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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@15:98f0d56b14f0, 2016-12-09 (annotated)
- Committer:
- rahmadirizki18
- Date:
- Fri Dec 09 12:03:44 2016 +0000
- Revision:
- 15:98f0d56b14f0
- Parent:
- 14:6d389e99981c
- Child:
- 16:90119f03c5d1
update pin;
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 */ |
rahmadirizki18 | 13:8ab42383a2ca | 31 | /* Tombol R3 => PWM Launcher ditambahin */ |
rahmadirizki18 | 13:8ab42383a2ca | 32 | /* */ |
rahmadirizki18 | 13:8ab42383a2ca | 33 | /* */ |
rahmadirizki18 | 6:68293bed71ea | 34 | /* */ |
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" |
fanny868 | 0:9072e932503c | 42 | |
fanny868 | 0:9072e932503c | 43 | //#define koefperlambatan 0.8 |
rahmadirizki18 | 5:3aa203218306 | 44 | #include "encoderKRAI.h" |
rahmadirizki18 | 5:3aa203218306 | 45 | |
rahmadirizki18 | 5:3aa203218306 | 46 | #define pi 22/7 |
rahmadirizki18 | 5:3aa203218306 | 47 | #define diaEncoder 0.058 |
rahmadirizki18 | 5:3aa203218306 | 48 | #define PPR 1000 |
rahmadirizki18 | 5:3aa203218306 | 49 | #define diaRobot 0.64 |
Joshua23 | 9:5a50782510fb | 50 | #define pinservo1 PC_8 |
rahmadirizki18 | 7:d138c56dab20 | 51 | //PC 9 |
Joshua23 | 9:5a50782510fb | 52 | #define pinservo2 PC_9 |
rahmadirizki18 | 5:3aa203218306 | 53 | |
rahmadirizki18 | 5:3aa203218306 | 54 | float K_enc = pi*diaEncoder; |
rahmadirizki18 | 5:3aa203218306 | 55 | float K_robot = pi*diaRobot; |
rahmadirizki18 | 5:3aa203218306 | 56 | |
rahmadirizki18 | 5:3aa203218306 | 57 | float speed1=0.6; |
rahmadirizki18 | 5:3aa203218306 | 58 | float speed2=0.6; |
rahmadirizki18 | 5:3aa203218306 | 59 | float speed3=0.6; |
rahmadirizki18 | 5:3aa203218306 | 60 | float speed4=0.6; |
franshendri | 12:e07c59c28c29 | 61 | float speedB=0.43 ; |
franshendri | 12:e07c59c28c29 | 62 | float speedL=0.4; |
rahmadirizki18 | 5:3aa203218306 | 63 | |
rahmadirizki18 | 5:3aa203218306 | 64 | float KpX=0.5, KpY=0.5, Kp_tetha=0.03; |
rahmadirizki18 | 6:68293bed71ea | 65 | |
rahmadirizki18 | 6:68293bed71ea | 66 | Timer waktu; |
rahmadirizki18 | 5:3aa203218306 | 67 | //float jarakGlobalY; |
rahmadirizki18 | 5:3aa203218306 | 68 | |
rahmadirizki18 | 5:3aa203218306 | 69 | // Deklarasi variabel PID |
rahmadirizki18 | 5:3aa203218306 | 70 | //PID PID(0.992,0.000,0.81,0.001); //(P,I,D, time sampling) |
rahmadirizki18 | 15:98f0d56b14f0 | 71 | /* |
rahmadirizki18 | 5:3aa203218306 | 72 | // Deklarasi variabel encoder |
rahmadirizki18 | 6:68293bed71ea | 73 | encoderKRAI encoderDepan( PB_14, PB_13, 2000, encoderKRAI::X2_ENCODING); //inA, inB, pin Indeks (NC = tak ada), resolusi, pembacaan |
rahmadirizki18 | 5:3aa203218306 | 74 | encoderKRAI encoderBelakang( PC_4, PB_15, 2000, encoderKRAI::X2_ENCODING); |
rahmadirizki18 | 5:3aa203218306 | 75 | encoderKRAI encoderKanan( PD_2, PC_12, 720, encoderKRAI::X2_ENCODING); |
rahmadirizki18 | 5:3aa203218306 | 76 | encoderKRAI encoderKiri( PC_11, PC_10, 2000, encoderKRAI::X2_ENCODING); |
rahmadirizki18 | 15:98f0d56b14f0 | 77 | */ |
rahmadirizki18 | 15:98f0d56b14f0 | 78 | |
rahmadirizki18 | 15:98f0d56b14f0 | 79 | // Deklarasi variabel encoder |
rahmadirizki18 | 15:98f0d56b14f0 | 80 | encoderKRAI encoderDepan( PB_13, PB_14, 2000, encoderKRAI::X2_ENCODING); //inA, inB, pin Indeks (NC = tak ada), resolusi, pembacaan |
rahmadirizki18 | 15:98f0d56b14f0 | 81 | encoderKRAI encoderBelakang( PC_11, PC_10, 2000, encoderKRAI::X2_ENCODING); |
rahmadirizki18 | 15:98f0d56b14f0 | 82 | encoderKRAI encoderKanan( PC_12, PD_2, 720, encoderKRAI::X2_ENCODING); |
rahmadirizki18 | 15:98f0d56b14f0 | 83 | encoderKRAI encoderKiri( PC_4, PB_15, 2000, encoderKRAI::X2_ENCODING); |
fanny868 | 0:9072e932503c | 84 | |
fanny868 | 0:9072e932503c | 85 | // Deklarasi variabel motor |
rahmadirizki18 | 14:6d389e99981c | 86 | Motor motor1(PB_7, PA_14 , PA_15); // pwm, fwd, rev |
rahmadirizki18 | 14:6d389e99981c | 87 | Motor motor2(PB_8, PA_13 ,PB_0); // pwm, fwd, rev |
rahmadirizki18 | 15:98f0d56b14f0 | 88 | Motor motor3(PB_9, PA_12 ,PC_5); // pwm, fwd, rev |
rahmadirizki18 | 14:6d389e99981c | 89 | Motor motor4(PB_6, PB_1 ,PB_12); // pwm, fwd, rev |
rahmadirizki18 | 5:3aa203218306 | 90 | |
rahmadirizki18 | 6:68293bed71ea | 91 | //Motor Atas |
rahmadirizki18 | 14:6d389e99981c | 92 | Motor motorld(PA_8, PC_1 , PC_2); // pwm, fwd, rev |
rahmadirizki18 | 14:6d389e99981c | 93 | Motor motorlb(PA_9, PA_4, PC_15 ); // pwm, fwd, rev |
rahmadirizki18 | 6:68293bed71ea | 94 | |
rahmadirizki18 | 6:68293bed71ea | 95 | //Servo Atas |
rahmadirizki18 | 14:6d389e99981c | 96 | Servo servoS(PB_2); |
rahmadirizki18 | 14:6d389e99981c | 97 | Servo servoB(PA_5); |
rahmadirizki18 | 6:68293bed71ea | 98 | |
rahmadirizki18 | 5:3aa203218306 | 99 | // Deklarasi variabel posisi robot |
rahmadirizki18 | 5:3aa203218306 | 100 | //robotPos posisi(); |
rahmadirizki18 | 5:3aa203218306 | 101 | |
rahmadirizki18 | 5:3aa203218306 | 102 | // Inisialisasi Pin TX-RX Joystik dan PC |
rahmadirizki18 | 5:3aa203218306 | 103 | //Serial pc(PA_0,PA_1); |
rahmadirizki18 | 5:3aa203218306 | 104 | //Serial pc(USBTX,USBRX); |
rahmadirizki18 | 5:3aa203218306 | 105 | // Deklarasi Variabel Global |
rahmadirizki18 | 5:3aa203218306 | 106 | /* |
rahmadirizki18 | 5:3aa203218306 | 107 | * posX dan posY berdasarkan arah robot |
rahmadirizki18 | 5:3aa203218306 | 108 | * encoder Depan & Belakang sejajar sumbu Y |
rahmadirizki18 | 5:3aa203218306 | 109 | * encoder Kanan & Kiri sejajar sumbu X |
rahmadirizki18 | 5:3aa203218306 | 110 | */ |
rahmadirizki18 | 5:3aa203218306 | 111 | float jarak, posX, posY; |
rahmadirizki18 | 5:3aa203218306 | 112 | //float keliling = pi*diameterRoda; |
rahmadirizki18 | 5:3aa203218306 | 113 | |
rahmadirizki18 | 5:3aa203218306 | 114 | void detect_encoder(float speed); |
rahmadirizki18 | 5:3aa203218306 | 115 | void setCenter(); |
rahmadirizki18 | 5:3aa203218306 | 116 | float getY(); |
rahmadirizki18 | 5:3aa203218306 | 117 | float getX(); |
rahmadirizki18 | 5:3aa203218306 | 118 | float getTetha(); |
rahmadirizki18 | 5:3aa203218306 | 119 | |
fanny868 | 0:9072e932503c | 120 | // Inisialisasi Pin TX-RX Joystik dan PC |
rahmadirizki18 | 3:1287fccc11be | 121 | joysticknucleo joystick(PA_0,PA_1); |
rahmadirizki18 | 3:1287fccc11be | 122 | Serial pc(USBTX,USBRX); |
fanny868 | 0:9072e932503c | 123 | |
rahmadirizki18 | 5:3aa203218306 | 124 | // Posisi target |
rahmadirizki18 | 5:3aa203218306 | 125 | float XT, YT, Tetha; |
rahmadirizki18 | 5:3aa203218306 | 126 | |
rahmadirizki18 | 5:3aa203218306 | 127 | //encoder variable |
rahmadirizki18 | 5:3aa203218306 | 128 | float errX, errY, errT, Vt, Vx, Vy; |
rahmadirizki18 | 5:3aa203218306 | 129 | float V1, V2, V3, V4; |
rahmadirizki18 | 5:3aa203218306 | 130 | |
fanny868 | 0:9072e932503c | 131 | //bool perlambatan=0; |
fanny868 | 0:9072e932503c | 132 | char case_ger; |
rahmadirizki18 | 3:1287fccc11be | 133 | bool maju=false,mundur=false,pivka=false,pivki=false,kiri=false,kanan=false,saka=false,saki=false,sbka=false,sbki=false,cw1=false,ccw1=false,cw2=false,ccw2=false,cw3=false,ccw3=false,analog=false; |
fanny868 | 0:9072e932503c | 134 | bool stop = true; |
rahmadirizki18 | 6:68293bed71ea | 135 | bool Launcher = false,ServoGo = false; |
rahmadirizki18 | 4:483c07cc22e1 | 136 | float jLX,jLY; |
rahmadirizki18 | 5:3aa203218306 | 137 | double vcurr; |
rahmadirizki18 | 4:483c07cc22e1 | 138 | float x,y; // untuk analoghat kiri |
rahmadirizki18 | 3:1287fccc11be | 139 | float errorx=0,errory=0; |
rahmadirizki18 | 3:1287fccc11be | 140 | |
rahmadirizki18 | 4:483c07cc22e1 | 141 | // Fungsi mapping 0-255 ke -128 sampai 127 |
rahmadirizki18 | 4:483c07cc22e1 | 142 | float mapping(float a,float error) |
rahmadirizki18 | 3:1287fccc11be | 143 | { |
rahmadirizki18 | 4:483c07cc22e1 | 144 | float hasil,b; |
rahmadirizki18 | 4:483c07cc22e1 | 145 | b = (float)((a-128)/128); |
rahmadirizki18 | 4:483c07cc22e1 | 146 | if (b>(error - 0.2) && b<(error + 0.2)) |
rahmadirizki18 | 4:483c07cc22e1 | 147 | { |
rahmadirizki18 | 4:483c07cc22e1 | 148 | hasil = 0; |
rahmadirizki18 | 4:483c07cc22e1 | 149 | } else { |
rahmadirizki18 | 4:483c07cc22e1 | 150 | hasil = b; |
rahmadirizki18 | 4:483c07cc22e1 | 151 | } |
rahmadirizki18 | 3:1287fccc11be | 152 | return (hasil); |
rahmadirizki18 | 3:1287fccc11be | 153 | } |
fanny868 | 0:9072e932503c | 154 | |
rahmadirizki18 | 4:483c07cc22e1 | 155 | // Kalibrasi tombol analog kiri |
rahmadirizki18 | 4:483c07cc22e1 | 156 | void kalibrasi() |
rahmadirizki18 | 4:483c07cc22e1 | 157 | { |
rahmadirizki18 | 4:483c07cc22e1 | 158 | errorx = (jLX - 128)/128; |
rahmadirizki18 | 4:483c07cc22e1 | 159 | errory = (jLY - 128)/128; |
rahmadirizki18 | 4:483c07cc22e1 | 160 | |
rahmadirizki18 | 4:483c07cc22e1 | 161 | } |
rahmadirizki18 | 4:483c07cc22e1 | 162 | |
rahmadirizki18 | 3:1287fccc11be | 163 | // simpan data analog |
rahmadirizki18 | 3:1287fccc11be | 164 | void baca_analog() |
rahmadirizki18 | 3:1287fccc11be | 165 | { |
rahmadirizki18 | 3:1287fccc11be | 166 | jLX = joystick.LX; |
rahmadirizki18 | 3:1287fccc11be | 167 | jLY = joystick.LY; |
rahmadirizki18 | 3:1287fccc11be | 168 | |
rahmadirizki18 | 3:1287fccc11be | 169 | // Pembacaan nilai Y terbalik |
rahmadirizki18 | 4:483c07cc22e1 | 170 | x = mapping(jLX,errorx); |
rahmadirizki18 | 4:483c07cc22e1 | 171 | y = -mapping(jLY,errory); |
rahmadirizki18 | 3:1287fccc11be | 172 | } |
fanny868 | 0:9072e932503c | 173 | |
rahmadirizki18 | 3:1287fccc11be | 174 | // Gerak dari Motor base |
fanny868 | 0:9072e932503c | 175 | int case_gerak() |
fanny868 | 0:9072e932503c | 176 | { |
fanny868 | 0:9072e932503c | 177 | int casegerak; |
rahmadirizki18 | 3:1287fccc11be | 178 | baca_analog(); |
rahmadirizki18 | 3:1287fccc11be | 179 | if (!joystick.L1 && joystick.R1) { |
fanny868 | 0:9072e932503c | 180 | // Pivot Kanan |
fanny868 | 0:9072e932503c | 181 | casegerak = 1; |
fanny868 | 0:9072e932503c | 182 | } else if (!joystick.R1 && joystick.L1) { |
fanny868 | 0:9072e932503c | 183 | // Pivot Kiri |
fanny868 | 0:9072e932503c | 184 | casegerak = 2; |
rahmadirizki18 | 3:1287fccc11be | 185 | } else if ((!joystick.R1)&&(!joystick.L1)&&(joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) { |
fanny868 | 0:9072e932503c | 186 | // Maju |
rahmadirizki18 | 3:1287fccc11be | 187 | casegerak = 3; |
rahmadirizki18 | 3:1287fccc11be | 188 | } else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) { |
fanny868 | 0:9072e932503c | 189 | // Mundur |
fanny868 | 0:9072e932503c | 190 | casegerak = 4; |
rahmadirizki18 | 3:1287fccc11be | 191 | } else if ((!joystick.R1)&&(!joystick.L1)&&(joystick.atas)&&(!joystick.bawah)&&(!joystick.kiri)&&(joystick.kanan)) { |
fanny868 | 0:9072e932503c | 192 | // Serong Atas Kanan |
fanny868 | 0:9072e932503c | 193 | casegerak = 5; |
rahmadirizki18 | 3:1287fccc11be | 194 | } else if((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(joystick.bawah)&&(!joystick.kiri)&&(joystick.kanan)) { |
fanny868 | 0:9072e932503c | 195 | // Serong Bawah Kanan |
fanny868 | 0:9072e932503c | 196 | casegerak = 6; |
rahmadirizki18 | 3:1287fccc11be | 197 | } else if ((!joystick.R1)&&(!joystick.L1)&&(joystick.atas)&&(!joystick.bawah)&&(joystick.kiri)&&(!joystick.kanan)) { |
fanny868 | 0:9072e932503c | 198 | // Serong Atas Kiri |
fanny868 | 0:9072e932503c | 199 | casegerak = 7; |
rahmadirizki18 | 3:1287fccc11be | 200 | } else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(joystick.bawah)&&(joystick.kiri)&&(!joystick.kanan)) { |
fanny868 | 0:9072e932503c | 201 | // Serong Bawah Kiri |
fanny868 | 0:9072e932503c | 202 | casegerak = 8; |
rahmadirizki18 | 3:1287fccc11be | 203 | } else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri)) { |
fanny868 | 0:9072e932503c | 204 | // Kanan |
fanny868 | 0:9072e932503c | 205 | casegerak = 9; |
rahmadirizki18 | 3:1287fccc11be | 206 | } else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)) { |
fanny868 | 0:9072e932503c | 207 | // Kiri |
rahmadirizki18 | 3:1287fccc11be | 208 | casegerak = 10; |
rahmadirizki18 | 3:1287fccc11be | 209 | } else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) { |
rahmadirizki18 | 3:1287fccc11be | 210 | // case gerak analog on off |
rahmadirizki18 | 3:1287fccc11be | 211 | if (analog){ |
rahmadirizki18 | 3:1287fccc11be | 212 | casegerak = 11; |
rahmadirizki18 | 3:1287fccc11be | 213 | } else { |
rahmadirizki18 | 3:1287fccc11be | 214 | casegerak = 12; |
rahmadirizki18 | 3:1287fccc11be | 215 | } |
rahmadirizki18 | 3:1287fccc11be | 216 | } |
fanny868 | 0:9072e932503c | 217 | return(casegerak); |
fanny868 | 0:9072e932503c | 218 | } |
fanny868 | 0:9072e932503c | 219 | |
fanny868 | 0:9072e932503c | 220 | |
fanny868 | 0:9072e932503c | 221 | |
fanny868 | 0:9072e932503c | 222 | /** |
fanny868 | 0:9072e932503c | 223 | |
rahmadirizki18 | 3:1287fccc11be | 224 | ** Case 1 : Pivot kanan |
fanny868 | 0:9072e932503c | 225 | ** Case 2 : Pivot Kiri |
fanny868 | 0:9072e932503c | 226 | ** Case 3 : Maju |
fanny868 | 0:9072e932503c | 227 | ** Case 4 : Mundur |
fanny868 | 0:9072e932503c | 228 | ** Case 5 : Serong Atas Kanan |
fanny868 | 0:9072e932503c | 229 | ** Case 6 : Serong Bawah Kanan |
fanny868 | 0:9072e932503c | 230 | ** Case 7 : Serong Atas Kiri |
fanny868 | 0:9072e932503c | 231 | ** Case 8 : Serong Bawah Kiri |
fanny868 | 0:9072e932503c | 232 | ** Case 9 : Kanan |
fanny868 | 0:9072e932503c | 233 | ** Case 10 : Kiri |
rahmadirizki18 | 3:1287fccc11be | 234 | ** Case 11 : Analog |
rahmadirizki18 | 3:1287fccc11be | 235 | ** Case 11 : break |
fanny868 | 0:9072e932503c | 236 | |
fanny868 | 0:9072e932503c | 237 | **/ |
rahmadirizki18 | 3:1287fccc11be | 238 | |
rahmadirizki18 | 5:3aa203218306 | 239 | |
rahmadirizki18 | 3:1287fccc11be | 240 | // Pergerakan dari base |
fanny868 | 0:9072e932503c | 241 | void aktuator() |
fanny868 | 0:9072e932503c | 242 | { |
rahmadirizki18 | 6:68293bed71ea | 243 | //Servo |
rahmadirizki18 | 7:d138c56dab20 | 244 | if (ServoGo){ |
franshendri | 12:e07c59c28c29 | 245 | servoS.position(20); |
franshendri | 10:f0f0dc3904e0 | 246 | wait_ms(500); |
franshendri | 12:e07c59c28c29 | 247 | servoS.position(-28); |
Joshua23 | 8:0711dea61312 | 248 | wait_ms(500); |
franshendri | 12:e07c59c28c29 | 249 | servoS.position(20); |
Joshua23 | 8:0711dea61312 | 250 | wait_ms(500); |
franshendri | 12:e07c59c28c29 | 251 | for (int i = -0; i<=70; i++){ |
Joshua23 | 8:0711dea61312 | 252 | servoB.position(i); |
Joshua23 | 8:0711dea61312 | 253 | wait_ms(10); |
Joshua23 | 8:0711dea61312 | 254 | } |
Joshua23 | 8:0711dea61312 | 255 | wait_ms(500); |
Joshua23 | 8:0711dea61312 | 256 | servoB.position(0); |
rahmadirizki18 | 7:d138c56dab20 | 257 | ServoGo = false; |
rahmadirizki18 | 6:68293bed71ea | 258 | |
rahmadirizki18 | 6:68293bed71ea | 259 | }else{ |
franshendri | 12:e07c59c28c29 | 260 | servoS.position(20); |
rahmadirizki18 | 6:68293bed71ea | 261 | servoB.position(0); |
fanny868 | 0:9072e932503c | 262 | |
rahmadirizki18 | 7:d138c56dab20 | 263 | } |
rahmadirizki18 | 6:68293bed71ea | 264 | |
rahmadirizki18 | 6:68293bed71ea | 265 | // Motor Atas |
rahmadirizki18 | 6:68293bed71ea | 266 | if (Launcher) { |
rahmadirizki18 | 7:d138c56dab20 | 267 | motorld.speed(speedL); |
franshendri | 12:e07c59c28c29 | 268 | motorlb.speed(speedB); |
rahmadirizki18 | 6:68293bed71ea | 269 | }else{ |
rahmadirizki18 | 6:68293bed71ea | 270 | motorld.speed(0); |
rahmadirizki18 | 6:68293bed71ea | 271 | motorlb.speed(0); |
rahmadirizki18 | 6:68293bed71ea | 272 | } |
rahmadirizki18 | 6:68293bed71ea | 273 | |
rahmadirizki18 | 6:68293bed71ea | 274 | // MOTOR Bawah |
fanny868 | 0:9072e932503c | 275 | switch (case_ger) |
fanny868 | 0:9072e932503c | 276 | { |
rahmadirizki18 | 3:1287fccc11be | 277 | case (1): |
fanny868 | 0:9072e932503c | 278 | { |
rahmadirizki18 | 15:98f0d56b14f0 | 279 | Tetha = Tetha - 0.05; |
fanny868 | 0:9072e932503c | 280 | pivka=true; |
rahmadirizki18 | 3:1287fccc11be | 281 | maju=mundur=analog=kiri=kanan=saka=saki=sbka=sbki=pivki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false; |
fanny868 | 0:9072e932503c | 282 | |
rahmadirizki18 | 15:98f0d56b14f0 | 283 | //pc.printf("pivKa Xt =%.2f x=%.2f YT=%.2f y=%.2f errx=%.2f erry=%.2f \n",XT,x,YT,y,errX,errY); |
fanny868 | 0:9072e932503c | 284 | |
rahmadirizki18 | 5:3aa203218306 | 285 | |
fanny868 | 0:9072e932503c | 286 | break; |
fanny868 | 0:9072e932503c | 287 | } |
fanny868 | 0:9072e932503c | 288 | case (2): |
fanny868 | 0:9072e932503c | 289 | { |
rahmadirizki18 | 15:98f0d56b14f0 | 290 | Tetha = Tetha + 0.05; |
fanny868 | 0:9072e932503c | 291 | |
fanny868 | 0:9072e932503c | 292 | pivki=true; |
rahmadirizki18 | 3:1287fccc11be | 293 | maju=mundur=kiri=analog=kanan=saka=saki=sbka=sbki=pivka=cw1=ccw1=cw2=ccw2=cw3=ccw3=false; |
fanny868 | 0:9072e932503c | 294 | |
rahmadirizki18 | 15:98f0d56b14f0 | 295 | //pc.printf("pivKi Xt =%.2f x=%.2f YT=%.2f y=%.2f \n",XT,x,YT,y); |
fanny868 | 0:9072e932503c | 296 | |
rahmadirizki18 | 5:3aa203218306 | 297 | |
fanny868 | 0:9072e932503c | 298 | break; |
fanny868 | 0:9072e932503c | 299 | } |
fanny868 | 0:9072e932503c | 300 | case (3): |
fanny868 | 0:9072e932503c | 301 | { |
rahmadirizki18 | 15:98f0d56b14f0 | 302 | YT = YT + 0.01; |
fanny868 | 0:9072e932503c | 303 | |
fanny868 | 0:9072e932503c | 304 | maju=true; |
rahmadirizki18 | 3:1287fccc11be | 305 | mundur=kiri=kanan=saka=saki=sbka=sbki=analog=pivka=pivki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false; |
fanny868 | 0:9072e932503c | 306 | |
rahmadirizki18 | 15:98f0d56b14f0 | 307 | //pc.printf("maju Xt =%.2f x=%.2f YT=%.2f y=%.2f errx=%.2f erry=%.2f \n",XT,x,YT,y,errX,errY); |
fanny868 | 0:9072e932503c | 308 | |
fanny868 | 0:9072e932503c | 309 | break; |
fanny868 | 0:9072e932503c | 310 | } |
fanny868 | 0:9072e932503c | 311 | case (4): |
fanny868 | 0:9072e932503c | 312 | { |
rahmadirizki18 | 15:98f0d56b14f0 | 313 | YT = YT - 0.01; |
fanny868 | 0:9072e932503c | 314 | |
fanny868 | 0:9072e932503c | 315 | mundur=true; |
rahmadirizki18 | 3:1287fccc11be | 316 | maju=kiri=kanan=saka=saki=sbka=sbki=analog=pivka=pivki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false; |
fanny868 | 0:9072e932503c | 317 | |
rahmadirizki18 | 15:98f0d56b14f0 | 318 | //pc.printf("mundur Xt =%.2f x=%.2f YT=%.2f y=%.2f errx=%.2f erry=%.2f \n",XT,x,YT,y,errX,errY); |
fanny868 | 0:9072e932503c | 319 | |
fanny868 | 0:9072e932503c | 320 | |
fanny868 | 0:9072e932503c | 321 | break; |
fanny868 | 0:9072e932503c | 322 | } |
fanny868 | 0:9072e932503c | 323 | case (5) : |
fanny868 | 0:9072e932503c | 324 | { |
rahmadirizki18 | 15:98f0d56b14f0 | 325 | XT = XT + 0.01; |
rahmadirizki18 | 15:98f0d56b14f0 | 326 | YT = YT + 0.01; |
fanny868 | 0:9072e932503c | 327 | |
fanny868 | 0:9072e932503c | 328 | saka=true; |
rahmadirizki18 | 3:1287fccc11be | 329 | maju=mundur=kiri=kanan=sbka=saki=sbki=analog=pivka=pivki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false; |
fanny868 | 0:9072e932503c | 330 | |
rahmadirizki18 | 15:98f0d56b14f0 | 331 | //pc.printf("saka Xt =%.2f x=%.2f YT=%.2f y=%.2f \n",XT,x,YT,y); |
fanny868 | 0:9072e932503c | 332 | |
fanny868 | 0:9072e932503c | 333 | |
fanny868 | 0:9072e932503c | 334 | break; |
fanny868 | 0:9072e932503c | 335 | } |
fanny868 | 0:9072e932503c | 336 | case (6) : |
fanny868 | 0:9072e932503c | 337 | { |
rahmadirizki18 | 15:98f0d56b14f0 | 338 | XT = XT + 0.01; |
rahmadirizki18 | 15:98f0d56b14f0 | 339 | YT = YT - 0.01; |
rahmadirizki18 | 5:3aa203218306 | 340 | |
fanny868 | 0:9072e932503c | 341 | |
fanny868 | 0:9072e932503c | 342 | sbka=true; |
rahmadirizki18 | 3:1287fccc11be | 343 | maju=mundur=kiri=kanan=saka=saki=sbki=analog=pivka=pivki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false; |
fanny868 | 0:9072e932503c | 344 | |
rahmadirizki18 | 15:98f0d56b14f0 | 345 | //pc.printf("sbka Xt =%.2f x=%.2f YT=%.2f y=%.2f \n",XT,x,YT,y); |
fanny868 | 0:9072e932503c | 346 | |
fanny868 | 0:9072e932503c | 347 | |
fanny868 | 0:9072e932503c | 348 | break; |
fanny868 | 0:9072e932503c | 349 | } |
fanny868 | 0:9072e932503c | 350 | case (7) : |
fanny868 | 0:9072e932503c | 351 | { |
rahmadirizki18 | 15:98f0d56b14f0 | 352 | XT = XT - 0.01; |
rahmadirizki18 | 15:98f0d56b14f0 | 353 | YT = YT + 0.01; |
rahmadirizki18 | 5:3aa203218306 | 354 | |
fanny868 | 0:9072e932503c | 355 | |
fanny868 | 0:9072e932503c | 356 | saki=true; |
rahmadirizki18 | 3:1287fccc11be | 357 | maju=kiri=kanan=saka=mundur=sbka=sbki=analog=pivka=pivki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false; |
fanny868 | 0:9072e932503c | 358 | |
rahmadirizki18 | 15:98f0d56b14f0 | 359 | //pc.printf("saki Xt =%.2f x=%.2f YT=%.2f y=%.2f \n",XT,x,YT,y); |
fanny868 | 0:9072e932503c | 360 | |
fanny868 | 0:9072e932503c | 361 | |
fanny868 | 0:9072e932503c | 362 | break; |
fanny868 | 0:9072e932503c | 363 | } |
fanny868 | 0:9072e932503c | 364 | case (8) : |
fanny868 | 0:9072e932503c | 365 | { |
rahmadirizki18 | 15:98f0d56b14f0 | 366 | XT = XT - 0.01; |
rahmadirizki18 | 15:98f0d56b14f0 | 367 | YT = YT - 0.01; |
rahmadirizki18 | 5:3aa203218306 | 368 | |
rahmadirizki18 | 15:98f0d56b14f0 | 369 | //pc.printf("sbki Xt =%.2f x=%.2f YT=%.2f y=%.2f \n",XT,x,YT,y); |
fanny868 | 0:9072e932503c | 370 | |
fanny868 | 0:9072e932503c | 371 | |
fanny868 | 0:9072e932503c | 372 | break; |
fanny868 | 0:9072e932503c | 373 | } |
fanny868 | 0:9072e932503c | 374 | case (9) : |
fanny868 | 0:9072e932503c | 375 | { |
rahmadirizki18 | 15:98f0d56b14f0 | 376 | XT = XT + 0.01; |
fanny868 | 0:9072e932503c | 377 | kanan=true; |
rahmadirizki18 | 3:1287fccc11be | 378 | maju=kiri=mundur=saka=saki=sbka=sbki=analog=pivka=pivki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false; |
fanny868 | 0:9072e932503c | 379 | |
rahmadirizki18 | 15:98f0d56b14f0 | 380 | //pc.printf("Kanan Xt =%.2f x=%.2f YT=%.2f y=%.2f \n",XT,x,YT,y); |
fanny868 | 0:9072e932503c | 381 | |
fanny868 | 0:9072e932503c | 382 | break; |
fanny868 | 0:9072e932503c | 383 | } |
fanny868 | 0:9072e932503c | 384 | case (10) : |
fanny868 | 0:9072e932503c | 385 | { |
rahmadirizki18 | 15:98f0d56b14f0 | 386 | XT = XT - 0.01; |
fanny868 | 0:9072e932503c | 387 | |
fanny868 | 0:9072e932503c | 388 | kiri=true; |
rahmadirizki18 | 3:1287fccc11be | 389 | maju=kanan=mundur=saka=saki=sbka=sbki=analog=pivka=pivki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false; |
fanny868 | 0:9072e932503c | 390 | |
rahmadirizki18 | 15:98f0d56b14f0 | 391 | //pc.printf("Kiri Xt =%.2f x=%.2f YT=%.2f y=%.2f \n",XT,x,YT,y); |
fanny868 | 0:9072e932503c | 392 | |
fanny868 | 0:9072e932503c | 393 | |
fanny868 | 0:9072e932503c | 394 | break; |
fanny868 | 0:9072e932503c | 395 | } |
rahmadirizki18 | 3:1287fccc11be | 396 | case (11): |
rahmadirizki18 | 3:1287fccc11be | 397 | { |
rahmadirizki18 | 4:483c07cc22e1 | 398 | |
rahmadirizki18 | 15:98f0d56b14f0 | 399 | XT = XT + 0.01*x; |
rahmadirizki18 | 15:98f0d56b14f0 | 400 | YT = YT + 0.01*y; |
rahmadirizki18 | 3:1287fccc11be | 401 | |
rahmadirizki18 | 3:1287fccc11be | 402 | analog=true; |
rahmadirizki18 | 3:1287fccc11be | 403 | maju=mundur=kiri=kanan=saka=saki=sbka=sbki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false; |
rahmadirizki18 | 3:1287fccc11be | 404 | |
rahmadirizki18 | 15:98f0d56b14f0 | 405 | //pc.printf("analog Xt =%.2f x=%.2f YT=%.2f y=%.2f \n",XT,x,YT,y); |
rahmadirizki18 | 3:1287fccc11be | 406 | |
rahmadirizki18 | 3:1287fccc11be | 407 | break; |
rahmadirizki18 | 3:1287fccc11be | 408 | } |
rahmadirizki18 | 3:1287fccc11be | 409 | default : |
fanny868 | 0:9072e932503c | 410 | { |
rahmadirizki18 | 5:3aa203218306 | 411 | |
rahmadirizki18 | 3:1287fccc11be | 412 | maju=mundur=kiri=kanan=saka=saki=sbka=sbki=analog=cw1=ccw1=cw2=ccw2=cw3=ccw3=false; |
fanny868 | 0:9072e932503c | 413 | stop = true; |
fanny868 | 0:9072e932503c | 414 | |
fanny868 | 0:9072e932503c | 415 | //s1 = 0;s2 =0; s3 =0; s4 =0; |
fanny868 | 0:9072e932503c | 416 | |
rahmadirizki18 | 5:3aa203218306 | 417 | // pc.printf("Stop V1=%.2f V2=%.2f V3=%.2f V4=%.2f\n",V1,V2,V3,V4); |
rahmadirizki18 | 3:1287fccc11be | 418 | } |
rahmadirizki18 | 5:3aa203218306 | 419 | } |
rahmadirizki18 | 5:3aa203218306 | 420 | } |
rahmadirizki18 | 5:3aa203218306 | 421 | |
rahmadirizki18 | 5:3aa203218306 | 422 | //Begin Encoder |
rahmadirizki18 | 5:3aa203218306 | 423 | |
rahmadirizki18 | 5:3aa203218306 | 424 | void setCenter() |
rahmadirizki18 | 5:3aa203218306 | 425 | { |
rahmadirizki18 | 5:3aa203218306 | 426 | encoderDepan.reset(); |
rahmadirizki18 | 5:3aa203218306 | 427 | encoderBelakang.reset(); |
rahmadirizki18 | 5:3aa203218306 | 428 | encoderKanan.reset(); |
rahmadirizki18 | 5:3aa203218306 | 429 | encoderKiri.reset(); |
rahmadirizki18 | 5:3aa203218306 | 430 | } |
rahmadirizki18 | 5:3aa203218306 | 431 | |
rahmadirizki18 | 5:3aa203218306 | 432 | float getX() |
rahmadirizki18 | 5:3aa203218306 | 433 | { |
rahmadirizki18 | 5:3aa203218306 | 434 | float jarakEncDpn, jarakEncBlk; |
rahmadirizki18 | 5:3aa203218306 | 435 | jarakEncDpn = (encoderDepan.getPulses())/(float)(2000.0)*K_enc; |
rahmadirizki18 | 5:3aa203218306 | 436 | jarakEncBlk = (encoderBelakang.getPulses())/(float)(2000.0)*K_enc; |
rahmadirizki18 | 5:3aa203218306 | 437 | return (jarakEncDpn-jarakEncBlk)/2; |
rahmadirizki18 | 5:3aa203218306 | 438 | } |
rahmadirizki18 | 5:3aa203218306 | 439 | |
rahmadirizki18 | 5:3aa203218306 | 440 | float getY() |
rahmadirizki18 | 5:3aa203218306 | 441 | { |
rahmadirizki18 | 5:3aa203218306 | 442 | float jarakEncKir, jarakEncKan; |
rahmadirizki18 | 5:3aa203218306 | 443 | jarakEncKir = (encoderKiri.getPulses())/(float)(2000.0)*K_enc; |
rahmadirizki18 | 5:3aa203218306 | 444 | jarakEncKan = (encoderKanan.getPulses())/(float)(720.0)*K_enc; |
rahmadirizki18 | 5:3aa203218306 | 445 | return (jarakEncKir-jarakEncKan)/2; |
rahmadirizki18 | 5:3aa203218306 | 446 | } |
rahmadirizki18 | 5:3aa203218306 | 447 | |
rahmadirizki18 | 5:3aa203218306 | 448 | float getTetha() |
rahmadirizki18 | 5:3aa203218306 | 449 | { |
rahmadirizki18 | 5:3aa203218306 | 450 | float busurDpn, busurBlk, busurKir, busurKan; |
rahmadirizki18 | 5:3aa203218306 | 451 | busurDpn = ((encoderDepan.getPulses())/(float)(2000.0)*K_enc)/K_robot*360.0; |
rahmadirizki18 | 5:3aa203218306 | 452 | busurBlk = ((encoderBelakang.getPulses())/(float)(2000.0)*K_enc)/K_robot*360.0; |
rahmadirizki18 | 5:3aa203218306 | 453 | busurKir = ((encoderKiri.getPulses())/(float)(2000.0)*K_enc)/K_robot*360.0; |
rahmadirizki18 | 5:3aa203218306 | 454 | busurKan = ((encoderKanan.getPulses())/(float)(720.0)*K_enc)/K_robot*360.0; |
rahmadirizki18 | 5:3aa203218306 | 455 | |
rahmadirizki18 | 5:3aa203218306 | 456 | return -(busurDpn+busurBlk+busurKir+busurKan)/4; |
fanny868 | 0:9072e932503c | 457 | } |
fanny868 | 0:9072e932503c | 458 | |
rahmadirizki18 | 5:3aa203218306 | 459 | void gotoXYT(float xa, float ya, float Ta) |
rahmadirizki18 | 5:3aa203218306 | 460 | { |
rahmadirizki18 | 5:3aa203218306 | 461 | |
rahmadirizki18 | 5:3aa203218306 | 462 | errX = xa-getX(); |
rahmadirizki18 | 5:3aa203218306 | 463 | Vx = KpX*errX; |
rahmadirizki18 | 5:3aa203218306 | 464 | |
rahmadirizki18 | 5:3aa203218306 | 465 | errY = ya-getY(); |
rahmadirizki18 | 5:3aa203218306 | 466 | Vy = KpY*errY; |
rahmadirizki18 | 5:3aa203218306 | 467 | |
rahmadirizki18 | 5:3aa203218306 | 468 | errT = Ta-getTetha(); |
rahmadirizki18 | 5:3aa203218306 | 469 | Vt = Kp_tetha*errT; |
rahmadirizki18 | 5:3aa203218306 | 470 | |
rahmadirizki18 | 5:3aa203218306 | 471 | V1 = Vx+Vy-Vt; |
rahmadirizki18 | 5:3aa203218306 | 472 | V2 = Vx-Vy-Vt; |
rahmadirizki18 | 5:3aa203218306 | 473 | V3 = -Vx-Vy-Vt; |
rahmadirizki18 | 5:3aa203218306 | 474 | V4 = -Vx+Vy-Vt; |
rahmadirizki18 | 5:3aa203218306 | 475 | |
rahmadirizki18 | 5:3aa203218306 | 476 | if (V1>speed1) |
rahmadirizki18 | 5:3aa203218306 | 477 | { V1 = speed1; } |
rahmadirizki18 | 5:3aa203218306 | 478 | else if (V1<-speed1) |
rahmadirizki18 | 5:3aa203218306 | 479 | { V1 = -speed1; } |
rahmadirizki18 | 5:3aa203218306 | 480 | |
rahmadirizki18 | 5:3aa203218306 | 481 | if (V2>speed2) |
rahmadirizki18 | 5:3aa203218306 | 482 | { V2 = speed2; } |
rahmadirizki18 | 5:3aa203218306 | 483 | else if (V2<-speed2) |
rahmadirizki18 | 5:3aa203218306 | 484 | { V2 = -speed2; } |
rahmadirizki18 | 5:3aa203218306 | 485 | |
rahmadirizki18 | 5:3aa203218306 | 486 | if (V3>speed3) |
rahmadirizki18 | 5:3aa203218306 | 487 | { V3 = speed3; } |
rahmadirizki18 | 5:3aa203218306 | 488 | else if (V3<-speed3) |
rahmadirizki18 | 5:3aa203218306 | 489 | { V3 = -speed3; } |
rahmadirizki18 | 5:3aa203218306 | 490 | |
rahmadirizki18 | 5:3aa203218306 | 491 | if (V4>speed4) |
rahmadirizki18 | 5:3aa203218306 | 492 | { V4 = speed4; } |
rahmadirizki18 | 5:3aa203218306 | 493 | else if (V4<-speed4) |
rahmadirizki18 | 5:3aa203218306 | 494 | { V4 = -speed4; } |
rahmadirizki18 | 5:3aa203218306 | 495 | |
rahmadirizki18 | 5:3aa203218306 | 496 | if (((errX > 0.05) || (errX<-0.05)) || ((errY > 0.05) || (errY<-0.05)) || ((errT > 0.05) || (errT<-0.05))) |
rahmadirizki18 | 5:3aa203218306 | 497 | { |
rahmadirizki18 | 5:3aa203218306 | 498 | motor1.speed(V1); |
rahmadirizki18 | 5:3aa203218306 | 499 | motor2.speed(V2); |
rahmadirizki18 | 5:3aa203218306 | 500 | motor3.speed(V3); |
rahmadirizki18 | 5:3aa203218306 | 501 | motor4.speed(V4); |
rahmadirizki18 | 5:3aa203218306 | 502 | // pc.printf("V1=%.2f \ ", V1); |
rahmadirizki18 | 5:3aa203218306 | 503 | } |
rahmadirizki18 | 5:3aa203218306 | 504 | else |
rahmadirizki18 | 5:3aa203218306 | 505 | { |
rahmadirizki18 | 5:3aa203218306 | 506 | motor1.brake(1); |
rahmadirizki18 | 5:3aa203218306 | 507 | motor2.brake(1); |
rahmadirizki18 | 5:3aa203218306 | 508 | motor3.brake(1); |
rahmadirizki18 | 5:3aa203218306 | 509 | motor4.brake(1); |
rahmadirizki18 | 5:3aa203218306 | 510 | //_ms(1000); |
rahmadirizki18 | 5:3aa203218306 | 511 | } |
rahmadirizki18 | 5:3aa203218306 | 512 | //pc.printf("%f\t%f\t%f ", errX*100,errY*100,errT); |
rahmadirizki18 | 5:3aa203218306 | 513 | // wait_ms(10); |
rahmadirizki18 | 5:3aa203218306 | 514 | |
rahmadirizki18 | 5:3aa203218306 | 515 | } |
rahmadirizki18 | 5:3aa203218306 | 516 | //End Encoder |
rahmadirizki18 | 5:3aa203218306 | 517 | |
rahmadirizki18 | 7:d138c56dab20 | 518 | void speedLauncher() |
rahmadirizki18 | 7:d138c56dab20 | 519 | { |
franshendri | 12:e07c59c28c29 | 520 | if (joystick.R3_click and speedL < 0.8){ |
franshendri | 12:e07c59c28c29 | 521 | speedL = speedL + 0.01;} |
rahmadirizki18 | 7:d138c56dab20 | 522 | if (joystick.L3_click and speedL > 0.1){ |
franshendri | 12:e07c59c28c29 | 523 | speedL = speedL - 0.01;} |
rahmadirizki18 | 13:8ab42383a2ca | 524 | if (joystick.R2_click and speedB < 0.8 ){ |
rahmadirizki18 | 13:8ab42383a2ca | 525 | speedB = speedB + 0.01;} |
rahmadirizki18 | 13:8ab42383a2ca | 526 | if (joystick.L2_click and speedB > 0.1 ){ |
rahmadirizki18 | 13:8ab42383a2ca | 527 | speedB = speedB - 0.01;} |
rahmadirizki18 | 15:98f0d56b14f0 | 528 | //pc.printf("Pwm depan = %.3f\t Pwm belakang = %.3f\n", speedL, speedB); |
rahmadirizki18 | 7:d138c56dab20 | 529 | } |
franshendri | 12:e07c59c28c29 | 530 | |
franshendri | 12:e07c59c28c29 | 531 | |
franshendri | 12:e07c59c28c29 | 532 | |
fanny868 | 0:9072e932503c | 533 | int main (void) |
fanny868 | 0:9072e932503c | 534 | { |
fanny868 | 0:9072e932503c | 535 | // Set baud rate - 115200 |
fanny868 | 0:9072e932503c | 536 | joystick.setup(); |
rahmadirizki18 | 3:1287fccc11be | 537 | pc.baud(115200); |
rahmadirizki18 | 6:68293bed71ea | 538 | wait_ms(1000); |
rahmadirizki18 | 5:3aa203218306 | 539 | setCenter(); |
rahmadirizki18 | 5:3aa203218306 | 540 | wait_ms(500); |
rahmadirizki18 | 5:3aa203218306 | 541 | |
rahmadirizki18 | 5:3aa203218306 | 542 | //Posisi Awal |
rahmadirizki18 | 5:3aa203218306 | 543 | XT = 0; |
rahmadirizki18 | 5:3aa203218306 | 544 | YT = 0; |
rahmadirizki18 | 5:3aa203218306 | 545 | Tetha = 0; |
rahmadirizki18 | 3:1287fccc11be | 546 | pc.printf("Ready...\n"); |
rahmadirizki18 | 4:483c07cc22e1 | 547 | kalibrasi(); |
rahmadirizki18 | 6:68293bed71ea | 548 | waktu.start(); |
fanny868 | 0:9072e932503c | 549 | while(1) |
fanny868 | 0:9072e932503c | 550 | { |
fanny868 | 0:9072e932503c | 551 | // Interrupt Serial |
fanny868 | 0:9072e932503c | 552 | joystick.idle(); |
fanny868 | 0:9072e932503c | 553 | if(joystick.readable() ) { |
fanny868 | 0:9072e932503c | 554 | // Panggil fungsi pembacaan joystik |
fanny868 | 0:9072e932503c | 555 | joystick.baca_data(); |
fanny868 | 0:9072e932503c | 556 | // Panggil fungsi pengolahan data joystik |
fanny868 | 0:9072e932503c | 557 | joystick.olah_data(); |
franshendri | 12:e07c59c28c29 | 558 | //pc.printf("%3d %3d\n\r",joystick.R2, joystick.L2); |
fanny868 | 0:9072e932503c | 559 | //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 | 560 | case_ger = case_gerak(); |
rahmadirizki18 | 3:1287fccc11be | 561 | aktuator(); |
rahmadirizki18 | 6:68293bed71ea | 562 | |
franshendri | 12:e07c59c28c29 | 563 | //pc.printf("bacaS = %.2f\tbacaB = %.2f\n",servoS.read(), servoB.read()); |
rahmadirizki18 | 6:68293bed71ea | 564 | |
rahmadirizki18 | 3:1287fccc11be | 565 | //kalibrasi |
rahmadirizki18 | 4:483c07cc22e1 | 566 | if (joystick.START){ |
rahmadirizki18 | 4:483c07cc22e1 | 567 | kalibrasi();} |
rahmadirizki18 | 4:483c07cc22e1 | 568 | // analog switch mode |
rahmadirizki18 | 6:68293bed71ea | 569 | if (joystick.SELECT_click) {analog = !analog;} |
rahmadirizki18 | 6:68293bed71ea | 570 | if (joystick.segitiga_click) {Launcher = !Launcher;} |
rahmadirizki18 | 6:68293bed71ea | 571 | if (joystick.lingkaran_click){ |
rahmadirizki18 | 6:68293bed71ea | 572 | ServoGo = true; |
rahmadirizki18 | 6:68293bed71ea | 573 | waktu.reset(); |
rahmadirizki18 | 6:68293bed71ea | 574 | } |
rahmadirizki18 | 5:3aa203218306 | 575 | if (joystick.silang) { |
rahmadirizki18 | 5:3aa203218306 | 576 | XT = 0; |
rahmadirizki18 | 5:3aa203218306 | 577 | YT = 0; |
rahmadirizki18 | 5:3aa203218306 | 578 | Tetha = 0; |
rahmadirizki18 | 15:98f0d56b14f0 | 579 | //pc.printf("x..\n"); |
rahmadirizki18 | 5:3aa203218306 | 580 | } |
rahmadirizki18 | 7:d138c56dab20 | 581 | speedLauncher(); |
franshendri | 12:e07c59c28c29 | 582 | |
fanny868 | 0:9072e932503c | 583 | } else { |
fanny868 | 0:9072e932503c | 584 | joystick.idle(); |
fanny868 | 0:9072e932503c | 585 | |
fanny868 | 0:9072e932503c | 586 | } |
rahmadirizki18 | 5:3aa203218306 | 587 | gotoXYT(XT,YT,Tetha); |
rahmadirizki18 | 5:3aa203218306 | 588 | |
fanny868 | 0:9072e932503c | 589 | } |
fanny868 | 0:9072e932503c | 590 | } |