KRAI 2017
/
MainProgram_BaseBaru_display
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Dependencies: DigitDisplay Motor PID Joystick_OrdoV5 mbed millis
Fork of
MainProgram_BaseBaru
by 
KRAI 2017
Revision 20:54dc93e7b016, committed 2017-01-28
- Comitter:
- MarchioKevin
- Date:
- Sat Jan 28 04:33:39 2017 +0000
- Parent:
- 19:38f148ce00f0
- Child:
- 21:da2f3d04468f
- Commit message:
- Mode encoder sumbu X: Perpindahan; Bersih-bersih kodinga wkwk
Changed in this revision
| JoystickPS3.h | Show annotated file Show diff for this revision Revisions of this file |
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/JoystickPS3.h Fri Jan 27 16:27:56 2017 +0000
+++ b/JoystickPS3.h Sat Jan 28 04:33:39 2017 +0000
@@ -8,8 +8,6 @@
Serial debug(USBTX,USBRX);
-
-
namespace JoystickPS3 {
class joysticknucleo {
@@ -143,7 +141,6 @@
}
-
/*********************************************************************************************/
/** **/
/** FUNGSI PEMBACAAN DATA **/
@@ -186,12 +183,11 @@
} else {
idle(); }
// Indikator - Print data pada monitor PC
- // debug.printf("%2x %2x %2x %2x %3d %3d %3d %3d %3d %3d\n\r",button, RL, button_click, RL_click, R2, L2, RX, RY, LX, LY);
+ // debug.printf("%2x %2x %2x %2x %3d %3d %3d %3d %3d %3d\n\r",button, RL, button_click, RL_click, R2, L2, RX, RY, LX, LY);
}
}
-
-
+
int readable(){
return _serial.readable();
}
--- a/main.cpp Fri Jan 27 16:27:56 2017 +0000
+++ b/main.cpp Sat Jan 28 04:33:39 2017 +0000
@@ -18,11 +18,11 @@
/* */
/****************************************************************************/
/* */
-/* Joystick */
-/* kanan => posisi target x ditambah 0.01 */
-/* kiri => posisi target x dikurang 0.01 */
-/* atas => posisi target y ditambah 0.01 */
-/* bawah => posisi target y dikurang 0.01 */
+/* Joystick */
+/* Kanan => Posisi target x ditambah 'perpindahan' */
+/* Kiri => Posisi target x dikurang 'perpindahan' */
+/* Atas => Posisi target y ditambah 0.01 */
+/* Bawah => Posisi target y dikurang 0.01 */
/* */
/* Tombol silang => Kembali keposisi Awal */
/* Tombol segitiga => Aktif motor Launcher */
@@ -31,10 +31,9 @@
/* Tombol R3 => PWM Launcher ditambahin */
/* */
/* Bismillahirahmanirrahim */
-/* Jagalah Kebersihan kodingan */
+/* Jagalah Kebersihan Kodingan */
/****************************************************************************/
-
#include "mbed.h"
#include "JoystickPS3.h"
#include "Motor.h"
@@ -65,20 +64,20 @@
float kpX=0.5, kpY=0.5, kp_tetha=0.03;
/* Deklarasi encoder */
-encoderKRAI encoderDepan( PB_13, PB_14, 2000, encoderKRAI::X2_ENCODING); //inA, inB, pin Indeks (NC = tak ada), resolusi, pembacaan
-encoderKRAI encoderBelakang( PC_11, PC_10, 2000, encoderKRAI::X2_ENCODING); //inA, inB, pin Indeks (NC = tak ada), resolusi, pembacaan
-encoderKRAI encoderKanan( PC_12, PD_2, 720, encoderKRAI::X2_ENCODING); //inA, inB, pin Indeks (NC = tak ada), resolusi, pembacaan
-encoderKRAI encoderKiri( PC_4, PB_15, 2000, encoderKRAI::X2_ENCODING); //inA, inB, pin Indeks (NC = tak ada), resolusi, pembacaan
+encoderKRAI encoderDepan( PB_13, PB_14, 2000, encoderKRAI::X2_ENCODING); //inA, inB, pin Indeks (NC = tak ada), resolusi, pembacaan
+encoderKRAI encoderBelakang( PC_11, PC_10, 2000, encoderKRAI::X2_ENCODING); //inA, inB, pin Indeks (NC = tak ada), resolusi, pembacaan
+encoderKRAI encoderKanan( PC_12, PD_2, 720, encoderKRAI::X2_ENCODING); //inA, inB, pin Indeks (NC = tak ada), resolusi, pembacaan
+encoderKRAI encoderKiri( PC_4, PB_15, 2000, encoderKRAI::X2_ENCODING); //inA, inB, pin Indeks (NC = tak ada), resolusi, pembacaan
/* Deklarasi Motor Base */
-Motor motor1(PB_7, PA_14 , PA_15); // pwm, fwd, rev
-Motor motor2(PB_8, PA_13 ,PB_0); // pwm, fwd, rev
-Motor motor3(PB_9, PA_12 ,PC_5); // pwm, fwd, rev
-Motor motor4(PB_6, PB_1 ,PB_12); // pwm, fwd, rev
+Motor motor1(PB_7, PA_14, PA_15); // pwm, fwd, rev
+Motor motor2(PB_8, PA_13, PB_0); // pwm, fwd, rev
+Motor motor3(PB_9, PA_12, PC_5); // pwm, fwd, rev
+Motor motor4(PB_6, PB_1, PB_12); // pwm, fwd, rev
/* Deklarasi Motor Launcher */
-Motor motorld(PA_8, PC_1 , PC_2); // pwm, fwd, rev
-Motor motorlb(PA_9, PA_4, PC_15 ); // pwm, fwd, rev
+Motor motorld(PA_8, PC_1, PC_2); // pwm, fwd, rev
+Motor motorlb(PA_9, PA_4, PC_15 ); // pwm, fwd, rev
/* Deklarasi Servo Launcher */
Servo servoS(PB_2);
@@ -91,16 +90,16 @@
**/
/* Variabel Encoder */
-float jarak, posX, posY; //
+float jarak, posX, posY; //
float XT, YT, Tetha; // Jarak Target Robot
float errX, errY, errT, Vt, Vx, Vy; // Variabel yang didapatkan encoder
float v1, v2, v3, v4; // Variabel kecepatan motor dari encoder
/* Fungsi dan Procedur Encoder */
void setCenter(); // Fungsi reset agar robot di tengah
-float getY(); // FUngsi mendapatkan jarak Y
-float getX(); // FUngsi mendapatkan jarak X
-float getTetha(); // FUngsi mendapatkan jarak Tetha
+float getY(); // Fungsi mendapatkan jarak Y
+float getX(); // Fungsi mendapatkan jarak X
+float getTetha(); // Fungsi mendapatkan jarak Tetha
/* Inisialisasi Pin TX-RX Joystik dan PC */
joysticknucleo joystick(PA_0,PA_1);
@@ -299,7 +298,7 @@
}
} // End Switch
} else {
- //Mode Encoder
+ // Mode Encoder
switch (case_ger) {
case (1):{
Tetha = Tetha - 0.05;
@@ -340,18 +339,15 @@
case (9) :{
// Kanan
if (case_ger != caseSebelum) XT = XT + PERPINDAHAN;
-
-
break;
}
case (10) :{
// Kiri
if (case_ger != caseSebelum) XT = XT - PERPINDAHAN;
-
break;
}
default :{}
- } //end of switch
+ } // End of Switch
caseSebelum = case_ger;
}
}
@@ -499,12 +495,10 @@
Tetha = 0;
}
speedLauncher();
-
}
else {
joystick.idle();
}
gotoXYT(XT,YT,Tetha);
-
}
}