KRAI 2017
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Dependencies: DigitDisplay Motor PID Ping mbed millis
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MainProgram_BaseBaru_20Feb_malam
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KRAI 2017
main.cpp@17:e4229d77a5ab, 2017-01-27 (annotated)
- Committer:
- rahmadirizki18
- Date:
- Fri Jan 27 14:42:17 2017 +0000
- Revision:
- 17:e4229d77a5ab
- Parent:
- 16:90119f03c5d1
- Child:
- 18:1da121ddb7c1
tambahan mode manual dan semiautomatis, belum dioptimasi
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 | /* */ |
| rahmadirizki18 | 6:68293bed71ea | 21 | /* Joystick */ |
| rahmadirizki18 | 6:68293bed71ea | 22 | /* kanan => posisi target x ditambah 0.01 */ |
| rahmadirizki18 | 6:68293bed71ea | 23 | /* kiri => posisi target x dikurang 0.01 */ |
| rahmadirizki18 | 6:68293bed71ea | 24 | /* atas => posisi target y ditambah 0.01 */ |
| rahmadirizki18 | 6:68293bed71ea | 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 */ |
| calmantara186 | 16:90119f03c5d1 | 34 | /* Jagalah Kebersihan kodingan */ |
| rahmadirizki18 | 6:68293bed71ea | 35 | /****************************************************************************/ |
| rahmadirizki18 | 6:68293bed71ea | 36 | |
| fanny868 | 0:9072e932503c | 37 | |
| fanny868 | 0:9072e932503c | 38 | #include "mbed.h" |
| fanny868 | 0:9072e932503c | 39 | #include "JoystickPS3.h" |
| fanny868 | 0:9072e932503c | 40 | #include "Motor.h" |
| rahmadirizki18 | 6:68293bed71ea | 41 | #include "Servo.h" |
| rahmadirizki18 | 5:3aa203218306 | 42 | #include "encoderKRAI.h" |
| rahmadirizki18 | 5:3aa203218306 | 43 | |
| calmantara186 | 16:90119f03c5d1 | 44 | /***********************************************/ |
| calmantara186 | 16:90119f03c5d1 | 45 | /* Konstanta dan Variabel */ |
| calmantara186 | 16:90119f03c5d1 | 46 | /***********************************************/ |
| calmantara186 | 16:90119f03c5d1 | 47 | #define PI 3.14159265 |
| calmantara186 | 16:90119f03c5d1 | 48 | #define D_ENCODER 0.058 |
| calmantara186 | 16:90119f03c5d1 | 49 | #define D_ROBOT 0.64 |
| rahmadirizki18 | 17:e4229d77a5ab | 50 | #define VMAX 0.3 // Maju, Mundur, Kiri Kanan |
| rahmadirizki18 | 17:e4229d77a5ab | 51 | #define SAMPING 0.3 // Saka, Saki, Sbka, Sbki |
| rahmadirizki18 | 17:e4229d77a5ab | 52 | #define PIVOT 0.4 // Pivka, Pivki |
| rahmadirizki18 | 17:e4229d77a5ab | 53 | #define PERPINDAHAN 1 // Perpindahan ke kanan dan kiri |
| rahmadirizki18 | 5:3aa203218306 | 54 | |
| calmantara186 | 16:90119f03c5d1 | 55 | float k_enc = PI*D_ENCODER; |
| calmantara186 | 16:90119f03c5d1 | 56 | float k_robot = PI*D_ROBOT; |
| rahmadirizki18 | 5:3aa203218306 | 57 | |
| calmantara186 | 16:90119f03c5d1 | 58 | float speed1 =0.6; |
| calmantara186 | 16:90119f03c5d1 | 59 | float speed2 =0.6; |
| calmantara186 | 16:90119f03c5d1 | 60 | float speed3 =0.6; |
| calmantara186 | 16:90119f03c5d1 | 61 | float speed4 =0.6; |
| calmantara186 | 16:90119f03c5d1 | 62 | float speedB =0.43; |
| calmantara186 | 16:90119f03c5d1 | 63 | float speedL =0.4; |
| rahmadirizki18 | 5:3aa203218306 | 64 | |
| calmantara186 | 16:90119f03c5d1 | 65 | float kpX=0.5, kpY=0.5, kp_tetha=0.03; |
| calmantara186 | 16:90119f03c5d1 | 66 | |
| calmantara186 | 16:90119f03c5d1 | 67 | /* Deklarasi encoder */ |
| calmantara186 | 16:90119f03c5d1 | 68 | encoderKRAI encoderDepan( PB_13, PB_14, 2000, encoderKRAI::X2_ENCODING); //inA, inB, pin Indeks (NC = tak ada), resolusi, pembacaan |
| calmantara186 | 16:90119f03c5d1 | 69 | encoderKRAI encoderBelakang( PC_11, PC_10, 2000, encoderKRAI::X2_ENCODING); //inA, inB, pin Indeks (NC = tak ada), resolusi, pembacaan |
| calmantara186 | 16:90119f03c5d1 | 70 | encoderKRAI encoderKanan( PC_12, PD_2, 720, encoderKRAI::X2_ENCODING); //inA, inB, pin Indeks (NC = tak ada), resolusi, pembacaan |
| calmantara186 | 16:90119f03c5d1 | 71 | encoderKRAI encoderKiri( PC_4, PB_15, 2000, encoderKRAI::X2_ENCODING); //inA, inB, pin Indeks (NC = tak ada), resolusi, pembacaan |
| rahmadirizki18 | 15:98f0d56b14f0 | 72 | |
| calmantara186 | 16:90119f03c5d1 | 73 | /* Deklarasi Motor Base */ |
| calmantara186 | 16:90119f03c5d1 | 74 | Motor motor1(PB_7, PA_14 , PA_15); // pwm, fwd, rev |
| calmantara186 | 16:90119f03c5d1 | 75 | Motor motor2(PB_8, PA_13 ,PB_0); // pwm, fwd, rev |
| calmantara186 | 16:90119f03c5d1 | 76 | Motor motor3(PB_9, PA_12 ,PC_5); // pwm, fwd, rev |
| calmantara186 | 16:90119f03c5d1 | 77 | Motor motor4(PB_6, PB_1 ,PB_12); // pwm, fwd, rev |
| fanny868 | 0:9072e932503c | 78 | |
| calmantara186 | 16:90119f03c5d1 | 79 | /* Deklarasi Motor Launcher */ |
| calmantara186 | 16:90119f03c5d1 | 80 | Motor motorld(PA_8, PC_1 , PC_2); // pwm, fwd, rev |
| calmantara186 | 16:90119f03c5d1 | 81 | Motor motorlb(PA_9, PA_4, PC_15 ); // pwm, fwd, rev |
| rahmadirizki18 | 5:3aa203218306 | 82 | |
| calmantara186 | 16:90119f03c5d1 | 83 | /* Deklarasi Servo Launcher */ |
| rahmadirizki18 | 14:6d389e99981c | 84 | Servo servoS(PB_2); |
| rahmadirizki18 | 14:6d389e99981c | 85 | Servo servoB(PA_5); |
| rahmadirizki18 | 6:68293bed71ea | 86 | |
| calmantara186 | 16:90119f03c5d1 | 87 | /** |
| calmantara186 | 16:90119f03c5d1 | 88 | * posX dan posY berdasarkan arah robot |
| calmantara186 | 16:90119f03c5d1 | 89 | * encoder Depan & Belakang sejajar sumbu Y |
| calmantara186 | 16:90119f03c5d1 | 90 | * encoder Kanan & Kiri sejajar sumbu X |
| calmantara186 | 16:90119f03c5d1 | 91 | **/ |
| rahmadirizki18 | 5:3aa203218306 | 92 | |
| calmantara186 | 16:90119f03c5d1 | 93 | /* Variabel Encoder */ |
| calmantara186 | 16:90119f03c5d1 | 94 | float jarak, posX, posY; // |
| calmantara186 | 16:90119f03c5d1 | 95 | float XT, YT, Tetha; // Jarak Target Robot |
| calmantara186 | 16:90119f03c5d1 | 96 | float errX, errY, errT, Vt, Vx, Vy; // Variabel yang didapatkan encoder |
| calmantara186 | 16:90119f03c5d1 | 97 | float v1, v2, v3, v4; // Variabel kecepatan motor dari encoder |
| rahmadirizki18 | 5:3aa203218306 | 98 | |
| calmantara186 | 16:90119f03c5d1 | 99 | /* Fungsi dan Procedur Encoder */ |
| calmantara186 | 16:90119f03c5d1 | 100 | void setCenter(); // Fungsi reset agar robot di tengah |
| calmantara186 | 16:90119f03c5d1 | 101 | float getY(); // FUngsi mendapatkan jarak Y |
| calmantara186 | 16:90119f03c5d1 | 102 | float getX(); // FUngsi mendapatkan jarak X |
| calmantara186 | 16:90119f03c5d1 | 103 | float getTetha(); // FUngsi mendapatkan jarak Tetha |
| calmantara186 | 16:90119f03c5d1 | 104 | |
| calmantara186 | 16:90119f03c5d1 | 105 | /* Inisialisasi Pin TX-RX Joystik dan PC */ |
| rahmadirizki18 | 3:1287fccc11be | 106 | joysticknucleo joystick(PA_0,PA_1); |
| fanny868 | 0:9072e932503c | 107 | |
| calmantara186 | 16:90119f03c5d1 | 108 | /* Variabel Stick */ |
| fanny868 | 0:9072e932503c | 109 | char case_ger; |
| rahmadirizki18 | 17:e4229d77a5ab | 110 | bool launcher = false, servoGo = false, manual = true, caseTadi = false, caseSekarang = false; |
| 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; |
| rahmadirizki18 | 17:e4229d77a5ab | 166 | caseSekarang = true; |
| calmantara186 | 16:90119f03c5d1 | 167 | } |
| calmantara186 | 16:90119f03c5d1 | 168 | else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)) { |
| fanny868 | 0:9072e932503c | 169 | // Kiri |
| rahmadirizki18 | 17:e4229d77a5ab | 170 | casegerak = 10; |
| rahmadirizki18 | 17:e4229d77a5ab | 171 | caseSekarang = true; |
| calmantara186 | 16:90119f03c5d1 | 172 | } |
| calmantara186 | 16:90119f03c5d1 | 173 | else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) { |
| calmantara186 | 16:90119f03c5d1 | 174 | casegerak = 12; |
| calmantara186 | 16:90119f03c5d1 | 175 | } |
| fanny868 | 0:9072e932503c | 176 | return(casegerak); |
| fanny868 | 0:9072e932503c | 177 | } |
| fanny868 | 0:9072e932503c | 178 | |
| calmantara186 | 16:90119f03c5d1 | 179 | void aktuator(){ |
| calmantara186 | 16:90119f03c5d1 | 180 | /* Fungsi untuk menggerakkan servo */ |
| calmantara186 | 16:90119f03c5d1 | 181 | // Servo |
| calmantara186 | 16:90119f03c5d1 | 182 | if (servoGo){ |
| franshendri | 12:e07c59c28c29 | 183 | servoS.position(20); |
| franshendri | 10:f0f0dc3904e0 | 184 | wait_ms(500); |
| franshendri | 12:e07c59c28c29 | 185 | servoS.position(-28); |
| Joshua23 | 8:0711dea61312 | 186 | wait_ms(500); |
| franshendri | 12:e07c59c28c29 | 187 | servoS.position(20); |
| Joshua23 | 8:0711dea61312 | 188 | wait_ms(500); |
| franshendri | 12:e07c59c28c29 | 189 | for (int i = -0; i<=70; i++){ |
| Joshua23 | 8:0711dea61312 | 190 | servoB.position(i); |
| Joshua23 | 8:0711dea61312 | 191 | wait_ms(10); |
| Joshua23 | 8:0711dea61312 | 192 | } |
| Joshua23 | 8:0711dea61312 | 193 | wait_ms(500); |
| Joshua23 | 8:0711dea61312 | 194 | servoB.position(0); |
| calmantara186 | 16:90119f03c5d1 | 195 | servoGo = false; |
| calmantara186 | 16:90119f03c5d1 | 196 | } |
| calmantara186 | 16:90119f03c5d1 | 197 | else{ |
| franshendri | 12:e07c59c28c29 | 198 | servoS.position(20); |
| rahmadirizki18 | 6:68293bed71ea | 199 | servoB.position(0); |
| rahmadirizki18 | 7:d138c56dab20 | 200 | } |
| rahmadirizki18 | 6:68293bed71ea | 201 | |
| rahmadirizki18 | 6:68293bed71ea | 202 | // Motor Atas |
| calmantara186 | 16:90119f03c5d1 | 203 | if (launcher) { |
| rahmadirizki18 | 7:d138c56dab20 | 204 | motorld.speed(speedL); |
| franshendri | 12:e07c59c28c29 | 205 | motorlb.speed(speedB); |
| rahmadirizki18 | 6:68293bed71ea | 206 | }else{ |
| rahmadirizki18 | 6:68293bed71ea | 207 | motorld.speed(0); |
| rahmadirizki18 | 6:68293bed71ea | 208 | motorlb.speed(0); |
| rahmadirizki18 | 6:68293bed71ea | 209 | } |
| rahmadirizki18 | 6:68293bed71ea | 210 | |
| rahmadirizki18 | 6:68293bed71ea | 211 | // MOTOR Bawah |
| rahmadirizki18 | 17:e4229d77a5ab | 212 | if (manual) { |
| rahmadirizki18 | 17:e4229d77a5ab | 213 | // Mode Manual |
| rahmadirizki18 | 17:e4229d77a5ab | 214 | switch (case_ger) { |
| rahmadirizki18 | 17:e4229d77a5ab | 215 | case (1): { |
| rahmadirizki18 | 17:e4229d77a5ab | 216 | // Pivot Kanan |
| rahmadirizki18 | 17:e4229d77a5ab | 217 | motor1.speed(-PIVOT); |
| rahmadirizki18 | 17:e4229d77a5ab | 218 | motor2.speed(-PIVOT); |
| rahmadirizki18 | 17:e4229d77a5ab | 219 | motor3.speed(-PIVOT); |
| rahmadirizki18 | 17:e4229d77a5ab | 220 | motor4.speed(-PIVOT); |
| fanny868 | 0:9072e932503c | 221 | break; |
| rahmadirizki18 | 17:e4229d77a5ab | 222 | } |
| rahmadirizki18 | 17:e4229d77a5ab | 223 | case (2): { |
| rahmadirizki18 | 17:e4229d77a5ab | 224 | // Pivot Kiri |
| rahmadirizki18 | 17:e4229d77a5ab | 225 | motor1.speed(PIVOT); |
| rahmadirizki18 | 17:e4229d77a5ab | 226 | motor2.speed(PIVOT); |
| rahmadirizki18 | 17:e4229d77a5ab | 227 | motor3.speed(PIVOT); |
| rahmadirizki18 | 17:e4229d77a5ab | 228 | motor4.speed(PIVOT); |
| rahmadirizki18 | 17:e4229d77a5ab | 229 | break; |
| rahmadirizki18 | 17:e4229d77a5ab | 230 | } |
| rahmadirizki18 | 17:e4229d77a5ab | 231 | case (3): { |
| rahmadirizki18 | 17:e4229d77a5ab | 232 | // Maju |
| rahmadirizki18 | 17:e4229d77a5ab | 233 | motor1.speed(-VMAX); |
| rahmadirizki18 | 17:e4229d77a5ab | 234 | motor2.speed(VMAX); |
| rahmadirizki18 | 17:e4229d77a5ab | 235 | motor3.speed(VMAX); |
| rahmadirizki18 | 17:e4229d77a5ab | 236 | motor4.speed(-VMAX); |
| fanny868 | 0:9072e932503c | 237 | break; |
| fanny868 | 0:9072e932503c | 238 | } |
| rahmadirizki18 | 17:e4229d77a5ab | 239 | case (4): { |
| rahmadirizki18 | 17:e4229d77a5ab | 240 | // Mundur |
| rahmadirizki18 | 17:e4229d77a5ab | 241 | motor1.speed(VMAX); |
| rahmadirizki18 | 17:e4229d77a5ab | 242 | motor2.speed(-VMAX); |
| rahmadirizki18 | 17:e4229d77a5ab | 243 | motor3.speed(-VMAX); |
| rahmadirizki18 | 17:e4229d77a5ab | 244 | motor4.speed(VMAX); |
| rahmadirizki18 | 17:e4229d77a5ab | 245 | break; |
| rahmadirizki18 | 17:e4229d77a5ab | 246 | } |
| rahmadirizki18 | 17:e4229d77a5ab | 247 | case (5) : { |
| rahmadirizki18 | 17:e4229d77a5ab | 248 | // Samping Atas Kanan |
| rahmadirizki18 | 17:e4229d77a5ab | 249 | motor1.speed(-SAMPING); |
| rahmadirizki18 | 17:e4229d77a5ab | 250 | motor2.brake(1); |
| rahmadirizki18 | 17:e4229d77a5ab | 251 | motor3.speed(SAMPING); |
| rahmadirizki18 | 17:e4229d77a5ab | 252 | motor4.brake(1); |
| fanny868 | 0:9072e932503c | 253 | break; |
| fanny868 | 0:9072e932503c | 254 | } |
| rahmadirizki18 | 17:e4229d77a5ab | 255 | case (6) : { |
| rahmadirizki18 | 17:e4229d77a5ab | 256 | // Samping Bawah Kanan |
| rahmadirizki18 | 17:e4229d77a5ab | 257 | motor1.brake(1); |
| rahmadirizki18 | 17:e4229d77a5ab | 258 | motor2.speed(-SAMPING); |
| rahmadirizki18 | 17:e4229d77a5ab | 259 | motor3.brake(1); |
| rahmadirizki18 | 17:e4229d77a5ab | 260 | motor4.speed(SAMPING); |
| fanny868 | 0:9072e932503c | 261 | break; |
| fanny868 | 0:9072e932503c | 262 | } |
| rahmadirizki18 | 17:e4229d77a5ab | 263 | case (7) : { |
| rahmadirizki18 | 17:e4229d77a5ab | 264 | // Samping Atas Kiri |
| rahmadirizki18 | 17:e4229d77a5ab | 265 | motor1.brake(1); |
| rahmadirizki18 | 17:e4229d77a5ab | 266 | motor2.speed(SAMPING); |
| rahmadirizki18 | 17:e4229d77a5ab | 267 | motor3.brake(1); |
| rahmadirizki18 | 17:e4229d77a5ab | 268 | motor4.speed(-SAMPING); |
| rahmadirizki18 | 17:e4229d77a5ab | 269 | break; |
| rahmadirizki18 | 17:e4229d77a5ab | 270 | } |
| rahmadirizki18 | 17:e4229d77a5ab | 271 | case (8) : { |
| rahmadirizki18 | 17:e4229d77a5ab | 272 | // Samping Bawah Kiri |
| rahmadirizki18 | 17:e4229d77a5ab | 273 | motor1.speed(SAMPING); |
| rahmadirizki18 | 17:e4229d77a5ab | 274 | motor2.brake(1); |
| rahmadirizki18 | 17:e4229d77a5ab | 275 | motor3.speed(-SAMPING); |
| rahmadirizki18 | 17:e4229d77a5ab | 276 | motor4.brake(1); |
| fanny868 | 0:9072e932503c | 277 | break; |
| fanny868 | 0:9072e932503c | 278 | } |
| rahmadirizki18 | 17:e4229d77a5ab | 279 | case (9) : { |
| rahmadirizki18 | 17:e4229d77a5ab | 280 | // Kanan |
| rahmadirizki18 | 17:e4229d77a5ab | 281 | motor1.speed(-VMAX); |
| rahmadirizki18 | 17:e4229d77a5ab | 282 | motor2.speed(-VMAX); |
| rahmadirizki18 | 17:e4229d77a5ab | 283 | motor3.speed(VMAX); |
| rahmadirizki18 | 17:e4229d77a5ab | 284 | motor4.speed(VMAX); |
| fanny868 | 0:9072e932503c | 285 | break; |
| fanny868 | 0:9072e932503c | 286 | } |
| rahmadirizki18 | 17:e4229d77a5ab | 287 | case (10) : { |
| rahmadirizki18 | 17:e4229d77a5ab | 288 | // Kiri |
| rahmadirizki18 | 17:e4229d77a5ab | 289 | motor1.speed(VMAX); |
| rahmadirizki18 | 17:e4229d77a5ab | 290 | motor2.speed(VMAX); |
| rahmadirizki18 | 17:e4229d77a5ab | 291 | motor3.speed(-VMAX); |
| rahmadirizki18 | 17:e4229d77a5ab | 292 | motor4.speed(-VMAX); |
| fanny868 | 0:9072e932503c | 293 | break; |
| rahmadirizki18 | 17:e4229d77a5ab | 294 | } |
| rahmadirizki18 | 17:e4229d77a5ab | 295 | default : { |
| rahmadirizki18 | 17:e4229d77a5ab | 296 | motor1.brake(1); |
| rahmadirizki18 | 17:e4229d77a5ab | 297 | motor2.brake(1); |
| rahmadirizki18 | 17:e4229d77a5ab | 298 | motor3.brake(1); |
| rahmadirizki18 | 17:e4229d77a5ab | 299 | motor4.brake(1); |
| rahmadirizki18 | 17:e4229d77a5ab | 300 | } |
| rahmadirizki18 | 17:e4229d77a5ab | 301 | } // End Switch |
| rahmadirizki18 | 17:e4229d77a5ab | 302 | } else { |
| rahmadirizki18 | 17:e4229d77a5ab | 303 | //Mode Encoder |
| rahmadirizki18 | 17:e4229d77a5ab | 304 | switch (case_ger) { |
| rahmadirizki18 | 17:e4229d77a5ab | 305 | case (1):{ |
| rahmadirizki18 | 17:e4229d77a5ab | 306 | Tetha = Tetha - 0.05; |
| rahmadirizki18 | 17:e4229d77a5ab | 307 | break; |
| rahmadirizki18 | 17:e4229d77a5ab | 308 | } |
| rahmadirizki18 | 17:e4229d77a5ab | 309 | case (2):{ |
| rahmadirizki18 | 17:e4229d77a5ab | 310 | Tetha = Tetha + 0.05; |
| rahmadirizki18 | 17:e4229d77a5ab | 311 | break; |
| rahmadirizki18 | 17:e4229d77a5ab | 312 | } |
| rahmadirizki18 | 17:e4229d77a5ab | 313 | case (3):{ |
| rahmadirizki18 | 17:e4229d77a5ab | 314 | YT = YT + 0.01; |
| rahmadirizki18 | 17:e4229d77a5ab | 315 | break; |
| rahmadirizki18 | 17:e4229d77a5ab | 316 | } |
| rahmadirizki18 | 17:e4229d77a5ab | 317 | case (4):{ |
| rahmadirizki18 | 17:e4229d77a5ab | 318 | YT = YT - 0.01; |
| rahmadirizki18 | 17:e4229d77a5ab | 319 | break; |
| rahmadirizki18 | 17:e4229d77a5ab | 320 | } |
| rahmadirizki18 | 17:e4229d77a5ab | 321 | case (5) :{ |
| rahmadirizki18 | 17:e4229d77a5ab | 322 | XT = XT + 0.01; |
| rahmadirizki18 | 17:e4229d77a5ab | 323 | YT = YT + 0.01; |
| rahmadirizki18 | 17:e4229d77a5ab | 324 | break; |
| rahmadirizki18 | 17:e4229d77a5ab | 325 | } |
| rahmadirizki18 | 17:e4229d77a5ab | 326 | case (6) :{ |
| rahmadirizki18 | 17:e4229d77a5ab | 327 | XT = XT + 0.01; |
| rahmadirizki18 | 17:e4229d77a5ab | 328 | YT = YT - 0.01; |
| rahmadirizki18 | 17:e4229d77a5ab | 329 | break; |
| rahmadirizki18 | 17:e4229d77a5ab | 330 | } |
| rahmadirizki18 | 17:e4229d77a5ab | 331 | case (7) :{ |
| rahmadirizki18 | 17:e4229d77a5ab | 332 | XT = XT - 0.01; |
| rahmadirizki18 | 17:e4229d77a5ab | 333 | YT = YT + 0.01; |
| rahmadirizki18 | 17:e4229d77a5ab | 334 | break; |
| rahmadirizki18 | 17:e4229d77a5ab | 335 | } |
| rahmadirizki18 | 17:e4229d77a5ab | 336 | case (8) :{ |
| rahmadirizki18 | 17:e4229d77a5ab | 337 | XT = XT - 0.01; |
| rahmadirizki18 | 17:e4229d77a5ab | 338 | YT = YT - 0.01; |
| rahmadirizki18 | 17:e4229d77a5ab | 339 | break; |
| rahmadirizki18 | 17:e4229d77a5ab | 340 | } |
| rahmadirizki18 | 17:e4229d77a5ab | 341 | case (9) :{ |
| rahmadirizki18 | 17:e4229d77a5ab | 342 | // Kanan |
| rahmadirizki18 | 17:e4229d77a5ab | 343 | if (caseSekarang != caseTadi) XT = XT + PERPINDAHAN; |
| rahmadirizki18 | 17:e4229d77a5ab | 344 | caseTadi = caseSekarang; |
| rahmadirizki18 | 17:e4229d77a5ab | 345 | |
| rahmadirizki18 | 3:1287fccc11be | 346 | break; |
| rahmadirizki18 | 17:e4229d77a5ab | 347 | } |
| rahmadirizki18 | 17:e4229d77a5ab | 348 | case (10) :{ |
| rahmadirizki18 | 17:e4229d77a5ab | 349 | // Kiri |
| rahmadirizki18 | 17:e4229d77a5ab | 350 | if (caseSekarang!= caseTadi) XT = XT - PERPINDAHAN; |
| rahmadirizki18 | 17:e4229d77a5ab | 351 | caseTadi = caseSekarang; |
| rahmadirizki18 | 17:e4229d77a5ab | 352 | break; |
| rahmadirizki18 | 17:e4229d77a5ab | 353 | } |
| rahmadirizki18 | 17:e4229d77a5ab | 354 | default :{} |
| rahmadirizki18 | 17:e4229d77a5ab | 355 | } //end of switch |
| rahmadirizki18 | 17:e4229d77a5ab | 356 | } |
| rahmadirizki18 | 5:3aa203218306 | 357 | } |
| rahmadirizki18 | 5:3aa203218306 | 358 | |
| calmantara186 | 16:90119f03c5d1 | 359 | void setCenter(){ |
| calmantara186 | 16:90119f03c5d1 | 360 | /* Fungsi untuk menentukan center dari robot */ |
| rahmadirizki18 | 5:3aa203218306 | 361 | encoderDepan.reset(); |
| rahmadirizki18 | 5:3aa203218306 | 362 | encoderBelakang.reset(); |
| rahmadirizki18 | 5:3aa203218306 | 363 | encoderKanan.reset(); |
| rahmadirizki18 | 5:3aa203218306 | 364 | encoderKiri.reset(); |
| rahmadirizki18 | 5:3aa203218306 | 365 | } |
| rahmadirizki18 | 5:3aa203218306 | 366 | |
| calmantara186 | 16:90119f03c5d1 | 367 | float getX(){ |
| calmantara186 | 16:90119f03c5d1 | 368 | /* Fungsi untuk mendapatkan jarak X */ |
| rahmadirizki18 | 5:3aa203218306 | 369 | float jarakEncDpn, jarakEncBlk; |
| calmantara186 | 16:90119f03c5d1 | 370 | jarakEncDpn = (encoderDepan.getPulses())/(float)(2000.0)*k_enc; |
| calmantara186 | 16:90119f03c5d1 | 371 | jarakEncBlk = (encoderBelakang.getPulses())/(float)(2000.0)*k_enc; |
| rahmadirizki18 | 5:3aa203218306 | 372 | return (jarakEncDpn-jarakEncBlk)/2; |
| rahmadirizki18 | 5:3aa203218306 | 373 | } |
| rahmadirizki18 | 5:3aa203218306 | 374 | |
| calmantara186 | 16:90119f03c5d1 | 375 | float getY(){ |
| calmantara186 | 16:90119f03c5d1 | 376 | /* Fungsi untuk mendapatkan jarak Y */ |
| rahmadirizki18 | 5:3aa203218306 | 377 | float jarakEncKir, jarakEncKan; |
| calmantara186 | 16:90119f03c5d1 | 378 | jarakEncKir = (encoderKiri.getPulses())/(float)(2000.0)*k_enc; |
| calmantara186 | 16:90119f03c5d1 | 379 | jarakEncKan = (encoderKanan.getPulses())/(float)(720.0)*k_enc; |
| rahmadirizki18 | 5:3aa203218306 | 380 | return (jarakEncKir-jarakEncKan)/2; |
| rahmadirizki18 | 5:3aa203218306 | 381 | } |
| rahmadirizki18 | 5:3aa203218306 | 382 | |
| calmantara186 | 16:90119f03c5d1 | 383 | float getTetha(){ |
| calmantara186 | 16:90119f03c5d1 | 384 | /* Fungsi untuk mendapatkan nilai tetha */ |
| rahmadirizki18 | 5:3aa203218306 | 385 | float busurDpn, busurBlk, busurKir, busurKan; |
| calmantara186 | 16:90119f03c5d1 | 386 | busurDpn = ((encoderDepan.getPulses())/(float)(2000.0)*k_enc)/k_robot*360.0; |
| calmantara186 | 16:90119f03c5d1 | 387 | busurBlk = ((encoderBelakang.getPulses())/(float)(2000.0)*k_enc)/k_robot*360.0; |
| calmantara186 | 16:90119f03c5d1 | 388 | busurKir = ((encoderKiri.getPulses())/(float)(2000.0)*k_enc)/k_robot*360.0; |
| calmantara186 | 16:90119f03c5d1 | 389 | busurKan = ((encoderKanan.getPulses())/(float)(720.0)*k_enc)/k_robot*360.0; |
| rahmadirizki18 | 5:3aa203218306 | 390 | |
| rahmadirizki18 | 5:3aa203218306 | 391 | return -(busurDpn+busurBlk+busurKir+busurKan)/4; |
| fanny868 | 0:9072e932503c | 392 | } |
| fanny868 | 0:9072e932503c | 393 | |
| calmantara186 | 16:90119f03c5d1 | 394 | void gotoXYT(float xa, float ya, float Ta){ |
| calmantara186 | 16:90119f03c5d1 | 395 | /* Fungsi untuk bergerat ke target */ |
| calmantara186 | 16:90119f03c5d1 | 396 | errX = xa-getX(); |
| calmantara186 | 16:90119f03c5d1 | 397 | Vx = kpX*errX; |
| calmantara186 | 16:90119f03c5d1 | 398 | |
| calmantara186 | 16:90119f03c5d1 | 399 | errY = ya-getY(); |
| calmantara186 | 16:90119f03c5d1 | 400 | Vy = kpY*errY; |
| calmantara186 | 16:90119f03c5d1 | 401 | |
| calmantara186 | 16:90119f03c5d1 | 402 | errT = Ta-getTetha(); |
| calmantara186 | 16:90119f03c5d1 | 403 | Vt = kp_tetha*errT; |
| calmantara186 | 16:90119f03c5d1 | 404 | |
| calmantara186 | 16:90119f03c5d1 | 405 | v1 = Vx+Vy-Vt; |
| calmantara186 | 16:90119f03c5d1 | 406 | v2 = Vx-Vy-Vt; |
| calmantara186 | 16:90119f03c5d1 | 407 | v3 = -Vx-Vy-Vt; |
| calmantara186 | 16:90119f03c5d1 | 408 | v4 = -Vx+Vy-Vt; |
| calmantara186 | 16:90119f03c5d1 | 409 | |
| calmantara186 | 16:90119f03c5d1 | 410 | if (v1>speed1) |
| calmantara186 | 16:90119f03c5d1 | 411 | { v1 = speed1; } |
| calmantara186 | 16:90119f03c5d1 | 412 | else if (v1<-speed1) |
| calmantara186 | 16:90119f03c5d1 | 413 | { v1 = -speed1; } |
| calmantara186 | 16:90119f03c5d1 | 414 | |
| calmantara186 | 16:90119f03c5d1 | 415 | if (v2>speed2) |
| calmantara186 | 16:90119f03c5d1 | 416 | { v2 = speed2; } |
| calmantara186 | 16:90119f03c5d1 | 417 | else if (v2<-speed2) |
| calmantara186 | 16:90119f03c5d1 | 418 | { v2 = -speed2; } |
| calmantara186 | 16:90119f03c5d1 | 419 | |
| calmantara186 | 16:90119f03c5d1 | 420 | if (v3>speed3) |
| calmantara186 | 16:90119f03c5d1 | 421 | { v3 = speed3; } |
| calmantara186 | 16:90119f03c5d1 | 422 | else if (v3<-speed3) |
| calmantara186 | 16:90119f03c5d1 | 423 | { v3 = -speed3; } |
| calmantara186 | 16:90119f03c5d1 | 424 | |
| calmantara186 | 16:90119f03c5d1 | 425 | if (v4>speed4) |
| calmantara186 | 16:90119f03c5d1 | 426 | { v4 = speed4; } |
| calmantara186 | 16:90119f03c5d1 | 427 | else if (v4<-speed4) |
| calmantara186 | 16:90119f03c5d1 | 428 | { v4 = -speed4; } |
| calmantara186 | 16:90119f03c5d1 | 429 | |
| calmantara186 | 16:90119f03c5d1 | 430 | if (((errX > 0.05) || (errX<-0.05)) || ((errY > 0.05) || (errY<-0.05)) || ((errT > 0.05) || (errT<-0.05))){ |
| calmantara186 | 16:90119f03c5d1 | 431 | motor1.speed(v1); |
| calmantara186 | 16:90119f03c5d1 | 432 | motor2.speed(v2); |
| calmantara186 | 16:90119f03c5d1 | 433 | motor3.speed(v3); |
| calmantara186 | 16:90119f03c5d1 | 434 | motor4.speed(v4); |
| calmantara186 | 16:90119f03c5d1 | 435 | } |
| calmantara186 | 16:90119f03c5d1 | 436 | else{ |
| calmantara186 | 16:90119f03c5d1 | 437 | motor1.brake(1); |
| calmantara186 | 16:90119f03c5d1 | 438 | motor2.brake(1); |
| calmantara186 | 16:90119f03c5d1 | 439 | motor3.brake(1); |
| calmantara186 | 16:90119f03c5d1 | 440 | motor4.brake(1); |
| calmantara186 | 16:90119f03c5d1 | 441 | } |
| calmantara186 | 16:90119f03c5d1 | 442 | } |
| rahmadirizki18 | 5:3aa203218306 | 443 | |
| calmantara186 | 16:90119f03c5d1 | 444 | void speedLauncher(){ |
| calmantara186 | 16:90119f03c5d1 | 445 | /* Fungsi untuk speed launcher */ |
| franshendri | 12:e07c59c28c29 | 446 | if (joystick.R3_click and speedL < 0.8){ |
| calmantara186 | 16:90119f03c5d1 | 447 | speedL = speedL + 0.01; |
| calmantara186 | 16:90119f03c5d1 | 448 | } |
| rahmadirizki18 | 7:d138c56dab20 | 449 | if (joystick.L3_click and speedL > 0.1){ |
| calmantara186 | 16:90119f03c5d1 | 450 | speedL = speedL - 0.01; |
| calmantara186 | 16:90119f03c5d1 | 451 | } |
| rahmadirizki18 | 13:8ab42383a2ca | 452 | if (joystick.R2_click and speedB < 0.8 ){ |
| calmantara186 | 16:90119f03c5d1 | 453 | speedB = speedB + 0.01; |
| calmantara186 | 16:90119f03c5d1 | 454 | } |
| rahmadirizki18 | 13:8ab42383a2ca | 455 | if (joystick.L2_click and speedB > 0.1 ){ |
| calmantara186 | 16:90119f03c5d1 | 456 | speedB = speedB - 0.01; |
| calmantara186 | 16:90119f03c5d1 | 457 | } |
| rahmadirizki18 | 7:d138c56dab20 | 458 | } |
| franshendri | 12:e07c59c28c29 | 459 | |
| calmantara186 | 16:90119f03c5d1 | 460 | /***********************************************/ |
| calmantara186 | 16:90119f03c5d1 | 461 | /* Main Function */ |
| calmantara186 | 16:90119f03c5d1 | 462 | /***********************************************/ |
| calmantara186 | 16:90119f03c5d1 | 463 | |
| calmantara186 | 16:90119f03c5d1 | 464 | int main (void){ |
| calmantara186 | 16:90119f03c5d1 | 465 | /* Set baud rate - 115200 */ |
| fanny868 | 0:9072e932503c | 466 | joystick.setup(); |
| rahmadirizki18 | 6:68293bed71ea | 467 | wait_ms(1000); |
| rahmadirizki18 | 5:3aa203218306 | 468 | setCenter(); |
| rahmadirizki18 | 5:3aa203218306 | 469 | wait_ms(500); |
| rahmadirizki18 | 5:3aa203218306 | 470 | |
| calmantara186 | 16:90119f03c5d1 | 471 | /* Posisi Awal */ |
| rahmadirizki18 | 5:3aa203218306 | 472 | XT = 0; |
| rahmadirizki18 | 5:3aa203218306 | 473 | YT = 0; |
| rahmadirizki18 | 5:3aa203218306 | 474 | Tetha = 0; |
| calmantara186 | 16:90119f03c5d1 | 475 | |
| calmantara186 | 16:90119f03c5d1 | 476 | /* Untuk mendapatkan serial dari Arduino */ |
| fanny868 | 0:9072e932503c | 477 | while(1) |
| fanny868 | 0:9072e932503c | 478 | { |
| fanny868 | 0:9072e932503c | 479 | // Interrupt Serial |
| calmantara186 | 16:90119f03c5d1 | 480 | joystick.idle(); |
| calmantara186 | 16:90119f03c5d1 | 481 | |
| calmantara186 | 16:90119f03c5d1 | 482 | if(joystick.readable() ) { |
| fanny868 | 0:9072e932503c | 483 | // Panggil fungsi pembacaan joystik |
| fanny868 | 0:9072e932503c | 484 | joystick.baca_data(); |
| calmantara186 | 16:90119f03c5d1 | 485 | |
| fanny868 | 0:9072e932503c | 486 | // Panggil fungsi pengolahan data joystik |
| fanny868 | 0:9072e932503c | 487 | joystick.olah_data(); |
| calmantara186 | 16:90119f03c5d1 | 488 | |
| calmantara186 | 16:90119f03c5d1 | 489 | // Masuk ke case gerak |
| fanny868 | 0:9072e932503c | 490 | case_ger = case_gerak(); |
| rahmadirizki18 | 3:1287fccc11be | 491 | aktuator(); |
| calmantara186 | 16:90119f03c5d1 | 492 | |
| rahmadirizki18 | 17:e4229d77a5ab | 493 | if (joystick.segitiga_click) launcher = !launcher; |
| rahmadirizki18 | 17:e4229d77a5ab | 494 | if (joystick.lingkaran_click) servoGo = true; |
| rahmadirizki18 | 17:e4229d77a5ab | 495 | if (joystick.SELECT_click) manual = !manual; |
| rahmadirizki18 | 5:3aa203218306 | 496 | if (joystick.silang) { |
| rahmadirizki18 | 5:3aa203218306 | 497 | XT = 0; |
| rahmadirizki18 | 5:3aa203218306 | 498 | YT = 0; |
| rahmadirizki18 | 5:3aa203218306 | 499 | Tetha = 0; |
| calmantara186 | 16:90119f03c5d1 | 500 | } |
| rahmadirizki18 | 7:d138c56dab20 | 501 | speedLauncher(); |
| franshendri | 12:e07c59c28c29 | 502 | |
| calmantara186 | 16:90119f03c5d1 | 503 | } |
| calmantara186 | 16:90119f03c5d1 | 504 | else { |
| calmantara186 | 16:90119f03c5d1 | 505 | joystick.idle(); |
| fanny868 | 0:9072e932503c | 506 | } |
| rahmadirizki18 | 5:3aa203218306 | 507 | gotoXYT(XT,YT,Tetha); |
| rahmadirizki18 | 5:3aa203218306 | 508 | |
| fanny868 | 0:9072e932503c | 509 | } |
| fanny868 | 0:9072e932503c | 510 | } |