KRAI 2017
/
MainProgram_BaseBaru_17feb
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Dependencies: Motor PID Joystick_OrdoV5 mbed millis
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MainProgram_BaseBaru_otomatis-reloader
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KRAI 2017
Revision 17:e4229d77a5ab, committed 2017-01-27
- Comitter:
- rahmadirizki18
- Date:
- Fri Jan 27 14:42:17 2017 +0000
- Parent:
- 16:90119f03c5d1
- Child:
- 18:1da121ddb7c1
- Commit message:
- tambahan mode manual dan semiautomatis, belum dioptimasi
Changed in this revision
| Joystick_OrdoV6_2.lib | Show diff for this revision Revisions of this file |
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/Joystick_OrdoV6_2.lib Tue Jan 24 12:34:29 2017 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,1 +0,0 @@ -http://developer.mbed.org/teams/KRAI-2017/code/Joystick_OrdoV6_2/#98f0d56b14f0
--- a/main.cpp Tue Jan 24 12:34:29 2017 +0000
+++ b/main.cpp Fri Jan 27 14:42:17 2017 +0000
@@ -47,6 +47,10 @@
#define PI 3.14159265
#define D_ENCODER 0.058
#define D_ROBOT 0.64
+#define VMAX 0.3 // Maju, Mundur, Kiri Kanan
+#define SAMPING 0.3 // Saka, Saki, Sbka, Sbki
+#define PIVOT 0.4 // Pivka, Pivki
+#define PERPINDAHAN 1 // Perpindahan ke kanan dan kiri
float k_enc = PI*D_ENCODER;
float k_robot = PI*D_ROBOT;
@@ -103,7 +107,7 @@
/* Variabel Stick */
char case_ger;
-bool launcher = false,servoGo = false;
+bool launcher = false, servoGo = false, manual = true, caseTadi = false, caseSekarang = false;
/***********************************************/
/* Deklarasi Fungsi dan Procedure */
@@ -159,10 +163,12 @@
else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri)) {
// Kanan
casegerak = 9;
+ caseSekarang = true;
}
else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)) {
// Kiri
- casegerak = 10;
+ casegerak = 10;
+ caseSekarang = true;
}
else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) {
casegerak = 12;
@@ -203,53 +209,151 @@
}
// MOTOR Bawah
- switch (case_ger) {
- case (1):{
- Tetha = Tetha - 0.05;
+ if (manual) {
+ // Mode Manual
+ switch (case_ger) {
+ case (1): {
+ // Pivot Kanan
+ motor1.speed(-PIVOT);
+ motor2.speed(-PIVOT);
+ motor3.speed(-PIVOT);
+ motor4.speed(-PIVOT);
break;
- }
- case (2):{
- Tetha = Tetha + 0.05;
+ }
+ case (2): {
+ // Pivot Kiri
+ motor1.speed(PIVOT);
+ motor2.speed(PIVOT);
+ motor3.speed(PIVOT);
+ motor4.speed(PIVOT);
+ break;
+ }
+ case (3): {
+ // Maju
+ motor1.speed(-VMAX);
+ motor2.speed(VMAX);
+ motor3.speed(VMAX);
+ motor4.speed(-VMAX);
break;
}
- case (3):{
- YT = YT + 0.01;
+ case (4): {
+ // Mundur
+ motor1.speed(VMAX);
+ motor2.speed(-VMAX);
+ motor3.speed(-VMAX);
+ motor4.speed(VMAX);
+ break;
+ }
+ case (5) : {
+ // Samping Atas Kanan
+ motor1.speed(-SAMPING);
+ motor2.brake(1);
+ motor3.speed(SAMPING);
+ motor4.brake(1);
break;
}
- case (4):{
- YT = YT - 0.01;
+ case (6) : {
+ // Samping Bawah Kanan
+ motor1.brake(1);
+ motor2.speed(-SAMPING);
+ motor3.brake(1);
+ motor4.speed(SAMPING);
break;
}
- case (5) :{
- XT = XT + 0.01;
- YT = YT + 0.01;
+ case (7) : {
+ // Samping Atas Kiri
+ motor1.brake(1);
+ motor2.speed(SAMPING);
+ motor3.brake(1);
+ motor4.speed(-SAMPING);
+ break;
+ }
+ case (8) : {
+ // Samping Bawah Kiri
+ motor1.speed(SAMPING);
+ motor2.brake(1);
+ motor3.speed(-SAMPING);
+ motor4.brake(1);
break;
}
- case (6) :{
- XT = XT + 0.01;
- YT = YT - 0.01;
- break;
- }
- case (7) :{
- XT = XT - 0.01;
- YT = YT + 0.01;
+ case (9) : {
+ // Kanan
+ motor1.speed(-VMAX);
+ motor2.speed(-VMAX);
+ motor3.speed(VMAX);
+ motor4.speed(VMAX);
break;
}
- case (8) :{
- XT = XT - 0.01;
- YT = YT - 0.01;
- break;
- }
- case (9) :{
- XT = XT + 0.01;
+ case (10) : {
+ // Kiri
+ motor1.speed(VMAX);
+ motor2.speed(VMAX);
+ motor3.speed(-VMAX);
+ motor4.speed(-VMAX);
break;
- }
- case (10) :{
- XT = XT - 0.01;
+ }
+ default : {
+ motor1.brake(1);
+ motor2.brake(1);
+ motor3.brake(1);
+ motor4.brake(1);
+ }
+ } // End Switch
+ } else {
+ //Mode Encoder
+ switch (case_ger) {
+ case (1):{
+ Tetha = Tetha - 0.05;
+ break;
+ }
+ case (2):{
+ Tetha = Tetha + 0.05;
+ break;
+ }
+ case (3):{
+ YT = YT + 0.01;
+ break;
+ }
+ case (4):{
+ YT = YT - 0.01;
+ break;
+ }
+ case (5) :{
+ XT = XT + 0.01;
+ YT = YT + 0.01;
+ break;
+ }
+ case (6) :{
+ XT = XT + 0.01;
+ YT = YT - 0.01;
+ break;
+ }
+ case (7) :{
+ XT = XT - 0.01;
+ YT = YT + 0.01;
+ break;
+ }
+ case (8) :{
+ XT = XT - 0.01;
+ YT = YT - 0.01;
+ break;
+ }
+ case (9) :{
+ // Kanan
+ if (caseSekarang != caseTadi) XT = XT + PERPINDAHAN;
+ caseTadi = caseSekarang;
+
break;
- }
- default :{}
- } //end of switch
+ }
+ case (10) :{
+ // Kiri
+ if (caseSekarang!= caseTadi) XT = XT - PERPINDAHAN;
+ caseTadi = caseSekarang;
+ break;
+ }
+ default :{}
+ } //end of switch
+ }
}
void setCenter(){
@@ -386,8 +490,9 @@
case_ger = case_gerak();
aktuator();
- if (joystick.segitiga_click) launcher = !launcher;
- if (joystick.lingkaran_click) servoGo = true;
+ if (joystick.segitiga_click) launcher = !launcher;
+ if (joystick.lingkaran_click) servoGo = true;
+ if (joystick.SELECT_click) manual = !manual;
if (joystick.silang) {
XT = 0;
YT = 0;