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Update 12 Maret 2017. Tambahan kombinasi tombol
Dependencies: DigitDisplay Motor PID Ping mbed millis
Fork of MainProgram_BaseBaru_20Feb_malam by
main.cpp@1:56bd3e8f38c5, 2015-06-06 (annotated)
- Committer:
- fadhilginting
- Date:
- Sat Jun 06 06:19:06 2015 +0000
- Revision:
- 1:56bd3e8f38c5
- Parent:
- 0:9072e932503c
- Child:
- 3:1287fccc11be
RobotAttack_Nasional_OpenLoop_Tuning1
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
fanny868 | 0:9072e932503c | 1 | /** |
fanny868 | 0:9072e932503c | 2 | Base 4 Nasional |
fanny868 | 0:9072e932503c | 3 | |
fanny868 | 0:9072e932503c | 4 | Case Gerak |
fanny868 | 0:9072e932503c | 5 | 1. Pivot Kanan |
fanny868 | 0:9072e932503c | 6 | 2. Pivot Kiri |
fanny868 | 0:9072e932503c | 7 | 3. Maju |
fanny868 | 0:9072e932503c | 8 | 4. Mundur |
fanny868 | 0:9072e932503c | 9 | 5. Serong Atas Kanan |
fanny868 | 0:9072e932503c | 10 | 6. Serong Bawah Kanan |
fanny868 | 0:9072e932503c | 11 | 7. Serong Atas Kiri |
fanny868 | 0:9072e932503c | 12 | 8. Serong Bawah Kiri |
fanny868 | 0:9072e932503c | 13 | 9. Kanan |
fanny868 | 0:9072e932503c | 14 | 10. Kiri |
fanny868 | 0:9072e932503c | 15 | 11. Stop |
fanny868 | 0:9072e932503c | 16 | |
fanny868 | 0:9072e932503c | 17 | |
fanny868 | 0:9072e932503c | 18 | Bima Sahbani EL'12 |
fanny868 | 0:9072e932503c | 19 | Fanny Achmad Hindrarta EL'12 |
fanny868 | 0:9072e932503c | 20 | **/ |
fanny868 | 0:9072e932503c | 21 | #include "mbed.h" |
fanny868 | 0:9072e932503c | 22 | #include "JoystickPS3.h" |
fanny868 | 0:9072e932503c | 23 | #include "Motor.h" |
fanny868 | 0:9072e932503c | 24 | |
fanny868 | 0:9072e932503c | 25 | #define vmax 1 |
fanny868 | 0:9072e932503c | 26 | #define vmaxserong 0.9 |
fanny868 | 0:9072e932503c | 27 | #define vmaxpivot 0.7 |
fanny868 | 0:9072e932503c | 28 | #define ax 0.005 |
fanny868 | 0:9072e932503c | 29 | //#define koefperlambatan 0.8 |
fanny868 | 0:9072e932503c | 30 | |
fanny868 | 0:9072e932503c | 31 | // Deklarasi variabel motor |
fanny868 | 0:9072e932503c | 32 | Motor motor1(PA_15, PA_13, PA_14); // pwm, fwd, rev |
fanny868 | 0:9072e932503c | 33 | Motor motor2(PA_0, PC_14, PC_15); // pwm, fwd, rev |
fanny868 | 0:9072e932503c | 34 | Motor motor3(PA_1, PH_1, PH_0); // pwm, fwd, rev |
fanny868 | 0:9072e932503c | 35 | Motor motor4(PC_6, PC_9, PC_8); // pwm, fwd, rev |
fanny868 | 0:9072e932503c | 36 | |
fanny868 | 0:9072e932503c | 37 | // Deklarasi Register Pneumatik |
fanny868 | 0:9072e932503c | 38 | DigitalOut pneumatik1(PC_11); |
fanny868 | 0:9072e932503c | 39 | DigitalOut pneumatik2(PD_2); |
fanny868 | 0:9072e932503c | 40 | |
fanny868 | 0:9072e932503c | 41 | // Deklarasi Timer Pneumatik |
fanny868 | 0:9072e932503c | 42 | Timer timer_pneu; |
fanny868 | 0:9072e932503c | 43 | |
fanny868 | 0:9072e932503c | 44 | // Inisialisasi Pin TX-RX Joystik dan PC |
fanny868 | 0:9072e932503c | 45 | joysticknucleo joystick(PA_11,PA_12); |
fanny868 | 0:9072e932503c | 46 | //Serial pc(USBTX,USBRX); |
fanny868 | 0:9072e932503c | 47 | |
fanny868 | 0:9072e932503c | 48 | //bool perlambatan=0; |
fanny868 | 0:9072e932503c | 49 | char case_ger; |
fanny868 | 0:9072e932503c | 50 | bool maju=false,mundur=false,kiri=false,kanan=false,saka=false,saki=false,sbka=false,sbki=false,pivki=false,pivka=false,cw1=false,ccw1=false,cw2=false,ccw2=false,cw3=false,ccw3=false; |
fanny868 | 0:9072e932503c | 51 | bool stop = true; |
fanny868 | 0:9072e932503c | 52 | bool t1, t2, pneu1, pneu2; |
fanny868 | 0:9072e932503c | 53 | int delay_pneumatik; |
fanny868 | 0:9072e932503c | 54 | double vcurr; |
fanny868 | 0:9072e932503c | 55 | |
fanny868 | 0:9072e932503c | 56 | |
fanny868 | 0:9072e932503c | 57 | int case_gerak() |
fanny868 | 0:9072e932503c | 58 | { |
fanny868 | 0:9072e932503c | 59 | int casegerak; |
fanny868 | 0:9072e932503c | 60 | if (!joystick.L1 && joystick.R1) { |
fanny868 | 0:9072e932503c | 61 | // Pivot Kanan |
fanny868 | 0:9072e932503c | 62 | casegerak = 1; |
fanny868 | 0:9072e932503c | 63 | } else if (!joystick.R1 && joystick.L1) { |
fanny868 | 0:9072e932503c | 64 | // Pivot Kiri |
fanny868 | 0:9072e932503c | 65 | casegerak = 2; |
fanny868 | 0:9072e932503c | 66 | } else if (((!(joystick.L1&&joystick.R1)) && (joystick.LX>110 && joystick.LX<190) && (joystick.LY<=50)) || ((joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) ) { |
fanny868 | 0:9072e932503c | 67 | // Maju |
fanny868 | 0:9072e932503c | 68 | casegerak = 3; |
fanny868 | 0:9072e932503c | 69 | } else if (((!(joystick.L1&&joystick.R1)) && (joystick.LX>90 && joystick.LX<190) && (joystick.LY>=200) )|| ((!joystick.atas)&&(joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri))) { |
fanny868 | 0:9072e932503c | 70 | // Mundur |
fanny868 | 0:9072e932503c | 71 | casegerak = 4; |
fanny868 | 0:9072e932503c | 72 | } else if ((!(joystick.L1&&joystick.R1)) && (((joystick.LX>=200)&&(joystick.LY<=50)) || ((joystick.atas)&&(!joystick.bawah)&&(!joystick.kiri)&&(joystick.kanan)))) { |
fanny868 | 0:9072e932503c | 73 | // Serong Atas Kanan |
fanny868 | 0:9072e932503c | 74 | casegerak = 5; |
fanny868 | 0:9072e932503c | 75 | } else if(((!(joystick.L1&&joystick.R1)) && (((joystick.LX>=200)&&(joystick.LY>=200)) || ((!joystick.atas)&&(joystick.bawah)&&(!joystick.kiri)&&(joystick.kanan))))) { |
fanny868 | 0:9072e932503c | 76 | // Serong Bawah Kanan |
fanny868 | 0:9072e932503c | 77 | casegerak = 6; |
fanny868 | 0:9072e932503c | 78 | } else if ((!(joystick.L1&&joystick.R1)) && (((joystick.LX<=50)&&(joystick.LY<=50)) || ((joystick.atas)&&(!joystick.bawah)&&(joystick.kiri)&&(!joystick.kanan)))) { |
fanny868 | 0:9072e932503c | 79 | // Serong Atas Kiri |
fanny868 | 0:9072e932503c | 80 | casegerak = 7; |
fanny868 | 0:9072e932503c | 81 | } else if ((!(joystick.L1&&joystick.R1)) && (((joystick.LX<=50)&&(joystick.LY>=200)) || ((!joystick.atas)&&(joystick.bawah)&&(joystick.kiri)&&(!joystick.kanan)))) { |
fanny868 | 0:9072e932503c | 82 | // Serong Bawah Kiri |
fanny868 | 0:9072e932503c | 83 | casegerak = 8; |
fanny868 | 0:9072e932503c | 84 | } else if (((!(joystick.L1&&joystick.R1)) && (joystick.LX>=210) && (joystick.LY>80 && joystick.LY<200))|| ((!joystick.atas)&&(!joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri)) ) { |
fanny868 | 0:9072e932503c | 85 | // Kanan |
fanny868 | 0:9072e932503c | 86 | casegerak = 9; |
fanny868 | 0:9072e932503c | 87 | } else if (((!(joystick.L1&&joystick.R1)) && (joystick.LX<=50) && (joystick.LY>80 && joystick.LY<200))|| ((!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri))) { |
fanny868 | 0:9072e932503c | 88 | // Kiri |
fanny868 | 0:9072e932503c | 89 | casegerak = 10; |
fanny868 | 0:9072e932503c | 90 | } else { |
fanny868 | 0:9072e932503c | 91 | // Stop |
fanny868 | 0:9072e932503c | 92 | casegerak = 11; |
fanny868 | 0:9072e932503c | 93 | } |
fanny868 | 0:9072e932503c | 94 | |
fanny868 | 0:9072e932503c | 95 | if(joystick.silang_click && t1==0 && t2==0) { |
fanny868 | 0:9072e932503c | 96 | pneu1 = 1; |
fanny868 | 0:9072e932503c | 97 | } else { |
fanny868 | 0:9072e932503c | 98 | pneu1 = 0; |
fanny868 | 0:9072e932503c | 99 | } |
fanny868 | 0:9072e932503c | 100 | |
fanny868 | 0:9072e932503c | 101 | if(joystick.kotak_click && t1==0 && t2==0) { |
fanny868 | 0:9072e932503c | 102 | pneu2 = 1; |
fanny868 | 0:9072e932503c | 103 | } else { |
fanny868 | 0:9072e932503c | 104 | pneu2 = 0; |
fanny868 | 0:9072e932503c | 105 | } |
fanny868 | 0:9072e932503c | 106 | return(casegerak); |
fanny868 | 0:9072e932503c | 107 | } |
fanny868 | 0:9072e932503c | 108 | |
fanny868 | 0:9072e932503c | 109 | |
fanny868 | 0:9072e932503c | 110 | |
fanny868 | 0:9072e932503c | 111 | /** |
fanny868 | 0:9072e932503c | 112 | |
fanny868 | 0:9072e932503c | 113 | ** Case 1 : Pivot Kanan |
fanny868 | 0:9072e932503c | 114 | ** Case 2 : Pivot Kiri |
fanny868 | 0:9072e932503c | 115 | ** Case 3 : Maju |
fanny868 | 0:9072e932503c | 116 | ** Case 4 : Mundur |
fanny868 | 0:9072e932503c | 117 | ** Case 5 : Serong Atas Kanan |
fanny868 | 0:9072e932503c | 118 | ** Case 6 : Serong Bawah Kanan |
fanny868 | 0:9072e932503c | 119 | ** Case 7 : Serong Atas Kiri |
fanny868 | 0:9072e932503c | 120 | ** Case 8 : Serong Bawah Kiri |
fanny868 | 0:9072e932503c | 121 | ** Case 9 : Kanan |
fanny868 | 0:9072e932503c | 122 | ** Case 10 : Kiri |
fanny868 | 0:9072e932503c | 123 | ** Case 11 : Break |
fanny868 | 0:9072e932503c | 124 | |
fanny868 | 0:9072e932503c | 125 | **/ |
fanny868 | 0:9072e932503c | 126 | void aktuator() |
fanny868 | 0:9072e932503c | 127 | { |
fanny868 | 0:9072e932503c | 128 | double koef; |
fanny868 | 0:9072e932503c | 129 | double s1=0,s2=0,s3=0,s4=0; |
fanny868 | 0:9072e932503c | 130 | |
fanny868 | 0:9072e932503c | 131 | // PNEUMATIK |
fanny868 | 0:9072e932503c | 132 | if(t1==1) { |
fanny868 | 0:9072e932503c | 133 | if(timer_pneu.read_ms() - delay_pneumatik > 800) { |
fanny868 | 0:9072e932503c | 134 | pneumatik1 = 1; |
fanny868 | 0:9072e932503c | 135 | t1=0; |
fanny868 | 0:9072e932503c | 136 | } |
fanny868 | 0:9072e932503c | 137 | } |
fanny868 | 0:9072e932503c | 138 | if(t2==1) { |
fanny868 | 0:9072e932503c | 139 | if(timer_pneu.read_ms() - delay_pneumatik > 800) { |
fanny868 | 0:9072e932503c | 140 | pneumatik2 = 1; |
fanny868 | 0:9072e932503c | 141 | t2=0; |
fanny868 | 0:9072e932503c | 142 | } |
fanny868 | 0:9072e932503c | 143 | } |
fanny868 | 0:9072e932503c | 144 | |
fanny868 | 0:9072e932503c | 145 | if (pneu1 == 1 || pneu2==1) { |
fanny868 | 0:9072e932503c | 146 | timer_pneu.reset(); |
fanny868 | 0:9072e932503c | 147 | delay_pneumatik = timer_pneu.read_ms(); |
fanny868 | 0:9072e932503c | 148 | if(pneu1 == 1) { |
fanny868 | 0:9072e932503c | 149 | pneumatik1 = 0; |
fanny868 | 0:9072e932503c | 150 | t1 = 1; |
fanny868 | 0:9072e932503c | 151 | pneu1 = 0; |
fanny868 | 0:9072e932503c | 152 | } else if(pneu2 == 1) { |
fanny868 | 0:9072e932503c | 153 | pneumatik2 = 0; |
fanny868 | 0:9072e932503c | 154 | t2 = 1; |
fanny868 | 0:9072e932503c | 155 | pneu2 = 0; |
fanny868 | 0:9072e932503c | 156 | } |
fanny868 | 0:9072e932503c | 157 | |
fanny868 | 0:9072e932503c | 158 | } |
fanny868 | 0:9072e932503c | 159 | |
fanny868 | 0:9072e932503c | 160 | // MOTOR |
fanny868 | 0:9072e932503c | 161 | switch (case_ger) |
fanny868 | 0:9072e932503c | 162 | { |
fanny868 | 0:9072e932503c | 163 | case (1): |
fanny868 | 0:9072e932503c | 164 | { |
fanny868 | 0:9072e932503c | 165 | if (pivka) { |
fanny868 | 0:9072e932503c | 166 | if(vcurr<0.1) { |
fanny868 | 0:9072e932503c | 167 | vcurr=0.1; |
fanny868 | 0:9072e932503c | 168 | } else { |
fanny868 | 0:9072e932503c | 169 | vcurr+=ax; |
fanny868 | 0:9072e932503c | 170 | } |
fanny868 | 0:9072e932503c | 171 | //perlambatan=0; |
fanny868 | 0:9072e932503c | 172 | } else { |
fanny868 | 0:9072e932503c | 173 | //perlambatan=1; |
fanny868 | 0:9072e932503c | 174 | } |
fanny868 | 0:9072e932503c | 175 | |
fanny868 | 0:9072e932503c | 176 | if (vcurr>=vmaxpivot) { |
fanny868 | 0:9072e932503c | 177 | vcurr=vmaxpivot; |
fanny868 | 0:9072e932503c | 178 | } |
fanny868 | 0:9072e932503c | 179 | |
fanny868 | 0:9072e932503c | 180 | if(joystick.R2==255 && joystick.L2==0) { |
fanny868 | 0:9072e932503c | 181 | koef=2; |
fanny868 | 0:9072e932503c | 182 | } else if (joystick.L2==255 && joystick.R2==0) { |
fanny868 | 0:9072e932503c | 183 | koef=0.5; |
fanny868 | 0:9072e932503c | 184 | } |
fanny868 | 0:9072e932503c | 185 | else { |
fanny868 | 0:9072e932503c | 186 | koef=1; |
fanny868 | 0:9072e932503c | 187 | } |
fanny868 | 0:9072e932503c | 188 | |
fanny868 | 0:9072e932503c | 189 | s1 = (float)(-0.5*koef*vcurr); |
fanny868 | 0:9072e932503c | 190 | s2 = (float)(0.5*koef*vcurr); |
fanny868 | 0:9072e932503c | 191 | s3 = (float)(-0.5*koef*vcurr); |
fanny868 | 0:9072e932503c | 192 | s4 = (float)(0.5*koef*vcurr); |
fanny868 | 0:9072e932503c | 193 | |
fanny868 | 0:9072e932503c | 194 | pivka=true; |
fanny868 | 0:9072e932503c | 195 | maju=mundur=kiri=kanan=saka=saki=sbka=sbki=pivki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false; |
fanny868 | 0:9072e932503c | 196 | |
fanny868 | 0:9072e932503c | 197 | //pc.printf("pivKa\n"); |
fanny868 | 0:9072e932503c | 198 | |
fanny868 | 0:9072e932503c | 199 | motor1.speed(s1); |
fanny868 | 0:9072e932503c | 200 | motor2.speed(s2); |
fanny868 | 0:9072e932503c | 201 | motor3.speed(s3); |
fanny868 | 0:9072e932503c | 202 | motor4.speed(s4); |
fanny868 | 0:9072e932503c | 203 | |
fanny868 | 0:9072e932503c | 204 | break; |
fanny868 | 0:9072e932503c | 205 | } |
fanny868 | 0:9072e932503c | 206 | case (2): |
fanny868 | 0:9072e932503c | 207 | { |
fanny868 | 0:9072e932503c | 208 | if (pivki){ |
fanny868 | 0:9072e932503c | 209 | if(vcurr<0.1) { |
fanny868 | 0:9072e932503c | 210 | vcurr=0.1; |
fanny868 | 0:9072e932503c | 211 | } else { |
fanny868 | 0:9072e932503c | 212 | vcurr+=ax; |
fanny868 | 0:9072e932503c | 213 | } |
fanny868 | 0:9072e932503c | 214 | //perlambatan=0; |
fanny868 | 0:9072e932503c | 215 | } else { |
fanny868 | 0:9072e932503c | 216 | //perlambatan=1; |
fanny868 | 0:9072e932503c | 217 | } |
fanny868 | 0:9072e932503c | 218 | |
fanny868 | 0:9072e932503c | 219 | if (vcurr>=vmaxpivot) { |
fanny868 | 0:9072e932503c | 220 | vcurr=vmaxpivot; |
fanny868 | 0:9072e932503c | 221 | } |
fanny868 | 0:9072e932503c | 222 | |
fanny868 | 0:9072e932503c | 223 | if(joystick.R2==255 && joystick.L2==0) { |
fanny868 | 0:9072e932503c | 224 | koef=2; |
fanny868 | 0:9072e932503c | 225 | } else if (joystick.L2==255 && joystick.R2==0) { |
fanny868 | 0:9072e932503c | 226 | koef=0.5; |
fanny868 | 0:9072e932503c | 227 | } else { |
fanny868 | 0:9072e932503c | 228 | koef=1; |
fanny868 | 0:9072e932503c | 229 | } |
fanny868 | 0:9072e932503c | 230 | |
fanny868 | 0:9072e932503c | 231 | s1 = (float)(0.5*koef*vcurr); |
fanny868 | 0:9072e932503c | 232 | s2 = (float)(-0.5*koef*vcurr); |
fanny868 | 0:9072e932503c | 233 | s3 = (float)(0.5*koef*vcurr); |
fanny868 | 0:9072e932503c | 234 | s4 = (float)(-0.5*koef*vcurr); |
fanny868 | 0:9072e932503c | 235 | |
fanny868 | 0:9072e932503c | 236 | pivki=true; |
fanny868 | 0:9072e932503c | 237 | maju=mundur=kiri=kanan=saka=saki=sbka=sbki=pivka=cw1=ccw1=cw2=ccw2=cw3=ccw3=false; |
fanny868 | 0:9072e932503c | 238 | |
fanny868 | 0:9072e932503c | 239 | //pc.printf("pivKi\n"); |
fanny868 | 0:9072e932503c | 240 | |
fanny868 | 0:9072e932503c | 241 | motor1.speed(s1); |
fanny868 | 0:9072e932503c | 242 | motor2.speed(s2); |
fanny868 | 0:9072e932503c | 243 | motor3.speed(s3); |
fanny868 | 0:9072e932503c | 244 | motor4.speed(s4); |
fanny868 | 0:9072e932503c | 245 | |
fanny868 | 0:9072e932503c | 246 | break; |
fanny868 | 0:9072e932503c | 247 | } |
fanny868 | 0:9072e932503c | 248 | case (3): |
fanny868 | 0:9072e932503c | 249 | { |
fanny868 | 0:9072e932503c | 250 | if (maju) { |
fanny868 | 0:9072e932503c | 251 | if(vcurr<0.1) { |
fanny868 | 0:9072e932503c | 252 | vcurr=0.1; |
fanny868 | 0:9072e932503c | 253 | } else { |
fanny868 | 0:9072e932503c | 254 | vcurr+=ax; |
fanny868 | 0:9072e932503c | 255 | } |
fanny868 | 0:9072e932503c | 256 | //perlambatan=0; |
fanny868 | 0:9072e932503c | 257 | } else { |
fanny868 | 0:9072e932503c | 258 | //perlambatan=1; |
fanny868 | 0:9072e932503c | 259 | } |
fanny868 | 0:9072e932503c | 260 | |
fanny868 | 0:9072e932503c | 261 | if (vcurr>=vmax) { |
fanny868 | 0:9072e932503c | 262 | vcurr=vmax; |
fanny868 | 0:9072e932503c | 263 | } |
fanny868 | 0:9072e932503c | 264 | |
fanny868 | 0:9072e932503c | 265 | if(joystick.R2==255 && joystick.L2==0) { |
fanny868 | 0:9072e932503c | 266 | koef=2; |
fanny868 | 0:9072e932503c | 267 | } else if (joystick.L2==255 && joystick.R2==0) { koef=0.5;} |
fanny868 | 0:9072e932503c | 268 | else { |
fanny868 | 0:9072e932503c | 269 | koef=1; |
fanny868 | 0:9072e932503c | 270 | } |
fanny868 | 0:9072e932503c | 271 | |
fadhilginting | 1:56bd3e8f38c5 | 272 | //Case s1 untuk mode L2 lebih lambat |
fadhilginting | 1:56bd3e8f38c5 | 273 | s1 = (float)(-1*koef*(vcurr+0.005)); |
fadhilginting | 1:56bd3e8f38c5 | 274 | |
fanny868 | 0:9072e932503c | 275 | s2 = (float)(1.0*koef*vcurr); |
fanny868 | 0:9072e932503c | 276 | s3 = (float)(1.0*koef*vcurr); |
fanny868 | 0:9072e932503c | 277 | s4 = (float)(-1*koef*vcurr); |
fanny868 | 0:9072e932503c | 278 | |
fanny868 | 0:9072e932503c | 279 | //s1 =-0.8*koef*vcurr; |
fanny868 | 0:9072e932503c | 280 | //s2 =koef*vcurr; |
fanny868 | 0:9072e932503c | 281 | //s3 =-koef*vcurr; |
fanny868 | 0:9072e932503c | 282 | //s4 =koef*vcurr; |
fanny868 | 0:9072e932503c | 283 | |
fanny868 | 0:9072e932503c | 284 | maju=true; |
fanny868 | 0:9072e932503c | 285 | mundur=kiri=kanan=saka=saki=sbka=sbki=pivka=pivki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false; |
fanny868 | 0:9072e932503c | 286 | |
fanny868 | 0:9072e932503c | 287 | //pc.printf("maju\n"); |
fanny868 | 0:9072e932503c | 288 | |
fanny868 | 0:9072e932503c | 289 | motor1.speed(s1); |
fanny868 | 0:9072e932503c | 290 | motor2.speed(s2); |
fanny868 | 0:9072e932503c | 291 | motor3.speed(s3); |
fanny868 | 0:9072e932503c | 292 | motor4.speed(s4); |
fanny868 | 0:9072e932503c | 293 | |
fanny868 | 0:9072e932503c | 294 | break; |
fanny868 | 0:9072e932503c | 295 | } |
fanny868 | 0:9072e932503c | 296 | case (4): |
fanny868 | 0:9072e932503c | 297 | { |
fanny868 | 0:9072e932503c | 298 | if (mundur) { |
fanny868 | 0:9072e932503c | 299 | if(vcurr<0.1) { |
fanny868 | 0:9072e932503c | 300 | vcurr=0.1; |
fanny868 | 0:9072e932503c | 301 | } else { |
fanny868 | 0:9072e932503c | 302 | vcurr+=ax; |
fanny868 | 0:9072e932503c | 303 | } |
fanny868 | 0:9072e932503c | 304 | //perlambatan=0; |
fanny868 | 0:9072e932503c | 305 | } else { |
fanny868 | 0:9072e932503c | 306 | //perlambatan=1; |
fanny868 | 0:9072e932503c | 307 | } |
fanny868 | 0:9072e932503c | 308 | |
fanny868 | 0:9072e932503c | 309 | if (vcurr>=vmax) { |
fanny868 | 0:9072e932503c | 310 | vcurr=vmax; |
fanny868 | 0:9072e932503c | 311 | } |
fanny868 | 0:9072e932503c | 312 | |
fanny868 | 0:9072e932503c | 313 | if(joystick.R2==255 && joystick.L2==0) { |
fanny868 | 0:9072e932503c | 314 | koef=2; |
fanny868 | 0:9072e932503c | 315 | } else if (joystick.L2==255 && joystick.R2==0) { |
fanny868 | 0:9072e932503c | 316 | koef=0.5; |
fanny868 | 0:9072e932503c | 317 | } else { |
fanny868 | 0:9072e932503c | 318 | koef=1; |
fanny868 | 0:9072e932503c | 319 | } |
fadhilginting | 1:56bd3e8f38c5 | 320 | //Motor 4 telat mulai |
fadhilginting | 1:56bd3e8f38c5 | 321 | s1 = (float)(1*koef*(vcurr-0.008)); |
fadhilginting | 1:56bd3e8f38c5 | 322 | s2 = (float)(-1*koef*(vcurr-0.005)); |
fadhilginting | 1:56bd3e8f38c5 | 323 | s3 = (float)(-1*koef*(vcurr-0.005)); |
fadhilginting | 1:56bd3e8f38c5 | 324 | s4 = (float)(1*koef*(vcurr+0.005)); |
fanny868 | 0:9072e932503c | 325 | |
fanny868 | 0:9072e932503c | 326 | mundur=true; |
fanny868 | 0:9072e932503c | 327 | maju=kiri=kanan=saka=saki=sbka=sbki=pivka=pivki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false; |
fanny868 | 0:9072e932503c | 328 | |
fanny868 | 0:9072e932503c | 329 | //pc.printf("mundur\n"); |
fanny868 | 0:9072e932503c | 330 | |
fanny868 | 0:9072e932503c | 331 | motor1.speed(s1); |
fanny868 | 0:9072e932503c | 332 | motor2.speed(s2); |
fanny868 | 0:9072e932503c | 333 | motor3.speed(s3); |
fanny868 | 0:9072e932503c | 334 | motor4.speed(s4); |
fanny868 | 0:9072e932503c | 335 | |
fanny868 | 0:9072e932503c | 336 | break; |
fanny868 | 0:9072e932503c | 337 | } |
fanny868 | 0:9072e932503c | 338 | case (5) : |
fanny868 | 0:9072e932503c | 339 | { |
fanny868 | 0:9072e932503c | 340 | if (saka) { |
fanny868 | 0:9072e932503c | 341 | if(vcurr<0.1) { |
fanny868 | 0:9072e932503c | 342 | vcurr=0.1; |
fanny868 | 0:9072e932503c | 343 | } else { |
fanny868 | 0:9072e932503c | 344 | vcurr+=ax; |
fanny868 | 0:9072e932503c | 345 | } |
fanny868 | 0:9072e932503c | 346 | //perlambatan=0; |
fanny868 | 0:9072e932503c | 347 | } else { |
fanny868 | 0:9072e932503c | 348 | //perlambatan=1; |
fanny868 | 0:9072e932503c | 349 | } |
fanny868 | 0:9072e932503c | 350 | |
fanny868 | 0:9072e932503c | 351 | if (vcurr>=vmax) { |
fanny868 | 0:9072e932503c | 352 | vcurr=vmax; |
fanny868 | 0:9072e932503c | 353 | } if(joystick.R2==255 && joystick.L2==0) { |
fanny868 | 0:9072e932503c | 354 | koef=2; |
fanny868 | 0:9072e932503c | 355 | } else if (joystick.L2==255 && joystick.R2==0) { |
fanny868 | 0:9072e932503c | 356 | koef=0.5; |
fanny868 | 0:9072e932503c | 357 | } else { |
fanny868 | 0:9072e932503c | 358 | koef=1; |
fanny868 | 0:9072e932503c | 359 | } |
fanny868 | 0:9072e932503c | 360 | |
fanny868 | 0:9072e932503c | 361 | s1 = (float)(-koef*vcurr); |
fanny868 | 0:9072e932503c | 362 | s2 = (float)(0); //koef*0.1*vcurr; |
fanny868 | 0:9072e932503c | 363 | s3 = (float)(koef*vcurr); |
fanny868 | 0:9072e932503c | 364 | s4 = (float)(0); //-koef*0.1*vcurr; |
fanny868 | 0:9072e932503c | 365 | |
fanny868 | 0:9072e932503c | 366 | saka=true; |
fanny868 | 0:9072e932503c | 367 | maju=mundur=kiri=kanan=sbka=saki=sbki=pivka=pivki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false; |
fanny868 | 0:9072e932503c | 368 | |
fanny868 | 0:9072e932503c | 369 | //pc.printf("saka\n"); |
fanny868 | 0:9072e932503c | 370 | |
fanny868 | 0:9072e932503c | 371 | motor1.speed(s1); |
fanny868 | 0:9072e932503c | 372 | motor2.brake(1); |
fanny868 | 0:9072e932503c | 373 | //motor2.speed(s2); |
fanny868 | 0:9072e932503c | 374 | motor3.speed(s3); |
fanny868 | 0:9072e932503c | 375 | motor4.brake(1); |
fanny868 | 0:9072e932503c | 376 | //motor4.speed(s4); |
fanny868 | 0:9072e932503c | 377 | |
fanny868 | 0:9072e932503c | 378 | break; |
fanny868 | 0:9072e932503c | 379 | } |
fanny868 | 0:9072e932503c | 380 | case (6) : |
fanny868 | 0:9072e932503c | 381 | { |
fanny868 | 0:9072e932503c | 382 | if (sbka){ |
fanny868 | 0:9072e932503c | 383 | if(vcurr<0.1) { |
fanny868 | 0:9072e932503c | 384 | vcurr=0.1; |
fanny868 | 0:9072e932503c | 385 | } else { |
fanny868 | 0:9072e932503c | 386 | vcurr+=ax; |
fanny868 | 0:9072e932503c | 387 | } |
fanny868 | 0:9072e932503c | 388 | //perlambatan=0; |
fanny868 | 0:9072e932503c | 389 | } else { |
fanny868 | 0:9072e932503c | 390 | //perlambatan=1; |
fanny868 | 0:9072e932503c | 391 | } |
fanny868 | 0:9072e932503c | 392 | |
fanny868 | 0:9072e932503c | 393 | if (vcurr>=vmaxserong) { |
fanny868 | 0:9072e932503c | 394 | vcurr=vmaxserong; |
fanny868 | 0:9072e932503c | 395 | } |
fanny868 | 0:9072e932503c | 396 | |
fanny868 | 0:9072e932503c | 397 | if(joystick.R2==255 && joystick.L2==0) { |
fanny868 | 0:9072e932503c | 398 | koef=2; |
fanny868 | 0:9072e932503c | 399 | } else if (joystick.L2==255 && joystick.R2==0) { |
fanny868 | 0:9072e932503c | 400 | koef=0.5; |
fanny868 | 0:9072e932503c | 401 | } else { |
fanny868 | 0:9072e932503c | 402 | koef=1; |
fanny868 | 0:9072e932503c | 403 | } |
fanny868 | 0:9072e932503c | 404 | |
fanny868 | 0:9072e932503c | 405 | s1 = (float)(0); //koef*0.1*vcurr; |
fanny868 | 0:9072e932503c | 406 | s2 = (float)(-koef*vcurr); |
fanny868 | 0:9072e932503c | 407 | s3 = (float)(0); //-koef*0.1*vcurr; |
fanny868 | 0:9072e932503c | 408 | s4 = (float)(koef*vcurr); |
fanny868 | 0:9072e932503c | 409 | |
fanny868 | 0:9072e932503c | 410 | sbka=true; |
fanny868 | 0:9072e932503c | 411 | maju=mundur=kiri=kanan=saka=saki=sbki=pivka=pivki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false; |
fanny868 | 0:9072e932503c | 412 | |
fanny868 | 0:9072e932503c | 413 | //pc.printf("sbka\n"); |
fanny868 | 0:9072e932503c | 414 | |
fanny868 | 0:9072e932503c | 415 | //motor1.speed(s1); |
fanny868 | 0:9072e932503c | 416 | motor1.brake(1); |
fanny868 | 0:9072e932503c | 417 | motor2.speed(s2); |
fanny868 | 0:9072e932503c | 418 | //motor3.speed(s3); |
fanny868 | 0:9072e932503c | 419 | motor3.brake(1); |
fanny868 | 0:9072e932503c | 420 | motor4.speed(s4); |
fanny868 | 0:9072e932503c | 421 | |
fanny868 | 0:9072e932503c | 422 | break; |
fanny868 | 0:9072e932503c | 423 | } |
fanny868 | 0:9072e932503c | 424 | case (7) : |
fanny868 | 0:9072e932503c | 425 | { |
fanny868 | 0:9072e932503c | 426 | if (saki) { |
fanny868 | 0:9072e932503c | 427 | if(vcurr<0.1) { |
fanny868 | 0:9072e932503c | 428 | vcurr=0.1; |
fanny868 | 0:9072e932503c | 429 | } else { |
fanny868 | 0:9072e932503c | 430 | vcurr+=ax; |
fanny868 | 0:9072e932503c | 431 | } |
fanny868 | 0:9072e932503c | 432 | //perlambatan=0; |
fanny868 | 0:9072e932503c | 433 | } else { |
fanny868 | 0:9072e932503c | 434 | //perlambatan=1; |
fanny868 | 0:9072e932503c | 435 | } |
fanny868 | 0:9072e932503c | 436 | |
fanny868 | 0:9072e932503c | 437 | if (vcurr>=vmaxserong) { |
fanny868 | 0:9072e932503c | 438 | vcurr=vmaxserong; |
fanny868 | 0:9072e932503c | 439 | } |
fanny868 | 0:9072e932503c | 440 | |
fanny868 | 0:9072e932503c | 441 | if(joystick.R2==255 && joystick.L2==0) { |
fanny868 | 0:9072e932503c | 442 | koef=2; |
fanny868 | 0:9072e932503c | 443 | } else if (joystick.L2==255 && joystick.R2==0) { |
fanny868 | 0:9072e932503c | 444 | koef=0.5; |
fanny868 | 0:9072e932503c | 445 | } else { |
fanny868 | 0:9072e932503c | 446 | koef=1; |
fanny868 | 0:9072e932503c | 447 | } |
fanny868 | 0:9072e932503c | 448 | |
fanny868 | 0:9072e932503c | 449 | s1 = (float)(0); //-koef*0.1*vcurr; |
fanny868 | 0:9072e932503c | 450 | s2 = (float)(koef*vcurr); |
fanny868 | 0:9072e932503c | 451 | s3 = (float)(0); //koef*0.1*vcurr; |
fanny868 | 0:9072e932503c | 452 | s4 = (float)(-koef*vcurr); |
fanny868 | 0:9072e932503c | 453 | |
fanny868 | 0:9072e932503c | 454 | saki=true; |
fanny868 | 0:9072e932503c | 455 | maju=kiri=kanan=saka=mundur=sbka=sbki=pivka=pivki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false; |
fanny868 | 0:9072e932503c | 456 | |
fanny868 | 0:9072e932503c | 457 | //pc.printf("saki\n"); |
fanny868 | 0:9072e932503c | 458 | |
fanny868 | 0:9072e932503c | 459 | //motor1.speed(s1); |
fanny868 | 0:9072e932503c | 460 | motor1.brake(1); |
fanny868 | 0:9072e932503c | 461 | motor2.speed(s2); |
fanny868 | 0:9072e932503c | 462 | //motor3.speed(s3); |
fanny868 | 0:9072e932503c | 463 | motor3.brake(1); |
fanny868 | 0:9072e932503c | 464 | motor4.speed(s4); |
fanny868 | 0:9072e932503c | 465 | |
fanny868 | 0:9072e932503c | 466 | break; |
fanny868 | 0:9072e932503c | 467 | } |
fanny868 | 0:9072e932503c | 468 | case (8) : |
fanny868 | 0:9072e932503c | 469 | { |
fanny868 | 0:9072e932503c | 470 | if (sbki) { |
fanny868 | 0:9072e932503c | 471 | if(vcurr<0.1) { |
fanny868 | 0:9072e932503c | 472 | vcurr=0.1; |
fanny868 | 0:9072e932503c | 473 | } else { |
fanny868 | 0:9072e932503c | 474 | vcurr+=ax; |
fanny868 | 0:9072e932503c | 475 | } |
fanny868 | 0:9072e932503c | 476 | //perlambatan=0; |
fanny868 | 0:9072e932503c | 477 | } else { |
fanny868 | 0:9072e932503c | 478 | //perlambatan=1; |
fanny868 | 0:9072e932503c | 479 | } |
fanny868 | 0:9072e932503c | 480 | |
fanny868 | 0:9072e932503c | 481 | if (vcurr>=vmaxserong) { |
fanny868 | 0:9072e932503c | 482 | vcurr=vmaxserong; |
fanny868 | 0:9072e932503c | 483 | } |
fanny868 | 0:9072e932503c | 484 | |
fanny868 | 0:9072e932503c | 485 | if(joystick.R2==255 && joystick.L2==0) { |
fanny868 | 0:9072e932503c | 486 | koef=2; |
fanny868 | 0:9072e932503c | 487 | } else if (joystick.L2==255 && joystick.R2==0) { |
fanny868 | 0:9072e932503c | 488 | koef=0.5; |
fanny868 | 0:9072e932503c | 489 | } else { |
fanny868 | 0:9072e932503c | 490 | koef=1; |
fanny868 | 0:9072e932503c | 491 | } |
fanny868 | 0:9072e932503c | 492 | |
fanny868 | 0:9072e932503c | 493 | s1 = (float)(koef*vcurr); |
fanny868 | 0:9072e932503c | 494 | s2 = (float)(0); //-koef*0.1*vcurr; |
fanny868 | 0:9072e932503c | 495 | s3 = (float)(-koef*vcurr); |
fanny868 | 0:9072e932503c | 496 | s4 = (float)(0); //koef*0.1*vcurr; |
fanny868 | 0:9072e932503c | 497 | |
fanny868 | 0:9072e932503c | 498 | sbki=true; |
fanny868 | 0:9072e932503c | 499 | maju=kiri=kanan=saka=saki=sbka=mundur=pivka=pivki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false; |
fanny868 | 0:9072e932503c | 500 | |
fanny868 | 0:9072e932503c | 501 | //pc.printf("sbki\n"); |
fanny868 | 0:9072e932503c | 502 | |
fanny868 | 0:9072e932503c | 503 | motor1.speed(s1); |
fanny868 | 0:9072e932503c | 504 | //motor2.speed(s2); |
fanny868 | 0:9072e932503c | 505 | motor2.brake(1); |
fanny868 | 0:9072e932503c | 506 | motor3.speed(s3); |
fanny868 | 0:9072e932503c | 507 | //motor4.speed(s4); |
fanny868 | 0:9072e932503c | 508 | motor4.brake(1); |
fanny868 | 0:9072e932503c | 509 | |
fanny868 | 0:9072e932503c | 510 | break; |
fanny868 | 0:9072e932503c | 511 | } |
fanny868 | 0:9072e932503c | 512 | case (9) : |
fanny868 | 0:9072e932503c | 513 | { |
fanny868 | 0:9072e932503c | 514 | if (kanan) { |
fanny868 | 0:9072e932503c | 515 | if(vcurr<0.1) { |
fanny868 | 0:9072e932503c | 516 | vcurr=0.1; |
fanny868 | 0:9072e932503c | 517 | } else { |
fanny868 | 0:9072e932503c | 518 | vcurr+=ax; |
fanny868 | 0:9072e932503c | 519 | } |
fanny868 | 0:9072e932503c | 520 | //perlambatan=0; |
fanny868 | 0:9072e932503c | 521 | } else { |
fanny868 | 0:9072e932503c | 522 | //perlambatan=1; |
fanny868 | 0:9072e932503c | 523 | } |
fanny868 | 0:9072e932503c | 524 | |
fanny868 | 0:9072e932503c | 525 | if (vcurr>=vmax) { |
fanny868 | 0:9072e932503c | 526 | vcurr=vmax; |
fanny868 | 0:9072e932503c | 527 | } |
fanny868 | 0:9072e932503c | 528 | |
fanny868 | 0:9072e932503c | 529 | if(joystick.R2==255 && joystick.L2==0) { |
fanny868 | 0:9072e932503c | 530 | koef=2; |
fanny868 | 0:9072e932503c | 531 | } else if (joystick.L2==255 && joystick.R2==0) { |
fanny868 | 0:9072e932503c | 532 | koef=0.5; |
fanny868 | 0:9072e932503c | 533 | } else { |
fanny868 | 0:9072e932503c | 534 | koef=1; |
fanny868 | 0:9072e932503c | 535 | } |
fanny868 | 0:9072e932503c | 536 | |
fanny868 | 0:9072e932503c | 537 | s1 =(float)(-1*koef*vcurr); |
fanny868 | 0:9072e932503c | 538 | s2 =(float)(-1.0*koef*vcurr); |
fanny868 | 0:9072e932503c | 539 | s3 =(float)(1*koef*vcurr); |
fanny868 | 0:9072e932503c | 540 | s4 =(float)(1.0*koef*vcurr); |
fanny868 | 0:9072e932503c | 541 | |
fanny868 | 0:9072e932503c | 542 | kanan=true; |
fanny868 | 0:9072e932503c | 543 | maju=kiri=mundur=saka=saki=sbka=sbki=pivka=pivki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false; |
fanny868 | 0:9072e932503c | 544 | |
fanny868 | 0:9072e932503c | 545 | //pc.printf("Kanan\n"); |
fanny868 | 0:9072e932503c | 546 | |
fanny868 | 0:9072e932503c | 547 | motor1.speed(s1); |
fanny868 | 0:9072e932503c | 548 | motor2.speed(s2); |
fanny868 | 0:9072e932503c | 549 | motor3.speed(s3); |
fanny868 | 0:9072e932503c | 550 | motor4.speed(s4); |
fanny868 | 0:9072e932503c | 551 | break; |
fanny868 | 0:9072e932503c | 552 | } |
fanny868 | 0:9072e932503c | 553 | case (10) : |
fanny868 | 0:9072e932503c | 554 | { |
fanny868 | 0:9072e932503c | 555 | if (kiri) { |
fanny868 | 0:9072e932503c | 556 | if(vcurr<0.1) { |
fanny868 | 0:9072e932503c | 557 | vcurr=0.1; |
fanny868 | 0:9072e932503c | 558 | } else { |
fanny868 | 0:9072e932503c | 559 | vcurr+=ax; |
fanny868 | 0:9072e932503c | 560 | } |
fanny868 | 0:9072e932503c | 561 | //perlambatan=1; |
fanny868 | 0:9072e932503c | 562 | } else { |
fanny868 | 0:9072e932503c | 563 | //perlambatan=1; |
fanny868 | 0:9072e932503c | 564 | } |
fanny868 | 0:9072e932503c | 565 | |
fanny868 | 0:9072e932503c | 566 | if (vcurr>=vmax) { |
fanny868 | 0:9072e932503c | 567 | vcurr=vmax; |
fanny868 | 0:9072e932503c | 568 | } |
fanny868 | 0:9072e932503c | 569 | |
fanny868 | 0:9072e932503c | 570 | if(joystick.R2==255 && joystick.L2==0) { |
fanny868 | 0:9072e932503c | 571 | koef=2; |
fanny868 | 0:9072e932503c | 572 | } else if (joystick.L2==255 && joystick.R2==0) { |
fanny868 | 0:9072e932503c | 573 | koef=0.5; |
fanny868 | 0:9072e932503c | 574 | } else { |
fanny868 | 0:9072e932503c | 575 | koef=1; |
fanny868 | 0:9072e932503c | 576 | } |
fanny868 | 0:9072e932503c | 577 | |
fanny868 | 0:9072e932503c | 578 | s1 =(float)(1*koef*vcurr); |
fanny868 | 0:9072e932503c | 579 | s2 =(float)(1*koef*vcurr); |
fanny868 | 0:9072e932503c | 580 | s3 =(float)(-1*koef*vcurr); |
fanny868 | 0:9072e932503c | 581 | s4 =(float)(-1.0*koef*vcurr); |
fanny868 | 0:9072e932503c | 582 | |
fanny868 | 0:9072e932503c | 583 | kiri=true; |
fanny868 | 0:9072e932503c | 584 | maju=kanan=mundur=saka=saki=sbka=sbki=pivka=pivki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false; |
fanny868 | 0:9072e932503c | 585 | |
fanny868 | 0:9072e932503c | 586 | //pc.printf("Kiri\n"); |
fanny868 | 0:9072e932503c | 587 | |
fanny868 | 0:9072e932503c | 588 | motor1.speed(s1); |
fanny868 | 0:9072e932503c | 589 | motor2.speed(s2); |
fanny868 | 0:9072e932503c | 590 | motor3.speed(s3); |
fanny868 | 0:9072e932503c | 591 | motor4.speed(s4); |
fanny868 | 0:9072e932503c | 592 | |
fanny868 | 0:9072e932503c | 593 | break; |
fanny868 | 0:9072e932503c | 594 | } |
fanny868 | 0:9072e932503c | 595 | default : |
fanny868 | 0:9072e932503c | 596 | { |
fanny868 | 0:9072e932503c | 597 | //if (mundur||kiri||kanan||saka||saki||sbka||sbki||pivki||pivka||cw1||ccw1||cw2||ccw2||cw3||ccw3) wait_ms(100); |
fanny868 | 0:9072e932503c | 598 | //if (maju && (vcurr>=0.5)) wait_ms(100); |
fanny868 | 0:9072e932503c | 599 | //else if (maju && (vcurr<0.5)) wait_ms(50); |
fanny868 | 0:9072e932503c | 600 | /* |
fanny868 | 0:9072e932503c | 601 | if(s1>0.2 || s1<-0.2 || s2>0.2 || s2<-0.2) { |
fanny868 | 0:9072e932503c | 602 | s1 = koefperlambatan * s1; |
fanny868 | 0:9072e932503c | 603 | s2 = koefperlambatan * s2; |
fanny868 | 0:9072e932503c | 604 | s3 = koefperlambatan * s3; |
fanny868 | 0:9072e932503c | 605 | s4 = koefperlambatan * s4; |
fanny868 | 0:9072e932503c | 606 | |
fanny868 | 0:9072e932503c | 607 | motor1.speed(s1); |
fanny868 | 0:9072e932503c | 608 | motor2.speed(s2); |
fanny868 | 0:9072e932503c | 609 | motor3.speed(s3); |
fanny868 | 0:9072e932503c | 610 | motor4.speed(s4); |
fanny868 | 0:9072e932503c | 611 | |
fanny868 | 0:9072e932503c | 612 | |
fanny868 | 0:9072e932503c | 613 | } else { |
fanny868 | 0:9072e932503c | 614 | */ |
fanny868 | 0:9072e932503c | 615 | motor1.brake(1); |
fanny868 | 0:9072e932503c | 616 | motor2.brake(1); |
fanny868 | 0:9072e932503c | 617 | motor3.brake(1); |
fanny868 | 0:9072e932503c | 618 | motor4.brake(1); |
fanny868 | 0:9072e932503c | 619 | //} |
fanny868 | 0:9072e932503c | 620 | |
fanny868 | 0:9072e932503c | 621 | maju=mundur=kiri=kanan=saka=saki=sbka=sbki=pivki=pivka=cw1=ccw1=cw2=ccw2=cw3=ccw3=false; |
fanny868 | 0:9072e932503c | 622 | stop = true; |
fanny868 | 0:9072e932503c | 623 | |
fanny868 | 0:9072e932503c | 624 | //s1 = 0;s2 =0; s3 =0; s4 =0; |
fanny868 | 0:9072e932503c | 625 | |
fanny868 | 0:9072e932503c | 626 | //pc.printf("Stop\n"); |
fanny868 | 0:9072e932503c | 627 | } |
fanny868 | 0:9072e932503c | 628 | } |
fanny868 | 0:9072e932503c | 629 | } |
fanny868 | 0:9072e932503c | 630 | |
fanny868 | 0:9072e932503c | 631 | |
fanny868 | 0:9072e932503c | 632 | int main (void) |
fanny868 | 0:9072e932503c | 633 | { |
fanny868 | 0:9072e932503c | 634 | // Set baud rate - 115200 |
fanny868 | 0:9072e932503c | 635 | joystick.setup(); |
fanny868 | 0:9072e932503c | 636 | //pc.baud(115200); |
fanny868 | 0:9072e932503c | 637 | //pc.printf("Ready...\n"); |
fanny868 | 0:9072e932503c | 638 | timer_pneu.start(); |
fanny868 | 0:9072e932503c | 639 | pneumatik1=1; |
fanny868 | 0:9072e932503c | 640 | pneumatik2=1; |
fanny868 | 0:9072e932503c | 641 | t1=0; |
fanny868 | 0:9072e932503c | 642 | t2=0; |
fanny868 | 0:9072e932503c | 643 | while(1) |
fanny868 | 0:9072e932503c | 644 | { |
fanny868 | 0:9072e932503c | 645 | // Interrupt Serial |
fanny868 | 0:9072e932503c | 646 | joystick.idle(); |
fanny868 | 0:9072e932503c | 647 | if(joystick.readable() ) { |
fanny868 | 0:9072e932503c | 648 | // Panggil fungsi pembacaan joystik |
fanny868 | 0:9072e932503c | 649 | joystick.baca_data(); |
fanny868 | 0:9072e932503c | 650 | // Panggil fungsi pengolahan data joystik |
fanny868 | 0:9072e932503c | 651 | joystick.olah_data(); |
fanny868 | 0:9072e932503c | 652 | //pc.printf("%2x %2x %2x %2x %3d %3d %3d %3d %3d %3d\n\r",joystick.button, joystick.RL, joystick.button_click, joystick.RL_click, joystick.R2, joystick.L2, joystick.RX, joystick.RY, joystick.LX, joystick.LY); |
fanny868 | 0:9072e932503c | 653 | case_ger = case_gerak(); |
fanny868 | 0:9072e932503c | 654 | aktuator(); |
fanny868 | 0:9072e932503c | 655 | |
fanny868 | 0:9072e932503c | 656 | } else { |
fanny868 | 0:9072e932503c | 657 | joystick.idle(); |
fanny868 | 0:9072e932503c | 658 | |
fanny868 | 0:9072e932503c | 659 | } |
fanny868 | 0:9072e932503c | 660 | } |
fanny868 | 0:9072e932503c | 661 | } |