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Dependencies: DigitDisplay Motor PID Joystick_OrdoV5 mbed millis
Fork of
MainProgram_BaseBaru
by 
KRAI 2017
Diff: main.cpp
- Revision:
- 30:d69cc27ac644
- Parent:
- 29:7b372b0aaa61
- Child:
- 31:d5cbda07fd95
diff -r 7b372b0aaa61 -r d69cc27ac644 main.cpp
--- a/main.cpp Sun Feb 12 08:07:04 2017 +0000
+++ b/main.cpp Sun Feb 12 11:19:48 2017 +0000
@@ -19,18 +19,18 @@
/****************************************************************************/
/* */
/* Joystick */
-/* Kanan => Posisi target x ditambah 'perpindahan' */
-/* Kiri => Posisi target x dikurang 'perpindahan' */
+/* Kanan => */
+/* Kiri => */
/* */
-/* Tombol silang => Kembali keposisi Awal */
-/* Tombol segitiga => Aktif motor Launcher */
-/* Tombol lingkaran=> Aktif servo Launcher */
-/* Tombol L1 => Pivot Kiri */
-/* Tombol R1 => Pivot Kanan */
-/* Tombol L3 => PWM Motor Belakang Dikurangi */
-/* Tombol R3 => PWM Motor Belakang Ditambah */
-/* Tombol L2 => PWM Motor Depan Dikurangi */
-/* Tombol R2 => PWM Motor Depan Ditambah */
+/* Tombol silang => Power Screw Aktif */
+/* Tombol segitiga => Aktif motor Launcher */
+/* Tombol lingkaran => Aktif Pneumatik Launcher */
+/* Tombol L1 => Pivot Kiri */
+/* Tombol R1 => Pivot Kanan */
+/* Tombol L3 => PWM Motor Belakang Dikurangi */
+/* Tombol R3 => PWM Motor Belakang Ditambah */
+/* Tombol L2 => PWM Motor Depan Dikurangi */
+/* Tombol R2 => PWM Motor Depan Ditambah */
/* */
/* Bismillahirahmanirrahim */
/* Jagalah Kebersihan Kodingan */
@@ -62,6 +62,7 @@
double last_error2 = 0, current_error2, sum_error2 = 0;
float rpm, target_rpm = 2.0;
float rpm2, target_rpm2 = 4.0;
+bool henti=false, hentis=false;
// Variable Bawah
float Vt;
@@ -77,8 +78,8 @@
encoderKRAI encoderKiri(PC_4, PB_15, 2000, encoderKRAI::X2_ENCODING); //inA, inB, pin Indeks (NC = tak ada), resolusi, pembacaan
/* Deklarasi Encoder Launcher */
-encoderKRAI encoderAtas( PC_10, PC_11, 28, encoderKRAI::X2_ENCODING);
-encoderKRAI encoderAtas2( PD_2, PC_12, 28, encoderKRAI::X2_ENCODING);
+encoderKRAI encoderAtas2( PC_10, PC_11, 28, encoderKRAI::X2_ENCODING);
+encoderKRAI encoderAtas( PD_2, PC_12, 28, encoderKRAI::X2_ENCODING);
/* Deklarasi Motor Base */
Motor motor1(PB_9, PA_12, PC_5); // pwm, fwd, rev, Motor Depan
@@ -93,9 +94,9 @@
DigitalOut pneumatik(PB_3, PullUp);
/*Dekalrasi Limit Switch */
-DigitalIn limitA (PC_9, PullUp);
+DigitalIn limitA(PC_9, PullUp);
DigitalIn limitT(PB_10, PullUp);
-DigitalIn limitB (PC_8, PullUp);
+DigitalIn limitB(PC_8, PullUp);
/**
* posX dan posY berdasarkan arah robot
@@ -179,11 +180,14 @@
if (reload){
if (!limitA){
motorP.brake (1);
- wait_ms(1000);
+ if (hentis != henti){
+ wait_ms(1500);
+ }
+ hentis = henti;
}
else
{
- motorP.speed(pwmP);
+ henti = false;
if (!limitT)
{
while (limitB)
@@ -192,8 +196,16 @@
}
motorP.brake(1);
reload = !reload;
+ }
+ else
+ {
+ motorP.speed(pwmP);
}
}
+ }
+ else
+ {
+ motorP.brake (1);
}
/*Motor Atas*/
@@ -369,7 +381,8 @@
}
if (joystick.lingkaran_click){
pneumatik = 0;
- wait_ms(1000);
+ henti = true;
+ wait_ms(700);
pneumatik = 1;
}
speedKalibrasiMotor();