c | 130 | int casegerak; |
| calmantara186 | 16:90119f03c5d1 | 131 | if (!joystick.L1 && joystick.R1) { |
| fanny868 | 0:9072e932503c | 132 | // Pivot Kanan |
| fanny868 | 0:9072e932503c | 133 | casegerak = 1; |
| calmantara186 | 16:90119f03c5d1 | 134 | } |
| calmantara186 | 16:90119f03c5d1 | 135 | else if (!joystick.R1 && joystick.L1) { |
| fanny868 | 0:9072e932503c | 136 | // Pivot Kiri |
| fanny868 | 0:9072e932503c | 137 | casegerak = 2; |
| calmantara186 | 16:90119f03c5d1 | 138 | } |
| calmantara186 | 16:90119f03c5d1 | 139 | else if ((!joystick.R1)&&(!joystick.L1)&&(joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) { |
| fanny868 | 0:9072e932503c | 140 | // Maju |
| rahmadirizki18 | 3:1287fccc11be | 141 | casegerak = 3; |
| calmantara186 | 16:90119f03c5d1 | 142 | } |
| calmantara186 | 16:90119f03c5d1 | 143 | else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) { |
| fanny868 | 0:9072e932503c | 144 | // Mundur |
| fanny868 | 0:9072e932503c | 145 | casegerak = 4; |
| calmantara186 | 16:90119f03c5d1 | 146 | } |
| calmantara186 | 16:90119f03c5d1 | 147 | else if ((!joystick.R1)&&(!joystick.L1)&&(joystick.atas)&&(!joystick.bawah)&&(!joystick.kiri)&&(joystick.kanan)) { |
| fanny868 | 0:9072e932503c | 148 | // Serong Atas Kanan |
| fanny868 | 0:9072e932503c | 149 | casegerak = 5; |
| calmantara186 | 16:90119f03c5d1 | 150 | } |
| calmantara186 | 16:90119f03c5d1 | 151 | else if((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(joystick.bawah)&&(!joystick.kiri)&&(joystick.kanan)) { |
| fanny868 | 0:9072e932503c | 152 | // Serong Bawah Kanan |
| fanny868 | 0:9072e932503c | 153 | casegerak = 6; |
| calmantara186 | 16:90119f03c5d1 | 154 | } |
| calmantara186 | 16:90119f03c5d1 | 155 | else if ((!joystick.R1)&&(!joystick.L1)&&(joystick.atas)&&(!joystick.bawah)&&(joystick.kiri)&&(!joystick.kanan)) { |
| fanny868 | 0:9072e932503c | 156 | // Serong Atas Kiri |
| fanny868 | 0:9072e932503c | 157 | casegerak = 7; |
| calmantara186 | 16:90119f03c5d1 | 158 | } |
| calmantara186 | 16:90119f03c5d1 | 159 | else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(joystick.bawah)&&(joystick.kiri)&&(!joystick.kanan)) { |
| fanny868 | 0:9072e932503c | 160 | // Serong Bawah Kiri |
| fanny868 | 0:9072e932503c | 161 | casegerak = 8; |
| calmantara186 | 16:90119f03c5d1 | 162 | } |
| calmantara186 | 16:90119f03c5d1 | 163 | else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri)) { |
| fanny868 | 0:9072e932503c | 164 | // Kanan |
| fanny868 | 0:9072e932503c | 165 | casegerak = 9; |
| calmantara186 | 16:90119f03c5d1 | 166 | } |
| calmantara186 | 16:90119f03c5d1 | 167 | else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)) { |
| fanny868 | 0:9072e932503c | 168 | // Kiri |
| rahmadirizki18 | 18:1da121ddb7c1 | 169 | casegerak = 10; |
| calmantara186 | 16:90119f03c5d1 | 170 | } |
| calmantara186 | 16:90119f03c5d1 | 171 | else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) { |
| calmantara186 | 16:90119f03c5d1 | 172 | casegerak = 12; |
| calmantara186 | 16:90119f03c5d1 | 173 | } |
| fanny868 | 0:9072e932503c | 174 | return(casegerak); |
| fanny868 | 0:9072e932503c | 175 | } |
| fanny868 | 0:9072e932503c | 176 | |
| calmantara186 | 16:90119f03c5d1 | 177 | void aktuator(){ |
| calmantara186 | 16:90119f03c5d1 | 178 | /* Fungsi untuk menggerakkan servo */ |
| calmantara186 | 16:90119f03c5d1 | 179 | // Servo |
| calmantara186 | 16:90119f03c5d1 | 180 | if (servoGo){ |
| franshendri | 12:e07c59c28c29 | 181 | servoS.position(20); |
| franshendri | 10:f0f0dc3904e0 | 182 | wait_ms(500); |
| franshendri | 12:e07c59c28c29 | 183 | servoS.position(-28); |
| Joshua23 | 8:0711dea61312 | 184 | wait_ms(500); |
| franshendri | 12:e07c59c28c29 | 185 | servoS.position(20); |
| Joshua23 | 8:0711dea61312 | 186 | wait_ms(500); |
| franshendri | 12:e07c59c28c29 | 187 | for (int i = -0; i<=70; i++){ |
| Joshua23 | 8:0711dea61312 | 188 | servoB.position(i); |
| Joshua23 | 8:0711dea61312 | 189 | wait_ms(10); |
| Joshua23 | 8:0711dea61312 | 190 | } |
| Joshua23 | 8:0711dea61312 | 191 | wait_ms(500); |
| Joshua23 | 8:0711dea61312 | 192 | servoB.position(0); |
| calmantara186 | 16:90119f03c5d1 | 193 | servoGo = false; |
| calmantara186 | 16:90119f03c5d1 | 194 | } |
| calmantara186 | 16:90119f03c5d1 | 195 | else{ |
| franshendri | 12:e07c59c28c29 | 196 | servoS.position(20); |
| rahmadirizki18 | 6:68293bed71ea | 197 | servoB.position(0); |
| rahmadirizki18 | 7:d138c56dab20 | 198 | } |
| rahmadirizki18 | 6:68293bed71ea | 199 | |
| rahmadirizki18 | 6:68293bed71ea | 200 | // Motor Atas |
| calmantara186 | 16:90119f03c5d1 | 201 | if (launcher) { |
| rahmadirizki18 | 7:d138c56dab20 | 202 | motorld.speed(speedL); |
| franshendri | 12:e07c59c28c29 | 203 | motorlb.speed(speedB); |
| rahmadirizki18 | 6:68293bed71ea | 204 | }else{ |
| rahmadirizki18 | 6:68293bed71ea | 205 | motorld.speed(0); |
| rahmadirizki18 | 6:68293bed71ea | 206 | motorlb.speed(0); |
| rahmadirizki18 | 6:68293bed71ea | 207 | } |
| rahmadirizki18 | 6:68293bed71ea | 208 | |
| rahmadirizki18 | 6:68293bed71ea | 209 | // MOTOR Bawah |
| rahmadirizki18 | 17:e4229d77a5ab | 210 | if (manual) { |
| rahmadirizki18 | 17:e4229d77a5ab | 211 | // Mode Manual |
| rahmadirizki18 | 17:e4229d77a5ab | 212 | switch (case_ger) { |
| rahmadirizki18 | 17:e4229d77a5ab | 213 | case (1): { |
| rahmadirizki18 | 17:e4229d77a5ab | 214 | // Pivot Kanan |
| rahmadirizki18 | 17:e4229d77a5ab | 215 | motor1.speed(-PIVOT); |
| rahmadirizki18 | 17:e4229d77a5ab | 216 | motor2.speed(-PIVOT); |
| rahmadirizki18 | 17:e4229d77a5ab | 217 | motor3.speed(-PIVOT); |
| rahmadirizki18 | 17:e4229d77a5ab | 218 | motor4.speed(-PIVOT); |
| fanny868 | 0:9072e932503c | 219 | break; |
| rahmadirizki18 | 17:e4229d77a5ab | 220 | } |
| rahmadirizki18 | 17:e4229d77a5ab | 221 | case (2): { |
| rahmadirizki18 | 17:e4229d77a5ab | 222 | // Pivot Kiri |
| rahmadirizki18 | 17:e4229d77a5ab | 223 | motor1.speed(PIVOT); |
| rahmadirizki18 | 17:e4229d77a5ab | 224 | motor2.speed(PIVOT); |
| rahmadirizki18 | 17:e4229d77a5ab | 225 | motor3.speed(PIVOT); |
| rahmadirizki18 | 17:e4229d77a5ab | 226 | motor4.speed(PIVOT); |
| rahmadirizki18 | 17:e4229d77a5ab | 227 | break; |
| rahmadirizki18 | 17:e4229d77a5ab | 228 | } |
| rahmadirizki18 | 17:e4229d77a5ab | 229 | case (3): { |
| rahmadirizki18 | 17:e4229d77a5ab | 230 | // Maju |
| rahmadirizki18 | 17:e4229d77a5ab | 231 | motor1.speed(-VMAX); |
| rahmadirizki18 | 17:e4229d77a5ab | 232 | motor2.speed(VMAX); |
| rahmadirizki18 | 17:e4229d77a5ab | 233 | motor3.speed(VMAX); |
| rahmadirizki18 | 17:e4229d77a5ab | 234 | motor4.speed(-VMAX); |
| fanny868 | 0:9072e932503c | 235 | break; |
| fanny868 | 0:9072e932503c | 236 | } |
| rahmadirizki18 | 17:e4229d77a5ab | 237 | case (4): { |
| rahmadirizki18 | 17:e4229d77a5ab | 238 | // Mundur |
| rahmadirizki18 | 17:e4229d77a5ab | 239 | motor1.speed(VMAX); |
| rahmadirizki18 | 17:e4229d77a5ab | 240 | motor2.speed(-VMAX); |
| rahmadirizki18 | 17:e4229d77a5ab | 241 | motor3.speed(-VMAX); |
| rahmadirizki18 | 17:e4229d77a5ab | 242 | motor4.speed(VMAX); |
| rahmadirizki18 | 17:e4229d77a5ab | 243 | break; |
| rahmadirizki18 | 17:e4229d77a5ab | 244 | } |
| rahmadirizki18 | 17:e4229d77a5ab | 245 | case (5) : { |
| rahmadirizki18 | 17:e4229d77a5ab | 246 | // Samping Atas Kanan |
| rahmadirizki18 | 17:e4229d77a5ab | 247 | motor1.speed(-SAMPING); |
| rahmadirizki18 | 17:e4229d77a5ab | 248 | motor2.brake(1); |
| rahmadirizki18 | 17:e4229d77a5ab | 249 | motor3.speed(SAMPING); |
| rahmadirizki18 | 17:e4229d77a5ab | 250 | motor4.brake(1); |
| fanny868 | 0:9072e932503c | 251 | break; |
| fanny868 | 0:9072e932503c | 252 | } |
| rahmadirizki18 | 17:e4229d77a5ab | 253 | case (6) : { |
| rahmadirizki18 | 17:e4229d77a5ab | 254 | // Samping Bawah Kanan |
| rahmadirizki18 | 17:e4229d77a5ab | 255 | motor1.brake(1); |
| rahmadirizki18 | 17:e4229d77a5ab | 256 | motor2.speed(-SAMPING); |
| rahmadirizki18 | 17:e4229d77a5ab | 257 | motor3.brake(1); |
| rahmadirizki18 | 17:e4229d77a5ab | 258 | motor4.speed(SAMPING); |
| fanny868 | 0:9072e932503c | 259 | break; |
| fanny868 | 0:9072e932503c | 260 | } |
| rahmadirizki18 | 17:e4229d77a5ab | 261 | case (7) : { |
| rahmadirizki18 | 17:e4229d77a5ab | 262 | // Samping Atas Kiri |
| rahmadirizki18 | 17:e4229d77a5ab | 263 | motor1.brake(1); |
| rahmadirizki18 | 17:e4229d77a5ab | 264 | motor2.speed(SAMPING); |
| rahmadirizki18 | 17:e4229d77a5ab | 265 | motor3.brake(1); |
| rahmadirizki18 | 17:e4229d77a5ab | 266 | motor4.speed(-SAMPING); |
| rahmadirizki18 | 17:e4229d77a5ab | 267 | break; |
| rahmadirizki18 | 17:e4229d77a5ab | 268 | } |
| rahmadirizki18 | 17:e4229d77a5ab | 269 | case (8) : { |
| rahmadirizki18 | 17:e4229d77a5ab | 270 | // Samping Bawah Kiri |
| rahmadirizki18 | 17:e4229d77a5ab | 271 | motor1.speed(SAMPING); |
| rahmadirizki18 | 17:e4229d77a5ab | 272 | motor2.brake(1); |
| rahmadirizki18 | 17:e4229d77a5ab | 273 | motor3.speed(-SAMPING); |
| rahmadirizki18 | 17:e4229d77a5ab | 274 | motor4.brake(1); |
| fanny868 | 0:9072e932503c | 275 | break; |
| fanny868 | 0:9072e932503c | 276 | } |
| rahmadirizki18 | 17:e4229d77a5ab | 277 | case (9) : { |
| rahmadirizki18 | 17:e4229d77a5ab | 278 | // Kanan |
| rahmadirizki18 | 17:e4229d77a5ab | 279 | motor1.speed(-VMAX); |
| rahmadirizki18 | 17:e4229d77a5ab | 280 | motor2.speed(-VMAX); |
| rahmadirizki18 | 17:e4229d77a5ab | 281 | motor3.speed(VMAX); |
| rahmadirizki18 | 17:e4229d77a5ab | 282 | motor4.speed(VMAX); |
| fanny868 | 0:9072e932503c | 283 | break; |
| fanny868 | 0:9072e932503c | 284 | } |
| rahmadirizki18 | 17:e4229d77a5ab | 285 | case (10) : { |
| rahmadirizki18 | 17:e4229d77a5ab | 286 | // Kiri |
| rahmadirizki18 | 17:e4229d77a5ab | 287 | motor1.speed(VMAX); |
| rahmadirizki18 | 17:e4229d77a5ab | 288 | motor2.speed(VMAX); |
| rahmadirizki18 | 17:e4229d77a5ab | 289 | motor3.speed(-VMAX); |
| rahmadirizki18 | 17:e4229d77a5ab | 290 | motor4.speed(-VMAX); |
| fanny868 | 0:9072e932503c | 291 | break; |
| rahmadirizki18 | 17:e4229d77a5ab | 292 | } |
| rahmadirizki18 | 17:e4229d77a5ab | 293 | default : { |
| rahmadirizki18 | 17:e4229d77a5ab | 294 | motor1.brake(1); |
| rahmadirizki18 | 17:e4229d77a5ab | 295 | motor2.brake(1); |
| rahmadirizki18 | 17:e4229d77a5ab | 296 | motor3.brake(1); |
| rahmadirizki18 | 17:e4229d77a5ab | 297 | motor4.brake(1); |
| rahmadirizki18 | 17:e4229d77a5ab | 298 | } |
| rahmadirizki18 | 17:e4229d77a5ab | 299 | } // End Switch |
| rahmadirizki18 | 17:e4229d77a5ab | 300 | } else { |
| MarchioKevin | 20:54dc93e7b016 | 301 | // Mode Encoder |
| rahmadirizki18 | 17:e4229d77a5ab | 302 | switch (case_ger) { |
| rahmadirizki18 | 17:e4229d77a5ab | 303 | case (1):{ |
| rahmadirizki18 | 17:e4229d77a5ab | 304 | Tetha = Tetha - 0.05; |
| rahmadirizki18 | 17:e4229d77a5ab | 305 | break; |
| rahmadirizki18 | 17:e4229d77a5ab | 306 | } |
| rahmadirizki18 | 17:e4229d77a5ab | 307 | case (2):{ |
| rahmadirizki18 | 17:e4229d77a5ab | 308 | Tetha = Tetha + 0.05; |
| rahmadirizki18 | 17:e4229d77a5ab | 309 | break; |
| rahmadirizki18 | 17:e4229d77a5ab | 310 | } |
| rahmadirizki18 | 17:e4229d77a5ab | 311 | case (3):{ |
| rahmadirizki18 | 17:e4229d77a5ab | 312 | YT = YT + 0.01; |
| rahmadirizki18 | 17:e4229d77a5ab | 313 | break; |
| rahmadirizki18 | 17:e4229d77a5ab | 314 | } |
| rahmadirizki18 | 17:e4229d77a5ab | 315 | case (4):{ |
| rahmadirizki18 | 17:e4229d77a5ab | 316 | YT = YT - 0.01; |
| rahmadirizki18 | 17:e4229d77a5ab | 317 | break; |
| rahmadirizki18 | 17:e4229d77a5ab | 318 | } |
| rahmadirizki18 | 17:e4229d77a5ab | 319 | case (5) :{ |
| rahmadirizki18 | 17:e4229d77a5ab | 320 | XT = XT + 0.01; |
| rahmadirizki18 | 17:e4229d77a5ab | 321 | YT = YT + 0.01; |
| rahmadirizki18 | 17:e4229d77a5ab | 322 | break; |
| rahmadirizki18 | 17:e4229d77a5ab | 323 | } |
| rahmadirizki18 | 17:e4229d77a5ab | 324 | case (6) :{ |
| rahmadirizki18 | 17:e4229d77a5ab | 325 | XT = XT + 0.01; |
| rahmadirizki18 | 17:e4229d77a5ab | 326 | YT = YT - 0.01; |
| rahmadirizki18 | 17:e4229d77a5ab | 327 | break; |
| rahmadirizki18 | 17:e4229d77a5ab | 328 | } |
| rahmadirizki18 | 17:e4229d77a5ab | 329 | case (7) :{ |
| rahmadirizki18 | 17:e4229d77a5ab | 330 | XT = XT - 0.01; |
| rahmadirizki18 | 17:e4229d77a5ab | 331 | YT = YT + 0.01; |
| rahmadirizki18 | 17:e4229d77a5ab | 332 | break; |
| rahmadirizki18 | 17:e4229d77a5ab | 333 | } |
| rahmadirizki18 | 17:e4229d77a5ab | 334 | case (8) :{ |
| rahmadirizki18 | 17:e4229d77a5ab | 335 | XT = XT - 0.01; |
| rahmadirizki18 | 17:e4229d77a5ab | 336 | YT = YT - 0.01; |
| rahmadirizki18 | 17:e4229d77a5ab | 337 | break; |
| rahmadirizki18 | 17:e4229d77a5ab | 338 | } |
| rahmadirizki18 | 17:e4229d77a5ab | 339 | case (9) :{ |
| rahmadirizki18 | 17:e4229d77a5ab | 340 | // Kanan |
| rahmadirizki18 | 19:38f148ce00f0 | 341 | if (case_ger != caseSebelum) XT = XT + PERPINDAHAN; |
| rahmadirizki18 | 3:1287fccc11be | 342 | break; |
| rahmadirizki18 | 17:e4229d77a5ab | 343 | } |
| rahmadirizki18 | 17:e4229d77a5ab | 344 | case (10) :{ |
| rahmadirizki18 | 17:e4229d77a5ab | 345 | // Kiri |
| rahmadirizki18 | 19:38f148ce00f0 | 346 | if (case_ger != caseSebelum) XT = XT - PERPINDAHAN; |
| rahmadirizki18 | 17:e4229d77a5ab | 347 | break; |
| rahmadirizki18 | 17:e4229d77a5ab | 348 | } |
| rahmadirizki18 | 17:e4229d77a5ab | 349 | default :{} |
| MarchioKevin | 20:54dc93e7b016 | 350 | } // End of Switch |
| rahmadirizki18 | 18:1da121ddb7c1 | 351 | caseSebelum = case_ger; |
| rahmadirizki18 | 17:e4229d77a5ab | 352 | } |
| rahmadirizki18 | 5:3aa203218306 | 353 | } |
| rahmadirizki18 | 5:3aa203218306 | 354 | |
| calmantara186 | 16:90119f03c5d1 | 355 | void setCenter(){ |
| calmantara186 | 16:90119f03c5d1 | 356 | /* Fungsi untuk menentukan center dari robot */ |
| rahmadirizki18 | 5:3aa203218306 | 357 | encoderDepan.reset(); |
| rahmadirizki18 | 5:3aa203218306 | 358 | encoderBelakang.reset(); |
| rahmadirizki18 | 5:3aa203218306 | 359 | encoderKanan.reset(); |
| rahmadirizki18 | 5:3aa203218306 | 360 | encoderKiri.reset(); |
| rahmadirizki18 | 5:3aa203218306 | 361 | } |
| rahmadirizki18 | 5:3aa203218306 | 362 | |
| calmantara186 | 16:90119f03c5d1 | 363 | float getX(){ |
| calmantara186 | 16:90119f03c5d1 | 364 | /* Fungsi untuk mendapatkan jarak X */ |
| rahmadirizki18 | 5:3aa203218306 | 365 | float jarakEncDpn, jarakEncBlk; |
| calmantara186 | 16:90119f03c5d1 | 366 | jarakEncDpn = (encoderDepan.getPulses())/(float)(2000.0)*k_enc; |
| calmantara186 | 16:90119f03c5d1 | 367 | jarakEncBlk = (encoderBelakang.getPulses())/(float)(2000.0)*k_enc; |
| rahmadirizki18 | 5:3aa203218306 | 368 | return (jarakEncDpn-jarakEncBlk)/2; |
| rahmadirizki18 | 5:3aa203218306 | 369 | } |
| rahmadirizki18 | 5:3aa203218306 | 370 | |
| calmantara186 | 16:90119f03c5d1 | 371 | float getY(){ |
| calmantara186 | 16:90119f03c5d1 | 372 | /* Fungsi untuk mendapatkan jarak Y */ |
| rahmadirizki18 | 5:3aa203218306 | 373 | float jarakEncKir, jarakEncKan; |
| calmantara186 | 16:90119f03c5d1 | 374 | jarakEncKir = (encoderKiri.getPulses())/(float)(2000.0)*k_enc; |
| calmantara186 | 16:90119f03c5d1 | 375 | jarakEncKan = (encoderKanan.getPulses())/(float)(720.0)*k_enc; |
| rahmadirizki18 | 5:3aa203218306 | 376 | return (jarakEncKir-jarakEncKan)/2; |
| rahmadirizki18 | 5:3aa203218306 | 377 | } |
| rahmadirizki18 | 5:3aa203218306 | 378 | |
| calmantara186 | 16:90119f03c5d1 | 379 | float getTetha(){ |
| calmantara186 | 16:90119f03c5d1 | 380 | /* Fungsi untuk mendapatkan nilai tetha */ |
| rahmadirizki18 | 5:3aa203218306 | 381 | float busurDpn, busurBlk, busurKir, busurKan; |
| calmantara186 | 16:90119f03c5d1 | 382 | busurDpn = ((encoderDepan.getPulses())/(float)(2000.0)*k_enc)/k_robot*360.0; |
| calmantara186 | 16:90119f03c5d1 | 383 | busurBlk = ((encoderBelakang.getPulses())/(float)(2000.0)*k_enc)/k_robot*360.0; |
| calmantara186 | 16:90119f03c5d1 | 384 | busurKir = ((encoderKiri.getPulses())/(float)(2000.0)*k_enc)/k_robot*360.0; |
| calmantara186 | 16:90119f03c5d1 | 385 | busurKan = ((encoderKanan.getPulses())/(float)(720.0)*k_enc)/k_robot*360.0; |
| rahmadirizki18 | 5:3aa203218306 | 386 | |
| rahmadirizki18 | 5:3aa203218306 | 387 | return -(busurDpn+busurBlk+busurKir+busurKan)/4; |
| fanny868 | 0:9072e932503c | 388 | } |
| fanny868 | 0:9072e932503c | 389 | |
| calmantara186 | 16:90119f03c5d1 | 390 | void gotoXYT(float xa, float ya, float Ta){ |
| calmantara186 | 16:90119f03c5d1 | 391 | /* Fungsi untuk bergerat ke target */ |
| calmantara186 | 16:90119f03c5d1 | 392 | errX = xa-getX(); |
| calmantara186 | 16:90119f03c5d1 | 393 | Vx = kpX*errX; |
| calmantara186 | 16:90119f03c5d1 | 394 | |
| calmantara186 | 16:90119f03c5d1 | 395 | errY = ya-getY(); |
| calmantara186 | 16:90119f03c5d1 | 396 | Vy = kpY*errY; |
| calmantara186 | 16:90119f03c5d1 | 397 | |
| calmantara186 | 16:90119f03c5d1 | 398 | errT = Ta-getTetha(); |
| calmantara186 | 16:90119f03c5d1 | 399 | Vt = kp_tetha*errT; |
| calmantara186 | 16:90119f03c5d1 | 400 | |
| calmantara186 | 16:90119f03c5d1 | 401 | v1 = Vx+Vy-Vt; |
| calmantara186 | 16:90119f03c5d1 | 402 | v2 = Vx-Vy-Vt; |
| calmantara186 | 16:90119f03c5d1 | 403 | v3 = -Vx-Vy-Vt; |
| calmantara186 | 16:90119f03c5d1 | 404 | v4 = -Vx+Vy-Vt; |
| calmantara186 | 16:90119f03c5d1 | 405 | |
| calmantara186 | 16:90119f03c5d1 | 406 | if (v1>speed1) |
| calmantara186 | 16:90119f03c5d1 | 407 | { v1 = speed1; } |
| calmantara186 | 16:90119f03c5d1 | 408 | else if (v1<-speed1) |
| calmantara186 | 16:90119f03c5d1 | 409 | { v1 = -speed1; } |
| calmantara186 | 16:90119f03c5d1 | 410 | |
| calmantara186 | 16:90119f03c5d1 | 411 | if (v2>speed2) |
| calmantara186 | 16:90119f03c5d1 | 412 | { v2 = speed2; } |
| calmantara186 | 16:90119f03c5d1 | 413 | else if (v2<-speed2) |
| calmantara186 | 16:90119f03c5d1 | 414 | { v2 = -speed2; } |
| calmantara186 | 16:90119f03c5d1 | 415 | |
| calmantara186 | 16:90119f03c5d1 | 416 | if (v3>speed3) |
| calmantara186 | 16:90119f03c5d1 | 417 | { v3 = speed3; } |
| calmantara186 | 16:90119f03c5d1 | 418 | else if (v3<-speed3) |
| calmantara186 | 16:90119f03c5d1 | 419 | { v3 = -speed3; } |
| calmantara186 | 16:90119f03c5d1 | 420 | |
| calmantara186 | 16:90119f03c5d1 | 421 | if (v4>speed4) |
| calmantara186 | 16:90119f03c5d1 | 422 | { v4 = speed4; } |
| calmantara186 | 16:90119f03c5d1 | 423 | else if (v4<-speed4) |
| calmantara186 | 16:90119f03c5d1 | 424 | { v4 = -speed4; } |
| calmantara186 | 16:90119f03c5d1 | 425 | |
| calmantara186 | 16:90119f03c5d1 | 426 | if (((errX > 0.05) || (errX<-0.05)) || ((errY > 0.05) || (errY<-0.05)) || ((errT > 0.05) || (errT<-0.05))){ |
| calmantara186 | 16:90119f03c5d1 | 427 | motor1.speed(v1); |
| calmantara186 | 16:90119f03c5d1 | 428 | motor2.speed(v2); |
| calmantara186 | 16:90119f03c5d1 | 429 | motor3.speed(v3); |
| calmantara186 | 16:90119f03c5d1 | 430 | motor4.speed(v4); |
| calmantara186 | 16:90119f03c5d1 | 431 | } |
| calmantara186 | 16:90119f03c5d1 | 432 | else{ |
| calmantara186 | 16:90119f03c5d1 | 433 | motor1.brake(1); |
| calmantara186 | 16:90119f03c5d1 | 434 | motor2.brake(1); |
| calmantara186 | 16:90119f03c5d1 | 435 | motor3.brake(1); |
| calmantara186 | 16:90119f03c5d1 | 436 | motor4.brake(1); |
| calmantara186 | 16:90119f03c5d1 | 437 | } |
| calmantara186 | 16:90119f03c5d1 | 438 | } |
| rahmadirizki18 | 5:3aa203218306 | 439 | |
| calmantara186 | 16:90119f03c5d1 | 440 | void speedLauncher(){ |
| calmantara186 | 16:90119f03c5d1 | 441 | /* Fungsi untuk speed launcher */ |
| franshendri | 12:e07c59c28c29 | 442 | if (joystick.R3_click and speedL < 0.8){ |
| calmantara186 | 16:90119f03c5d1 | 443 | speedL = speedL + 0.01; |
| calmantara186 | 16:90119f03c5d1 | 444 | } |
| rahmadirizki18 | 7:d138c56dab20 | 445 | if (joystick.L3_click and speedL > 0.1){ |
| calmantara186 | 16:90119f03c5d1 | 446 | speedL = speedL - 0.01; |
| calmantara186 | 16:90119f03c5d1 | 447 | } |
| rahmadirizki18 | 13:8ab42383a2ca | 448 | if (joystick.R2_click and speedB < 0.8 ){ |
| calmantara186 | 16:90119f03c5d1 | 449 | speedB = speedB + 0.01; |
| calmantara186 | 16:90119f03c5d1 | 450 | } |
| rahmadirizki18 | 13:8ab42383a2ca | 451 | if (joystick.L2_click and speedB > 0.1 ){ |
| calmantara186 | 16:90119f03c5d1 | 452 | speedB = speedB - 0.01; |
| calmantara186 | 16:90119f03c5d1 | 453 | } |
| rahmadirizki18 | 7:d138c56dab20 | 454 | } |
| franshendri | 12:e07c59c28c29 | 455 | |
| calmantara186 | 16:90119f03c5d1 | 456 | /***********************************************/ |
| calmantara186 | 16:90119f03c5d1 | 457 | /* Main Function */ |
| calmantara186 | 16:90119f03c5d1 | 458 | /***********************************************/ |
| calmantara186 | 16:90119f03c5d1 | 459 | |
| calmantara186 | 16:90119f03c5d1 | 460 | int main (void){ |
| calmantara186 | 16:90119f03c5d1 | 461 | /* Set baud rate - 115200 */ |
| fanny868 | 0:9072e932503c | 462 | joystick.setup(); |
| rahmadirizki18 | 6:68293bed71ea | 463 | wait_ms(1000); |
| rahmadirizki18 | 5:3aa203218306 | 464 | setCenter(); |
| rahmadirizki18 | 5:3aa203218306 | 465 | wait_ms(500); |
| rahmadirizki18 | 5:3aa203218306 | 466 | |
| calmantara186 | 16:90119f03c5d1 | 467 | /* Posisi Awal */ |
| rahmadirizki18 | 5:3aa203218306 | 468 | XT = 0; |
| rahmadirizki18 | 5:3aa203218306 | 469 | YT = 0; |
| rahmadirizki18 | 5:3aa203218306 | 470 | Tetha = 0; |
| calmantara186 | 16:90119f03c5d1 | 471 | |
| calmantara186 | 16:90119f03c5d1 | 472 | /* Untuk mendapatkan serial dari Arduino */ |
| fanny868 | 0:9072e932503c | 473 | while(1) |
| fanny868 | 0:9072e932503c | 474 | { |
| fanny868 | 0:9072e932503c | 475 | // Interrupt Serial |
| calmantara186 | 16:90119f03c5d1 | 476 | joystick.idle(); |
| calmantara186 | 16:90119f03c5d1 | 477 | |
| calmantara186 | 16:90119f03c5d1 | 478 | if(joystick.readable() ) { |
| fanny868 | 0:9072e932503c | 479 | // Panggil fungsi pembacaan joystik |
| fanny868 | 0:9072e932503c | 480 | joystick.baca_data(); |
| calmantara186 | 16:90119f03c5d1 | 481 | |
| fanny868 | 0:9072e932503c | 482 | // Panggil fungsi pengolahan data joystik |
| fanny868 | 0:9072e932503c | 483 | joystick.olah_data(); |
| calmantara186 | 16:90119f03c5d1 | 484 | |
| calmantara186 | 16:90119f03c5d1 | 485 | // Masuk ke case gerak |
| fanny868 | 0:9072e932503c | 486 | case_ger = case_gerak(); |
| rahmadirizki18 | 3:1287fccc11be | 487 | aktuator(); |
| calmantara186 | 16:90119f03c5d1 | 488 | |
| rahmadirizki18 | 17:e4229d77a5ab | 489 | if (joystick.segitiga_click) launcher = !launcher; |
| rahmadirizki18 | 17:e4229d77a5ab | 490 | if (joystick.lingkaran_click) servoGo = true; |
| rahmadirizki18 | 17:e4229d77a5ab | 491 | if (joystick.SELECT_click) manual = !manual; |
| rahmadirizki18 | 5:3aa203218306 | 492 | if (joystick.silang) { |
| rahmadirizki18 | 5:3aa203218306 | 493 | XT = 0; |
| rahmadirizki18 | 5:3aa203218306 | 494 | YT = 0; |
| rahmadirizki18 | 5:3aa203218306 | 495 | Tetha = 0; |
| calmantara186 | 16:90119f03c5d1 | 496 | } |
| rahmadirizki18 | 7:d138c56dab20 | 497 | speedLauncher(); |
| calmantara186 | 16:90119f03c5d1 | 498 | } |
| calmantara186 | 16:90119f03c5d1 | 499 | else { |
| calmantara186 | 16:90119f03c5d1 | 500 | joystick.idle(); |
| fanny868 | 0:9072e932503c | 501 | } |
| rahmadirizki18 | 5:3aa203218306 | 502 | gotoXYT(XT,YT,Tetha); |
| fanny868 | 0:9072e932503c | 503 | } |
| fanny868 | 0:9072e932503c | 504 | } |