Kodingan 5 April setting kecepatan power screw
Dependencies: DigitDisplay Motor PID Ping mbed millis
Fork of MainProgram_BaseBaru_fix_omni12Feb by
main.cpp@44:d2ebfa6d1a7b, 2017-04-05 (annotated)
- Committer:
- Najib_irvani
- Date:
- Wed Apr 05 12:44:30 2017 +0000
- Revision:
- 44:d2ebfa6d1a7b
- Parent:
- 43:3807a95aa284
Kodingan 5 April setting kecepatan power screw
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Najib_irvani | 43:3807a95aa284 | 1 | |
rahmadirizki18 | 5:3aa203218306 | 2 | /****************************************************************************/ |
rahmadirizki18 | 5:3aa203218306 | 3 | /* PROGRAM UNTUK PID CLOSED LOOP */ |
rahmadirizki18 | 5:3aa203218306 | 4 | /* */ |
Najib_irvani | 43:3807a95aa284 | 5 | /* Last Update : 11 Maret 2017 */ |
gustavaditya | 31:d5cbda07fd95 | 6 | /* */ |
rahmadirizki18 | 5:3aa203218306 | 7 | /* - Digunakan encoder autonics */ |
rahmadirizki18 | 5:3aa203218306 | 8 | /* - Konfigurasi Motor dan Encoder sbb : */ |
MarchioKevin | 22:4632f58461e0 | 9 | /* ______________________ */ |
MarchioKevin | 22:4632f58461e0 | 10 | /* / \ Rode Depan Belakang: */ |
MarchioKevin | 22:4632f58461e0 | 11 | /* / 2 (Belakang) \ Omniwheel */ |
MarchioKevin | 22:4632f58461e0 | 12 | /* | | */ |
Najib_irvani | 43:3807a95aa284 | 13 | /* | 3 (kiri) 4 (kanan) | Roda Kiri Kanan: */ |
Najib_irvani | 43:3807a95aa284 | 14 | /* | | Omniwheel */ |
MarchioKevin | 22:4632f58461e0 | 15 | /* \ 1 (Depan) / */ |
MarchioKevin | 22:4632f58461e0 | 16 | /* \______________________/ Putaran berlawanan arah */ |
MarchioKevin | 22:4632f58461e0 | 17 | /* jarum jam positif */ |
rahmadirizki18 | 5:3aa203218306 | 18 | /* SETTINGS (WAJIB!) : */ |
rahmadirizki18 | 5:3aa203218306 | 19 | /* 1. Settings Pin Encoder, Resolusi, dan Tipe encoding di omniPos.h */ |
rahmadirizki18 | 5:3aa203218306 | 20 | /* 2. Deklarasi penggunaan library omniPos pada bagian deklarasi encoder */ |
rahmadirizki18 | 5:3aa203218306 | 21 | /* */ |
rahmadirizki18 | 5:3aa203218306 | 22 | /****************************************************************************/ |
rahmadirizki18 | 6:68293bed71ea | 23 | /* */ |
MarchioKevin | 20:54dc93e7b016 | 24 | /* Joystick */ |
Sufa | 30:d69cc27ac644 | 25 | /* Kanan => */ |
Sufa | 30:d69cc27ac644 | 26 | /* Kiri => */ |
rahmadirizki18 | 6:68293bed71ea | 27 | /* */ |
Najib_irvani | 44:d2ebfa6d1a7b | 28 | /* Tombol silang => Pneumatik aktif */ |
Sufa | 30:d69cc27ac644 | 29 | /* Tombol segitiga => Aktif motor Launcher */ |
Najib_irvani | 44:d2ebfa6d1a7b | 30 | /* Tombol lingkaran => Reloader naik */ |
Najib_irvani | 44:d2ebfa6d1a7b | 31 | /* Tombol kotak => Reloader turun */ |
Sufa | 30:d69cc27ac644 | 32 | /* Tombol L1 => Pivot Kiri */ |
Sufa | 30:d69cc27ac644 | 33 | /* Tombol R1 => Pivot Kanan */ |
Najib_irvani | 44:d2ebfa6d1a7b | 34 | /* Tombol L2 => Kurang PWM Motor Launcher */ |
Najib_irvani | 44:d2ebfa6d1a7b | 35 | /* Tombol R2 => Tambah PWM Motor Launcher */ |
rahmadirizki18 | 13:8ab42383a2ca | 36 | /* */ |
calmantara186 | 16:90119f03c5d1 | 37 | /* Bismillahirahmanirrahim */ |
MarchioKevin | 20:54dc93e7b016 | 38 | /* Jagalah Kebersihan Kodingan */ |
rahmadirizki18 | 6:68293bed71ea | 39 | /****************************************************************************/ |
rahmadirizki18 | 6:68293bed71ea | 40 | |
fanny868 | 0:9072e932503c | 41 | #include "mbed.h" |
fanny868 | 0:9072e932503c | 42 | #include "JoystickPS3.h" |
fanny868 | 0:9072e932503c | 43 | #include "Motor.h" |
rahmadirizki18 | 5:3aa203218306 | 44 | #include "encoderKRAI.h" |
be_bryan | 26:256160a1a82d | 45 | #include "millis.h" |
gustavaditya | 40:5b937cac959a | 46 | #include "Ping.h" |
franshendri | 42:6caf8bd5abbc | 47 | #include "DigitDisplay.h" |
franshendri | 42:6caf8bd5abbc | 48 | |
calmantara186 | 16:90119f03c5d1 | 49 | /***********************************************/ |
calmantara186 | 16:90119f03c5d1 | 50 | /* Konstanta dan Variabel */ |
calmantara186 | 16:90119f03c5d1 | 51 | /***********************************************/ |
calmantara186 | 16:90119f03c5d1 | 52 | #define PI 3.14159265 |
be_bryan | 26:256160a1a82d | 53 | #define D_ENCODER 10 // Diameter Roda Encoder |
be_bryan | 26:256160a1a82d | 54 | #define D_ROBOT 80 // Diameter Roda Robot |
rahmadirizki18 | 5:3aa203218306 | 55 | |
be_bryan | 26:256160a1a82d | 56 | // Variable Atas |
gustavaditya | 38:3ef6754bd8d8 | 57 | double speed, speed2; |
gustavaditya | 39:11358f3f61ff | 58 | const double maxSpeed = 0.95, minSpeed = 0.0; |
Najib_irvani | 44:d2ebfa6d1a7b | 59 | const double kpA=0.6757, kdA=0.7757, kiA=0.00003757; |
be_bryan | 26:256160a1a82d | 60 | double p,i,d; |
be_bryan | 27:68efb1622985 | 61 | double p2,i2,d2; |
be_bryan | 26:256160a1a82d | 62 | double last_error = 0, current_error, sum_error = 0; |
be_bryan | 27:68efb1622985 | 63 | double last_error2 = 0, current_error2, sum_error2 = 0; |
gustavaditya | 38:3ef6754bd8d8 | 64 | float rpm, rpm2; |
Najib_irvani | 44:d2ebfa6d1a7b | 65 | float target_rpm = 17.0, target_rpm2 = 17.0; // selisih 4 bagus, sama bagus |
gustavaditya | 41:336a19289c2d | 66 | const float maxRPM = 28, minRPM = 0; // Limit 25 atau 27 |
gustavaditya | 38:3ef6754bd8d8 | 67 | |
Najib_irvani | 44:d2ebfa6d1a7b | 68 | const float pwmPowerUp = 1.0; |
Najib_irvani | 44:d2ebfa6d1a7b | 69 | const float pwmPowerDown = -1.0; |
gustavaditya | 40:5b937cac959a | 70 | |
gustavaditya | 40:5b937cac959a | 71 | float jarak_ping=0; |
be_bryan | 26:256160a1a82d | 72 | |
be_bryan | 26:256160a1a82d | 73 | // Variable Bawah |
Joshua23 | 25:054d3048dd03 | 74 | float Vt; |
gustavaditya | 31:d5cbda07fd95 | 75 | float keliling_enc = PI*D_ENCODER; |
gustavaditya | 31:d5cbda07fd95 | 76 | float keliling_robot = PI*D_ROBOT; |
gustavaditya | 31:d5cbda07fd95 | 77 | float speedT = 0.2; |
Najib_irvani | 44:d2ebfa6d1a7b | 78 | float PIVOT = 0.17; // PWM Pivot Kanan, Pivot Kiri |
Najib_irvani | 43:3807a95aa284 | 79 | float tuneDpn = 0.62; // Tunning PWM motor Depan |
Najib_irvani | 43:3807a95aa284 | 80 | float tuneBlk = 0.62; // Tunning PWM motor belakang |
Najib_irvani | 44:d2ebfa6d1a7b | 81 | float tuneR = 0.78; |
Najib_irvani | 43:3807a95aa284 | 82 | float tuneL = 0.72; |
Najib_irvani | 44:d2ebfa6d1a7b | 83 | float serong = 0.4; |
Najib_irvani | 43:3807a95aa284 | 84 | float rasio = 1.4545; |
Najib_irvani | 43:3807a95aa284 | 85 | |
Najib_irvani | 43:3807a95aa284 | 86 | /* variable tunning */ |
Najib_irvani | 43:3807a95aa284 | 87 | float tunning_L; |
Najib_irvani | 43:3807a95aa284 | 88 | float tunning_R; |
Najib_irvani | 43:3807a95aa284 | 89 | float tunning_Dpn; |
Najib_irvani | 43:3807a95aa284 | 90 | float tunning_Blk; |
gustavaditya | 31:d5cbda07fd95 | 91 | |
gustavaditya | 31:d5cbda07fd95 | 92 | /* Variabel Encoder Bawah */ |
gustavaditya | 31:d5cbda07fd95 | 93 | float errTetha, Tetha; // Variabel yang didapatkan encoder |
gustavaditya | 31:d5cbda07fd95 | 94 | |
gustavaditya | 31:d5cbda07fd95 | 95 | /* Deklarasi Variable Millis */ |
gustavaditya | 33:69d266bc3fe9 | 96 | unsigned long int previousMillis = 0; // PID launcher |
gustavaditya | 31:d5cbda07fd95 | 97 | unsigned long int currentMillis; |
gustavaditya | 33:69d266bc3fe9 | 98 | unsigned long int previousMillis2 = 0; // PID launcher |
gustavaditya | 31:d5cbda07fd95 | 99 | unsigned long int currentMillis2; |
gustavaditya | 33:69d266bc3fe9 | 100 | unsigned long int previousMillis3 = 0; // Pneumatik |
gustavaditya | 40:5b937cac959a | 101 | unsigned long int previousMillis4 = 0; // Ping |
franshendri | 42:6caf8bd5abbc | 102 | unsigned long int previousMillis5 = 0; // Display |
MarchioKevin | 22:4632f58461e0 | 103 | |
gustavaditya | 31:d5cbda07fd95 | 104 | /* Variabel Stick */ |
gustavaditya | 31:d5cbda07fd95 | 105 | //Logic untuk masuk aktuator |
gustavaditya | 31:d5cbda07fd95 | 106 | int case_joy; |
gustavaditya | 31:d5cbda07fd95 | 107 | bool isLauncher = false; |
gustavaditya | 31:d5cbda07fd95 | 108 | bool isReload = false; |
rizqicahyo | 36:5963c9a49485 | 109 | bool ReloadOn = false; |
gustavaditya | 31:d5cbda07fd95 | 110 | bool flag_Pneu = false; |
Najib_irvani | 44:d2ebfa6d1a7b | 111 | bool ready = false; |
gustavaditya | 31:d5cbda07fd95 | 112 | |
gustavaditya | 31:d5cbda07fd95 | 113 | /*****************************************************/ |
gustavaditya | 31:d5cbda07fd95 | 114 | /* Definisi Prosedur, Fungsi dan Setting Pinout */ |
gustavaditya | 31:d5cbda07fd95 | 115 | /*****************************************************/ |
gustavaditya | 31:d5cbda07fd95 | 116 | |
gustavaditya | 31:d5cbda07fd95 | 117 | /* Fungsi dan Procedur Encoder */ |
gustavaditya | 31:d5cbda07fd95 | 118 | void init_speed(); // |
gustavaditya | 31:d5cbda07fd95 | 119 | void aktuator(); // Pergerakan aktuator berdasarkan case joystick |
gustavaditya | 31:d5cbda07fd95 | 120 | int case_joystick(); // Mendapatkan case dari joystick |
gustavaditya | 33:69d266bc3fe9 | 121 | //void speedKalibrasiMotor(); // Pertambahan target RPM motor atas melalui joystick |
gustavaditya | 31:d5cbda07fd95 | 122 | void setCenter(); // Prosedur reset encoder, posisi saat itu diset jadi titik (0,0) |
gustavaditya | 31:d5cbda07fd95 | 123 | float getTetha(); // Fungsi mendapatkan error Tetha |
gustavaditya | 31:d5cbda07fd95 | 124 | |
gustavaditya | 31:d5cbda07fd95 | 125 | /* Inisialisasi Pin TX-RX Joystik dan PC */ |
gustavaditya | 31:d5cbda07fd95 | 126 | joysticknucleo joystick(PA_0,PA_1); |
gustavaditya | 31:d5cbda07fd95 | 127 | Serial pc(USBTX,USBRX); |
calmantara186 | 16:90119f03c5d1 | 128 | |
be_bryan | 26:256160a1a82d | 129 | /* Deklarasi Encoder Base */ |
gustavaditya | 31:d5cbda07fd95 | 130 | encoderKRAI encoderBase(PC_4, PB_15, 2000, encoderKRAI::X2_ENCODING); //inA, inB, pin Indeks (NC = tak ada), 2xresolusi, mode pembacaan |
rahmadirizki18 | 15:98f0d56b14f0 | 131 | |
be_bryan | 26:256160a1a82d | 132 | /* Deklarasi Encoder Launcher */ |
Najib_irvani | 44:d2ebfa6d1a7b | 133 | encoderKRAI encLauncherDpn( PC_10, PC_11, 28, encoderKRAI::X4_ENCODING); |
Najib_irvani | 44:d2ebfa6d1a7b | 134 | encoderKRAI encLauncherBlk( PC_12, PD_2, 28, encoderKRAI::X4_ENCODING); |
be_bryan | 26:256160a1a82d | 135 | |
calmantara186 | 16:90119f03c5d1 | 136 | /* Deklarasi Motor Base */ |
Najib_irvani | 44:d2ebfa6d1a7b | 137 | Motor motorDpn(PB_7, PC_3, PC_0); //(PB_9, PA_12, PC_5); |
Najib_irvani | 44:d2ebfa6d1a7b | 138 | //Motor motorBlk(PB_6, PC_14, PC_13); //(PB_6, PB_1, PB_12); (PC_7, PC_14, PC_13); |
Najib_irvani | 44:d2ebfa6d1a7b | 139 | Motor motorBlk(PB_2, PB_15, PB_1); |
Najib_irvani | 44:d2ebfa6d1a7b | 140 | Motor motorL (PB_9, PA_12, PA_6); |
Najib_irvani | 44:d2ebfa6d1a7b | 141 | Motor motorR (PB_8, PC_5, PC_6); //(PC_6, PB_4, PB_5); |
fanny868 | 0:9072e932503c | 142 | |
calmantara186 | 16:90119f03c5d1 | 143 | /* Deklarasi Motor Launcher */ |
Najib_irvani | 44:d2ebfa6d1a7b | 144 | Motor launcherDpn(PA_5,PB_12,PA_11); // pwm ,fwd, rev |
Najib_irvani | 44:d2ebfa6d1a7b | 145 | Motor launcherBlk(PB_3, PC_4, PA_10); // pwm, fwd, rev |
Najib_irvani | 44:d2ebfa6d1a7b | 146 | Motor powerScrew(PB_10, PB_14, PB_13); // pwm, fwd, rev |
rahmadirizki18 | 5:3aa203218306 | 147 | |
be_bryan | 26:256160a1a82d | 148 | /* Deklarasi Penumatik Launcher */ |
Najib_irvani | 44:d2ebfa6d1a7b | 149 | DigitalOut pneumatik(PA_4, PullUp); |
be_bryan | 26:256160a1a82d | 150 | |
be_bryan | 27:68efb1622985 | 151 | /*Dekalrasi Limit Switch */ |
gustavaditya | 40:5b937cac959a | 152 | //DigitalIn infraAtas(PC_9, PullUp); |
Najib_irvani | 44:d2ebfa6d1a7b | 153 | DigitalIn limitTengah(PA_9, PullUp); |
Najib_irvani | 44:d2ebfa6d1a7b | 154 | DigitalIn limitBawah(PC_7, PullUp); |
Najib_irvani | 44:d2ebfa6d1a7b | 155 | DigitalIn limitBawah1(PA_7, PullUp); |
rahmadirizki18 | 5:3aa203218306 | 156 | |
gustavaditya | 40:5b937cac959a | 157 | /*deklarasi PING ultrasonic*/ |
Najib_irvani | 44:d2ebfa6d1a7b | 158 | Ping pingAtas(PC_15); |
fanny868 | 0:9072e932503c | 159 | |
franshendri | 42:6caf8bd5abbc | 160 | /*Deklarasi Display*/ |
Najib_irvani | 44:d2ebfa6d1a7b | 161 | DigitDisplay display (PA_8, PC_8); |
franshendri | 42:6caf8bd5abbc | 162 | |
MarchioKevin | 22:4632f58461e0 | 163 | /****************************************************/ |
MarchioKevin | 22:4632f58461e0 | 164 | /* Deklarasi Fungsi dan Procedure */ |
MarchioKevin | 22:4632f58461e0 | 165 | /****************************************************/ |
gustavaditya | 31:d5cbda07fd95 | 166 | int case_joystick() |
gustavaditya | 31:d5cbda07fd95 | 167 | { |
gustavaditya | 31:d5cbda07fd95 | 168 | //---------------------------------------------------// |
gustavaditya | 31:d5cbda07fd95 | 169 | // Gerak Motor Base // |
gustavaditya | 31:d5cbda07fd95 | 170 | // Case 1 : Pivot kanan // |
gustavaditya | 31:d5cbda07fd95 | 171 | // Case 2 : Pivot Kiri // |
gustavaditya | 31:d5cbda07fd95 | 172 | // Case 3 : Kanan // |
gustavaditya | 31:d5cbda07fd95 | 173 | // Case 4 : Kiri // |
gustavaditya | 31:d5cbda07fd95 | 174 | // Case 5 : Break // |
gustavaditya | 31:d5cbda07fd95 | 175 | //---------------------------------------------------// |
gustavaditya | 31:d5cbda07fd95 | 176 | |
gustavaditya | 31:d5cbda07fd95 | 177 | int caseJoystick; |
Najib_irvani | 43:3807a95aa284 | 178 | if ((joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) { |
gustavaditya | 31:d5cbda07fd95 | 179 | // Pivot Kanan |
gustavaditya | 31:d5cbda07fd95 | 180 | caseJoystick = 1; |
gustavaditya | 31:d5cbda07fd95 | 181 | } |
Najib_irvani | 43:3807a95aa284 | 182 | else if ((!joystick.R1)&&(joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) { |
gustavaditya | 31:d5cbda07fd95 | 183 | // Pivot Kiri |
gustavaditya | 31:d5cbda07fd95 | 184 | caseJoystick = 2; |
Najib_irvani | 43:3807a95aa284 | 185 | } |
Najib_irvani | 44:d2ebfa6d1a7b | 186 | else if ((joystick.START_click)&&(!joystick.SELECT_click)) { |
Najib_irvani | 44:d2ebfa6d1a7b | 187 | // tambah rpm dengan nilai tertentu |
Najib_irvani | 44:d2ebfa6d1a7b | 188 | caseJoystick = 31; |
Najib_irvani | 44:d2ebfa6d1a7b | 189 | } |
Najib_irvani | 44:d2ebfa6d1a7b | 190 | else if ((!joystick.START_click)&&(joystick.SELECT_click)) { |
Najib_irvani | 44:d2ebfa6d1a7b | 191 | // kurangi rpm dengan nilai tertentu |
Najib_irvani | 44:d2ebfa6d1a7b | 192 | caseJoystick = 32; |
Najib_irvani | 44:d2ebfa6d1a7b | 193 | } |
Najib_irvani | 43:3807a95aa284 | 194 | else if ((joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri)) { |
Najib_irvani | 43:3807a95aa284 | 195 | // Kanan + Rotasi kanan |
Najib_irvani | 43:3807a95aa284 | 196 | caseJoystick = 17; |
Najib_irvani | 43:3807a95aa284 | 197 | } |
Najib_irvani | 43:3807a95aa284 | 198 | else if ((!joystick.R1)&&(joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri)) { |
Najib_irvani | 43:3807a95aa284 | 199 | // Kanan + Rotasi kiri |
Najib_irvani | 43:3807a95aa284 | 200 | caseJoystick = 18; |
Najib_irvani | 43:3807a95aa284 | 201 | } |
Najib_irvani | 43:3807a95aa284 | 202 | else if ((joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)) { |
Najib_irvani | 43:3807a95aa284 | 203 | // Kiri + Rotasi kanan |
Najib_irvani | 43:3807a95aa284 | 204 | caseJoystick = 19; |
Najib_irvani | 43:3807a95aa284 | 205 | } |
Najib_irvani | 43:3807a95aa284 | 206 | else if ((!joystick.R1)&&(joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)) { |
Najib_irvani | 43:3807a95aa284 | 207 | // Kanan + Rotasi kiri |
Najib_irvani | 43:3807a95aa284 | 208 | caseJoystick = 20; |
Najib_irvani | 43:3807a95aa284 | 209 | } |
Najib_irvani | 43:3807a95aa284 | 210 | else if ((joystick.R1)&&(!joystick.L1)&&(joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) { |
Najib_irvani | 43:3807a95aa284 | 211 | // Maju + Rotasi kanan |
Najib_irvani | 43:3807a95aa284 | 212 | caseJoystick = 21; |
Najib_irvani | 43:3807a95aa284 | 213 | } |
Najib_irvani | 43:3807a95aa284 | 214 | else if ((!joystick.R1)&&(joystick.L1)&&(joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) { |
Najib_irvani | 43:3807a95aa284 | 215 | // Maju + Rotasi kiri |
Najib_irvani | 43:3807a95aa284 | 216 | caseJoystick = 22; |
Najib_irvani | 43:3807a95aa284 | 217 | } |
Najib_irvani | 43:3807a95aa284 | 218 | else if ((joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) { |
Najib_irvani | 43:3807a95aa284 | 219 | // Mundur + Rotasi kanan |
Najib_irvani | 43:3807a95aa284 | 220 | caseJoystick = 23; |
Najib_irvani | 43:3807a95aa284 | 221 | } |
Najib_irvani | 43:3807a95aa284 | 222 | else if ((!joystick.R1)&&(joystick.L1)&&(!joystick.atas)&&(joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) { |
Najib_irvani | 43:3807a95aa284 | 223 | // Mundur + Rotasi kiri |
Najib_irvani | 43:3807a95aa284 | 224 | caseJoystick = 24; |
Najib_irvani | 43:3807a95aa284 | 225 | } |
Najib_irvani | 43:3807a95aa284 | 226 | else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri)&&(joystick.segitiga_click)) { |
Najib_irvani | 43:3807a95aa284 | 227 | // Kanan + segitiga |
Najib_irvani | 43:3807a95aa284 | 228 | caseJoystick = 25; |
Najib_irvani | 43:3807a95aa284 | 229 | } |
Najib_irvani | 43:3807a95aa284 | 230 | else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)&&(joystick.segitiga_click)) { |
Najib_irvani | 43:3807a95aa284 | 231 | // Kiri + segitiga |
Najib_irvani | 43:3807a95aa284 | 232 | caseJoystick = 26; |
Najib_irvani | 43:3807a95aa284 | 233 | } |
Najib_irvani | 43:3807a95aa284 | 234 | else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri)&&(joystick.lingkaran_click)) { |
Najib_irvani | 43:3807a95aa284 | 235 | // Kanan + lingkaran |
Najib_irvani | 43:3807a95aa284 | 236 | caseJoystick = 27; |
Najib_irvani | 43:3807a95aa284 | 237 | } |
Najib_irvani | 43:3807a95aa284 | 238 | else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)&&(joystick.lingkaran_click)) { |
Najib_irvani | 43:3807a95aa284 | 239 | // Kiri + lingkaran |
Najib_irvani | 43:3807a95aa284 | 240 | caseJoystick = 28; |
Najib_irvani | 43:3807a95aa284 | 241 | } |
Najib_irvani | 43:3807a95aa284 | 242 | else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri)&&(joystick.kotak_click)) { |
Najib_irvani | 43:3807a95aa284 | 243 | // Kanan + kotak |
Najib_irvani | 43:3807a95aa284 | 244 | caseJoystick = 29; |
Najib_irvani | 43:3807a95aa284 | 245 | } |
Najib_irvani | 43:3807a95aa284 | 246 | else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)&&(joystick.kotak_click)) { |
Najib_irvani | 43:3807a95aa284 | 247 | // Kiri + kotak |
Najib_irvani | 43:3807a95aa284 | 248 | caseJoystick = 30; |
Najib_irvani | 43:3807a95aa284 | 249 | } |
Najib_irvani | 43:3807a95aa284 | 250 | else if ((!joystick.R1)&&(!joystick.L1)&&(joystick.atas)&&(!joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri)) { |
Najib_irvani | 43:3807a95aa284 | 251 | // Serong kanan maju |
Najib_irvani | 44:d2ebfa6d1a7b | 252 | caseJoystick = 13; |
Najib_irvani | 43:3807a95aa284 | 253 | } |
Najib_irvani | 43:3807a95aa284 | 254 | else if ((!joystick.R1)&&(!joystick.L1)&&(joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)) { |
Najib_irvani | 43:3807a95aa284 | 255 | // Serong kiri maju |
Najib_irvani | 44:d2ebfa6d1a7b | 256 | caseJoystick = 14; |
Najib_irvani | 43:3807a95aa284 | 257 | } |
Najib_irvani | 43:3807a95aa284 | 258 | else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri)) { |
Najib_irvani | 43:3807a95aa284 | 259 | // Serong kanan mundur |
Najib_irvani | 44:d2ebfa6d1a7b | 260 | caseJoystick = 15; |
Najib_irvani | 43:3807a95aa284 | 261 | } |
Najib_irvani | 43:3807a95aa284 | 262 | else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)) { |
Najib_irvani | 43:3807a95aa284 | 263 | // Serong kiri mundur |
Najib_irvani | 44:d2ebfa6d1a7b | 264 | caseJoystick = 16; |
gustavaditya | 31:d5cbda07fd95 | 265 | } |
gustavaditya | 31:d5cbda07fd95 | 266 | else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri)) { |
gustavaditya | 31:d5cbda07fd95 | 267 | // Kanan |
gustavaditya | 31:d5cbda07fd95 | 268 | caseJoystick = 3; |
gustavaditya | 31:d5cbda07fd95 | 269 | } |
gustavaditya | 31:d5cbda07fd95 | 270 | else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)) { |
gustavaditya | 31:d5cbda07fd95 | 271 | // Kiri |
gustavaditya | 31:d5cbda07fd95 | 272 | caseJoystick = 4; |
Najib_irvani | 43:3807a95aa284 | 273 | } |
Najib_irvani | 43:3807a95aa284 | 274 | else if ((!joystick.R1)&&(!joystick.L1)&&(joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) { |
Najib_irvani | 43:3807a95aa284 | 275 | // Atas -- Maju |
Najib_irvani | 44:d2ebfa6d1a7b | 276 | caseJoystick = 8; |
Najib_irvani | 43:3807a95aa284 | 277 | } |
Najib_irvani | 43:3807a95aa284 | 278 | else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) { |
Najib_irvani | 43:3807a95aa284 | 279 | // Bawah -- Mundur |
Najib_irvani | 44:d2ebfa6d1a7b | 280 | caseJoystick = 9; |
gustavaditya | 31:d5cbda07fd95 | 281 | } |
gustavaditya | 38:3ef6754bd8d8 | 282 | else if (joystick.segitiga_click){ |
gustavaditya | 31:d5cbda07fd95 | 283 | // Motor Launcher |
gustavaditya | 31:d5cbda07fd95 | 284 | caseJoystick = 5; |
gustavaditya | 31:d5cbda07fd95 | 285 | } |
gustavaditya | 38:3ef6754bd8d8 | 286 | else if (joystick.R2_click){ |
gustavaditya | 31:d5cbda07fd95 | 287 | // Target Pulse PID ++ Motor Depan |
gustavaditya | 31:d5cbda07fd95 | 288 | caseJoystick = 6; |
gustavaditya | 31:d5cbda07fd95 | 289 | } |
gustavaditya | 38:3ef6754bd8d8 | 290 | else if (joystick.L2_click){ |
Najib_irvani | 43:3807a95aa284 | 291 | // Target Pulse PID -- Motor |
gustavaditya | 31:d5cbda07fd95 | 292 | caseJoystick = 7; |
gustavaditya | 31:d5cbda07fd95 | 293 | } |
gustavaditya | 31:d5cbda07fd95 | 294 | else if (joystick.silang_click){ |
gustavaditya | 31:d5cbda07fd95 | 295 | // Pnemuatik ON |
gustavaditya | 31:d5cbda07fd95 | 296 | caseJoystick = 10; |
gustavaditya | 31:d5cbda07fd95 | 297 | } |
Najib_irvani | 43:3807a95aa284 | 298 | else if ((joystick.lingkaran_click)&&(!joystick.kotak_click)) { |
gustavaditya | 31:d5cbda07fd95 | 299 | // Power Screw Up |
gustavaditya | 31:d5cbda07fd95 | 300 | caseJoystick = 11; |
gustavaditya | 31:d5cbda07fd95 | 301 | } |
Najib_irvani | 43:3807a95aa284 | 302 | else if ((joystick.kotak_click)&&(!joystick.lingkaran_click)) { |
gustavaditya | 31:d5cbda07fd95 | 303 | // Power Screw Down |
gustavaditya | 31:d5cbda07fd95 | 304 | caseJoystick = 12; |
gustavaditya | 31:d5cbda07fd95 | 305 | } |
gustavaditya | 31:d5cbda07fd95 | 306 | |
gustavaditya | 31:d5cbda07fd95 | 307 | return(caseJoystick); |
gustavaditya | 31:d5cbda07fd95 | 308 | } |
gustavaditya | 31:d5cbda07fd95 | 309 | |
gustavaditya | 31:d5cbda07fd95 | 310 | float getTetha(){ |
gustavaditya | 31:d5cbda07fd95 | 311 | // Fungsi untuk mendapatkan nilai tetha |
gustavaditya | 31:d5cbda07fd95 | 312 | float busur, tetha; |
gustavaditya | 31:d5cbda07fd95 | 313 | busur = ((encoderBase.getPulses())/(float)(2000.0)*keliling_enc); |
gustavaditya | 31:d5cbda07fd95 | 314 | tetha = busur/keliling_robot*360; |
gustavaditya | 31:d5cbda07fd95 | 315 | |
gustavaditya | 31:d5cbda07fd95 | 316 | return -(tetha); |
gustavaditya | 31:d5cbda07fd95 | 317 | } |
gustavaditya | 31:d5cbda07fd95 | 318 | |
be_bryan | 26:256160a1a82d | 319 | float pidBase(float Kp, float Ki, float Kd) |
Joshua23 | 25:054d3048dd03 | 320 | { |
Joshua23 | 25:054d3048dd03 | 321 | int errorP; |
Joshua23 | 25:054d3048dd03 | 322 | errorP = getTetha(); |
gustavaditya | 33:69d266bc3fe9 | 323 | if (errorP<3.5 && errorP>(-3.5)) |
gustavaditya | 33:69d266bc3fe9 | 324 | errorP = 0; |
Joshua23 | 25:054d3048dd03 | 325 | return (float)Kp*errorP; |
Joshua23 | 25:054d3048dd03 | 326 | } |
gustavaditya | 31:d5cbda07fd95 | 327 | |
gustavaditya | 31:d5cbda07fd95 | 328 | void setCenter(){ |
gustavaditya | 31:d5cbda07fd95 | 329 | // Fungsi untuk menentukan center dari robot |
gustavaditya | 31:d5cbda07fd95 | 330 | encoderBase.reset(); |
fanny868 | 0:9072e932503c | 331 | } |
fanny868 | 0:9072e932503c | 332 | |
gustavaditya | 37:67d54563af90 | 333 | void init_rpm (){ |
gustavaditya | 38:3ef6754bd8d8 | 334 | if (target_rpm>maxRPM-2){ |
gustavaditya | 38:3ef6754bd8d8 | 335 | target_rpm = maxRPM-2; |
gustavaditya | 37:67d54563af90 | 336 | } |
franshendri | 42:6caf8bd5abbc | 337 | if (target_rpm<minRPM){ |
gustavaditya | 37:67d54563af90 | 338 | target_rpm = minRPM; |
gustavaditya | 37:67d54563af90 | 339 | } |
gustavaditya | 37:67d54563af90 | 340 | if (target_rpm2>maxRPM){ |
gustavaditya | 37:67d54563af90 | 341 | target_rpm2 = maxRPM; |
gustavaditya | 37:67d54563af90 | 342 | } |
franshendri | 42:6caf8bd5abbc | 343 | if (target_rpm2<minRPM+2){ |
gustavaditya | 38:3ef6754bd8d8 | 344 | target_rpm2 = minRPM+2; |
gustavaditya | 37:67d54563af90 | 345 | } |
gustavaditya | 37:67d54563af90 | 346 | } |
gustavaditya | 37:67d54563af90 | 347 | |
gustavaditya | 31:d5cbda07fd95 | 348 | void aktuator() |
gustavaditya | 31:d5cbda07fd95 | 349 | { |
gustavaditya | 31:d5cbda07fd95 | 350 | switch (case_joy) { |
gustavaditya | 31:d5cbda07fd95 | 351 | case (1): |
gustavaditya | 31:d5cbda07fd95 | 352 | { |
gustavaditya | 31:d5cbda07fd95 | 353 | // Pivot Kanan |
gustavaditya | 31:d5cbda07fd95 | 354 | motorDpn.speed(-PIVOT); |
gustavaditya | 31:d5cbda07fd95 | 355 | motorBlk.speed(-PIVOT); |
Najib_irvani | 43:3807a95aa284 | 356 | motorR.speed(-rasio*PIVOT); |
Najib_irvani | 43:3807a95aa284 | 357 | motorL.speed(-rasio*PIVOT); |
gustavaditya | 31:d5cbda07fd95 | 358 | break; |
gustavaditya | 31:d5cbda07fd95 | 359 | } |
gustavaditya | 31:d5cbda07fd95 | 360 | case (2): |
gustavaditya | 31:d5cbda07fd95 | 361 | { |
gustavaditya | 31:d5cbda07fd95 | 362 | // Pivot Kiri |
gustavaditya | 31:d5cbda07fd95 | 363 | motorDpn.speed(PIVOT); |
gustavaditya | 31:d5cbda07fd95 | 364 | motorBlk.speed(PIVOT); |
Najib_irvani | 43:3807a95aa284 | 365 | motorR.speed(rasio*PIVOT); |
Najib_irvani | 43:3807a95aa284 | 366 | motorL.speed(rasio*PIVOT); |
Najib_irvani | 43:3807a95aa284 | 367 | break; |
Najib_irvani | 43:3807a95aa284 | 368 | } |
Najib_irvani | 43:3807a95aa284 | 369 | case (17): |
Najib_irvani | 43:3807a95aa284 | 370 | { |
Najib_irvani | 43:3807a95aa284 | 371 | // Kanan + Rotasi Kanan |
Najib_irvani | 43:3807a95aa284 | 372 | motorDpn.speed(-PIVOT); |
Najib_irvani | 43:3807a95aa284 | 373 | motorBlk.speed(-PIVOT); |
Najib_irvani | 43:3807a95aa284 | 374 | motorR.speed(-rasio*PIVOT); |
Najib_irvani | 43:3807a95aa284 | 375 | motorL.speed(-rasio*PIVOT); |
Najib_irvani | 43:3807a95aa284 | 376 | break; |
Najib_irvani | 43:3807a95aa284 | 377 | } |
Najib_irvani | 43:3807a95aa284 | 378 | case (18): |
Najib_irvani | 43:3807a95aa284 | 379 | { |
Najib_irvani | 43:3807a95aa284 | 380 | // Kanan + Rotasi Kiri |
Najib_irvani | 43:3807a95aa284 | 381 | motorDpn.speed(PIVOT); |
Najib_irvani | 43:3807a95aa284 | 382 | motorBlk.speed(PIVOT); |
Najib_irvani | 43:3807a95aa284 | 383 | motorR.speed(rasio*PIVOT); |
Najib_irvani | 43:3807a95aa284 | 384 | motorL.speed(rasio*PIVOT); |
Najib_irvani | 43:3807a95aa284 | 385 | break; |
Najib_irvani | 43:3807a95aa284 | 386 | } |
Najib_irvani | 43:3807a95aa284 | 387 | case (19): |
Najib_irvani | 43:3807a95aa284 | 388 | { |
Najib_irvani | 43:3807a95aa284 | 389 | // Kiri + Rotasi Kanan |
Najib_irvani | 43:3807a95aa284 | 390 | motorDpn.speed(-PIVOT); |
Najib_irvani | 43:3807a95aa284 | 391 | motorBlk.speed(-PIVOT); |
Najib_irvani | 43:3807a95aa284 | 392 | motorR.speed(-rasio*PIVOT); |
Najib_irvani | 43:3807a95aa284 | 393 | motorL.speed(-rasio*PIVOT); |
Najib_irvani | 43:3807a95aa284 | 394 | break; |
Najib_irvani | 43:3807a95aa284 | 395 | } |
Najib_irvani | 43:3807a95aa284 | 396 | case (20): |
Najib_irvani | 43:3807a95aa284 | 397 | { |
Najib_irvani | 43:3807a95aa284 | 398 | // Kiri + Rotasi Kiri |
Najib_irvani | 43:3807a95aa284 | 399 | motorDpn.speed(PIVOT); |
Najib_irvani | 43:3807a95aa284 | 400 | motorBlk.speed(PIVOT); |
Najib_irvani | 43:3807a95aa284 | 401 | motorR.speed(rasio*PIVOT); |
Najib_irvani | 43:3807a95aa284 | 402 | motorL.speed(rasio*PIVOT); |
Najib_irvani | 43:3807a95aa284 | 403 | break; |
Najib_irvani | 43:3807a95aa284 | 404 | } |
Najib_irvani | 43:3807a95aa284 | 405 | case (21): |
Najib_irvani | 43:3807a95aa284 | 406 | { |
Najib_irvani | 43:3807a95aa284 | 407 | // Maju + Rotasi Kanan |
Najib_irvani | 43:3807a95aa284 | 408 | motorDpn.speed(-PIVOT); |
Najib_irvani | 43:3807a95aa284 | 409 | motorBlk.speed(-PIVOT); |
Najib_irvani | 43:3807a95aa284 | 410 | motorR.speed(-rasio*PIVOT); |
Najib_irvani | 43:3807a95aa284 | 411 | motorL.speed(-rasio*PIVOT); |
Najib_irvani | 43:3807a95aa284 | 412 | break; |
Najib_irvani | 43:3807a95aa284 | 413 | } |
Najib_irvani | 43:3807a95aa284 | 414 | case (22): |
Najib_irvani | 43:3807a95aa284 | 415 | { |
Najib_irvani | 43:3807a95aa284 | 416 | // Maju + Rotasi Kiri |
Najib_irvani | 43:3807a95aa284 | 417 | motorDpn.speed(PIVOT); |
Najib_irvani | 43:3807a95aa284 | 418 | motorBlk.speed(PIVOT); |
Najib_irvani | 43:3807a95aa284 | 419 | motorR.speed(rasio*PIVOT); |
Najib_irvani | 43:3807a95aa284 | 420 | motorL.speed(rasio*PIVOT); |
Najib_irvani | 43:3807a95aa284 | 421 | break; |
Najib_irvani | 43:3807a95aa284 | 422 | } |
Najib_irvani | 43:3807a95aa284 | 423 | case (23): |
Najib_irvani | 43:3807a95aa284 | 424 | { |
Najib_irvani | 43:3807a95aa284 | 425 | // Mundur + Rotasi Kanan |
Najib_irvani | 43:3807a95aa284 | 426 | motorDpn.speed(-PIVOT); |
Najib_irvani | 43:3807a95aa284 | 427 | motorBlk.speed(-PIVOT); |
Najib_irvani | 43:3807a95aa284 | 428 | motorR.speed(-rasio*PIVOT); |
Najib_irvani | 43:3807a95aa284 | 429 | motorL.speed(-rasio*PIVOT); |
Najib_irvani | 43:3807a95aa284 | 430 | break; |
Najib_irvani | 43:3807a95aa284 | 431 | } |
Najib_irvani | 43:3807a95aa284 | 432 | case (24): |
Najib_irvani | 43:3807a95aa284 | 433 | { |
Najib_irvani | 43:3807a95aa284 | 434 | // Mundur + Rotasi Kiri |
Najib_irvani | 43:3807a95aa284 | 435 | motorDpn.speed(PIVOT); |
Najib_irvani | 43:3807a95aa284 | 436 | motorBlk.speed(PIVOT); |
Najib_irvani | 43:3807a95aa284 | 437 | motorR.speed(rasio*PIVOT); |
Najib_irvani | 43:3807a95aa284 | 438 | motorL.speed(rasio*PIVOT); |
Najib_irvani | 43:3807a95aa284 | 439 | break; |
Najib_irvani | 43:3807a95aa284 | 440 | } |
Najib_irvani | 43:3807a95aa284 | 441 | case (25): |
Najib_irvani | 43:3807a95aa284 | 442 | { |
Najib_irvani | 43:3807a95aa284 | 443 | // Kanan + segitiga |
Najib_irvani | 43:3807a95aa284 | 444 | isLauncher = !isLauncher; |
Najib_irvani | 43:3807a95aa284 | 445 | break; |
Najib_irvani | 43:3807a95aa284 | 446 | } |
Najib_irvani | 43:3807a95aa284 | 447 | case (26): |
Najib_irvani | 43:3807a95aa284 | 448 | { |
Najib_irvani | 43:3807a95aa284 | 449 | // Kiri + segitiga |
Najib_irvani | 43:3807a95aa284 | 450 | isLauncher = !isLauncher; |
Najib_irvani | 43:3807a95aa284 | 451 | break; |
Najib_irvani | 43:3807a95aa284 | 452 | } |
Najib_irvani | 43:3807a95aa284 | 453 | case (27): |
Najib_irvani | 43:3807a95aa284 | 454 | { |
Najib_irvani | 43:3807a95aa284 | 455 | // Kanan + lingkaran |
Najib_irvani | 43:3807a95aa284 | 456 | ReloadOn = !ReloadOn; |
Najib_irvani | 43:3807a95aa284 | 457 | isReload = false; |
Najib_irvani | 43:3807a95aa284 | 458 | break; |
Najib_irvani | 43:3807a95aa284 | 459 | } |
Najib_irvani | 43:3807a95aa284 | 460 | case (28): |
Najib_irvani | 43:3807a95aa284 | 461 | { |
Najib_irvani | 43:3807a95aa284 | 462 | // Kiri + lingkaran |
Najib_irvani | 43:3807a95aa284 | 463 | ReloadOn = !ReloadOn; |
Najib_irvani | 43:3807a95aa284 | 464 | isReload = false; |
Najib_irvani | 43:3807a95aa284 | 465 | break; |
Najib_irvani | 43:3807a95aa284 | 466 | } |
Najib_irvani | 43:3807a95aa284 | 467 | case (29): |
Najib_irvani | 43:3807a95aa284 | 468 | { |
Najib_irvani | 43:3807a95aa284 | 469 | // Kanan + kotak |
Najib_irvani | 43:3807a95aa284 | 470 | ReloadOn = !ReloadOn; |
Najib_irvani | 43:3807a95aa284 | 471 | isReload = true; |
Najib_irvani | 43:3807a95aa284 | 472 | break; |
Najib_irvani | 43:3807a95aa284 | 473 | } |
Najib_irvani | 43:3807a95aa284 | 474 | case (30): |
Najib_irvani | 43:3807a95aa284 | 475 | { |
Najib_irvani | 43:3807a95aa284 | 476 | // Kiri + kotak |
Najib_irvani | 43:3807a95aa284 | 477 | ReloadOn = !ReloadOn; |
Najib_irvani | 43:3807a95aa284 | 478 | isReload = true; |
Najib_irvani | 43:3807a95aa284 | 479 | break; |
Najib_irvani | 43:3807a95aa284 | 480 | } |
Najib_irvani | 43:3807a95aa284 | 481 | case (13) : |
Najib_irvani | 43:3807a95aa284 | 482 | { |
Najib_irvani | 43:3807a95aa284 | 483 | // Serong kanan maju |
Najib_irvani | 43:3807a95aa284 | 484 | motorDpn.speed(-serong); |
Najib_irvani | 44:d2ebfa6d1a7b | 485 | motorL.speed(-serong); |
Najib_irvani | 43:3807a95aa284 | 486 | motorBlk.speed(serong); |
Najib_irvani | 44:d2ebfa6d1a7b | 487 | motorR.speed(serong); |
Najib_irvani | 43:3807a95aa284 | 488 | break; |
Najib_irvani | 43:3807a95aa284 | 489 | } |
Najib_irvani | 43:3807a95aa284 | 490 | case (14) : |
Najib_irvani | 43:3807a95aa284 | 491 | { |
Najib_irvani | 43:3807a95aa284 | 492 | // Serong kiri maju |
Najib_irvani | 43:3807a95aa284 | 493 | motorDpn.speed(serong); |
Najib_irvani | 44:d2ebfa6d1a7b | 494 | motorR.speed(serong); |
Najib_irvani | 43:3807a95aa284 | 495 | motorBlk.speed(-serong); |
Najib_irvani | 44:d2ebfa6d1a7b | 496 | motorL.speed(-serong); |
Najib_irvani | 43:3807a95aa284 | 497 | break; |
Najib_irvani | 43:3807a95aa284 | 498 | } |
Najib_irvani | 43:3807a95aa284 | 499 | case (15) : |
Najib_irvani | 43:3807a95aa284 | 500 | { |
Najib_irvani | 43:3807a95aa284 | 501 | // Serong kanan mundur |
Najib_irvani | 44:d2ebfa6d1a7b | 502 | motorDpn.speed(-serong); |
Najib_irvani | 44:d2ebfa6d1a7b | 503 | motorR.speed(-serong); |
Najib_irvani | 43:3807a95aa284 | 504 | motorBlk.speed(serong); |
Najib_irvani | 44:d2ebfa6d1a7b | 505 | motorL.speed(serong); |
Najib_irvani | 43:3807a95aa284 | 506 | break; |
Najib_irvani | 43:3807a95aa284 | 507 | } |
Najib_irvani | 43:3807a95aa284 | 508 | case (16) : |
Najib_irvani | 43:3807a95aa284 | 509 | { |
Najib_irvani | 43:3807a95aa284 | 510 | // Serong kiri mundur |
Najib_irvani | 43:3807a95aa284 | 511 | motorDpn.speed(serong); |
Najib_irvani | 44:d2ebfa6d1a7b | 512 | motorL.speed(serong); |
Najib_irvani | 43:3807a95aa284 | 513 | motorBlk.speed(-serong); |
Najib_irvani | 44:d2ebfa6d1a7b | 514 | motorR.speed(-serong); |
gustavaditya | 31:d5cbda07fd95 | 515 | break; |
gustavaditya | 31:d5cbda07fd95 | 516 | } |
gustavaditya | 31:d5cbda07fd95 | 517 | case (3) : |
gustavaditya | 31:d5cbda07fd95 | 518 | { |
gustavaditya | 31:d5cbda07fd95 | 519 | // Kanan |
Najib_irvani | 43:3807a95aa284 | 520 | motorDpn.speed(-tuneDpn); |
Najib_irvani | 43:3807a95aa284 | 521 | motorBlk.speed(tuneBlk); |
Najib_irvani | 43:3807a95aa284 | 522 | motorR.brake(1); |
Najib_irvani | 43:3807a95aa284 | 523 | motorL.brake(1); |
gustavaditya | 31:d5cbda07fd95 | 524 | break; |
gustavaditya | 31:d5cbda07fd95 | 525 | } |
gustavaditya | 31:d5cbda07fd95 | 526 | case (4) : |
gustavaditya | 31:d5cbda07fd95 | 527 | { |
gustavaditya | 31:d5cbda07fd95 | 528 | // Kiri |
Najib_irvani | 43:3807a95aa284 | 529 | motorDpn.speed(tuneDpn); |
Najib_irvani | 43:3807a95aa284 | 530 | motorBlk.speed(-tuneBlk); |
Najib_irvani | 43:3807a95aa284 | 531 | motorR.brake(1); |
Najib_irvani | 43:3807a95aa284 | 532 | motorL.brake(1); |
Najib_irvani | 43:3807a95aa284 | 533 | break; |
Najib_irvani | 43:3807a95aa284 | 534 | } |
Najib_irvani | 43:3807a95aa284 | 535 | case (8) : |
Najib_irvani | 43:3807a95aa284 | 536 | { |
Najib_irvani | 43:3807a95aa284 | 537 | // Maju |
Najib_irvani | 43:3807a95aa284 | 538 | motorR.speed(tuneR); |
Najib_irvani | 43:3807a95aa284 | 539 | motorL.speed(-tuneL); |
Najib_irvani | 43:3807a95aa284 | 540 | motorDpn.brake(1); |
Najib_irvani | 43:3807a95aa284 | 541 | motorBlk.brake(1); |
Najib_irvani | 43:3807a95aa284 | 542 | break; |
Najib_irvani | 43:3807a95aa284 | 543 | } |
Najib_irvani | 43:3807a95aa284 | 544 | case (9) : |
Najib_irvani | 43:3807a95aa284 | 545 | { |
Najib_irvani | 43:3807a95aa284 | 546 | // Mundur |
Najib_irvani | 43:3807a95aa284 | 547 | motorR.speed(-tuneR); |
Najib_irvani | 43:3807a95aa284 | 548 | motorL.speed(tuneL); |
Najib_irvani | 43:3807a95aa284 | 549 | motorDpn.brake(1); |
Najib_irvani | 43:3807a95aa284 | 550 | motorBlk.brake(1); |
gustavaditya | 31:d5cbda07fd95 | 551 | break; |
gustavaditya | 31:d5cbda07fd95 | 552 | } |
gustavaditya | 31:d5cbda07fd95 | 553 | case (5) : |
gustavaditya | 31:d5cbda07fd95 | 554 | { |
gustavaditya | 31:d5cbda07fd95 | 555 | // Aktifkan motor atas |
gustavaditya | 31:d5cbda07fd95 | 556 | isLauncher = !isLauncher; |
gustavaditya | 31:d5cbda07fd95 | 557 | break; |
Joshua23 | 8:0711dea61312 | 558 | } |
gustavaditya | 31:d5cbda07fd95 | 559 | case (6) : |
gustavaditya | 31:d5cbda07fd95 | 560 | { |
gustavaditya | 31:d5cbda07fd95 | 561 | // Target Pulse PID ++ Motor Depan |
gustavaditya | 39:11358f3f61ff | 562 | target_rpm2 = target_rpm2+1.0; |
gustavaditya | 39:11358f3f61ff | 563 | target_rpm = target_rpm+1.0; |
gustavaditya | 37:67d54563af90 | 564 | init_rpm(); |
gustavaditya | 31:d5cbda07fd95 | 565 | break; |
gustavaditya | 31:d5cbda07fd95 | 566 | } |
gustavaditya | 31:d5cbda07fd95 | 567 | case (7) : |
gustavaditya | 31:d5cbda07fd95 | 568 | { |
gustavaditya | 31:d5cbda07fd95 | 569 | // Target Pulse PID -- Motor Depan |
gustavaditya | 39:11358f3f61ff | 570 | target_rpm2 = target_rpm2-1.0; |
gustavaditya | 39:11358f3f61ff | 571 | target_rpm = target_rpm-1.0; |
gustavaditya | 37:67d54563af90 | 572 | init_rpm(); |
gustavaditya | 31:d5cbda07fd95 | 573 | break; |
gustavaditya | 31:d5cbda07fd95 | 574 | } |
gustavaditya | 31:d5cbda07fd95 | 575 | case (10) : |
gustavaditya | 31:d5cbda07fd95 | 576 | { |
gustavaditya | 31:d5cbda07fd95 | 577 | // Pneumatik |
Najib_irvani | 44:d2ebfa6d1a7b | 578 | if (ready) |
Najib_irvani | 44:d2ebfa6d1a7b | 579 | { |
Najib_irvani | 44:d2ebfa6d1a7b | 580 | pneumatik = 0; |
Najib_irvani | 44:d2ebfa6d1a7b | 581 | previousMillis3 = millis(); |
Najib_irvani | 44:d2ebfa6d1a7b | 582 | flag_Pneu = true; |
Najib_irvani | 44:d2ebfa6d1a7b | 583 | ready = false; |
Najib_irvani | 44:d2ebfa6d1a7b | 584 | } |
gustavaditya | 31:d5cbda07fd95 | 585 | break; |
gustavaditya | 31:d5cbda07fd95 | 586 | } |
gustavaditya | 31:d5cbda07fd95 | 587 | case (11) : |
gustavaditya | 31:d5cbda07fd95 | 588 | { |
gustavaditya | 31:d5cbda07fd95 | 589 | // Power Screw Up |
gustavaditya | 40:5b937cac959a | 590 | ReloadOn = !ReloadOn; |
Najib_irvani | 43:3807a95aa284 | 591 | isReload = false; |
gustavaditya | 31:d5cbda07fd95 | 592 | break; |
gustavaditya | 31:d5cbda07fd95 | 593 | } |
Najib_irvani | 44:d2ebfa6d1a7b | 594 | case (31) : |
Najib_irvani | 44:d2ebfa6d1a7b | 595 | { |
Najib_irvani | 44:d2ebfa6d1a7b | 596 | // start |
Najib_irvani | 44:d2ebfa6d1a7b | 597 | target_rpm2 = 22; |
Najib_irvani | 44:d2ebfa6d1a7b | 598 | target_rpm = 22; |
Najib_irvani | 44:d2ebfa6d1a7b | 599 | init_rpm(); |
Najib_irvani | 44:d2ebfa6d1a7b | 600 | break; |
Najib_irvani | 44:d2ebfa6d1a7b | 601 | } |
Najib_irvani | 44:d2ebfa6d1a7b | 602 | case (32) : |
Najib_irvani | 44:d2ebfa6d1a7b | 603 | { |
Najib_irvani | 44:d2ebfa6d1a7b | 604 | // select |
Najib_irvani | 44:d2ebfa6d1a7b | 605 | target_rpm2 = 10; |
Najib_irvani | 44:d2ebfa6d1a7b | 606 | target_rpm = 10; |
Najib_irvani | 44:d2ebfa6d1a7b | 607 | init_rpm(); |
Najib_irvani | 44:d2ebfa6d1a7b | 608 | break; |
Najib_irvani | 44:d2ebfa6d1a7b | 609 | } |
gustavaditya | 31:d5cbda07fd95 | 610 | case (12) : |
gustavaditya | 31:d5cbda07fd95 | 611 | { |
gustavaditya | 31:d5cbda07fd95 | 612 | // Power Screw Down |
Najib_irvani | 43:3807a95aa284 | 613 | ReloadOn = !ReloadOn; |
Najib_irvani | 43:3807a95aa284 | 614 | isReload = true; |
gustavaditya | 31:d5cbda07fd95 | 615 | break; |
gustavaditya | 31:d5cbda07fd95 | 616 | } |
gustavaditya | 31:d5cbda07fd95 | 617 | default : |
gustavaditya | 31:d5cbda07fd95 | 618 | { |
gustavaditya | 31:d5cbda07fd95 | 619 | motorDpn.brake(1); |
gustavaditya | 31:d5cbda07fd95 | 620 | motorBlk.brake(1); |
Najib_irvani | 43:3807a95aa284 | 621 | motorR.brake(1); |
Najib_irvani | 43:3807a95aa284 | 622 | motorL.brake(1); |
gustavaditya | 31:d5cbda07fd95 | 623 | } |
gustavaditya | 31:d5cbda07fd95 | 624 | } // End Switch |
gustavaditya | 31:d5cbda07fd95 | 625 | } |
gustavaditya | 31:d5cbda07fd95 | 626 | |
gustavaditya | 40:5b937cac959a | 627 | void reloader() |
rizqicahyo | 36:5963c9a49485 | 628 | { |
rizqicahyo | 36:5963c9a49485 | 629 | if(ReloadOn){ |
rizqicahyo | 36:5963c9a49485 | 630 | if(isReload){ |
rizqicahyo | 36:5963c9a49485 | 631 | powerScrew.speed(pwmPowerDown); |
Najib_irvani | 44:d2ebfa6d1a7b | 632 | if((!limitBawah)||(!limitBawah1)){ |
rizqicahyo | 36:5963c9a49485 | 633 | isReload = false; |
rizqicahyo | 36:5963c9a49485 | 634 | ReloadOn = false; |
rizqicahyo | 36:5963c9a49485 | 635 | } |
rizqicahyo | 36:5963c9a49485 | 636 | } |
rizqicahyo | 36:5963c9a49485 | 637 | else if(!limitTengah){ |
rizqicahyo | 36:5963c9a49485 | 638 | isReload = true; |
rizqicahyo | 36:5963c9a49485 | 639 | } |
Najib_irvani | 43:3807a95aa284 | 640 | else if((jarak_ping > 6.5) && !flag_Pneu){ |
gustavaditya | 40:5b937cac959a | 641 | powerScrew.speed(pwmPowerUp); |
Najib_irvani | 44:d2ebfa6d1a7b | 642 | ready = false; |
gustavaditya | 40:5b937cac959a | 643 | } |
Najib_irvani | 44:d2ebfa6d1a7b | 644 | else if((jarak_ping < 6.0) && !flag_Pneu) { |
Najib_irvani | 44:d2ebfa6d1a7b | 645 | powerScrew.speed(-0.7); |
Najib_irvani | 44:d2ebfa6d1a7b | 646 | ready = false; |
rizqicahyo | 36:5963c9a49485 | 647 | } |
rizqicahyo | 36:5963c9a49485 | 648 | else{ |
gustavaditya | 40:5b937cac959a | 649 | powerScrew.brake(1); |
Najib_irvani | 44:d2ebfa6d1a7b | 650 | ready = true; |
rizqicahyo | 36:5963c9a49485 | 651 | } |
rizqicahyo | 36:5963c9a49485 | 652 | } |
rizqicahyo | 36:5963c9a49485 | 653 | else{ |
rizqicahyo | 36:5963c9a49485 | 654 | powerScrew.brake(1); |
rizqicahyo | 36:5963c9a49485 | 655 | } |
gustavaditya | 40:5b937cac959a | 656 | } |
rizqicahyo | 36:5963c9a49485 | 657 | |
rizqicahyo | 36:5963c9a49485 | 658 | |
gustavaditya | 31:d5cbda07fd95 | 659 | void launcher() |
gustavaditya | 31:d5cbda07fd95 | 660 | { |
gustavaditya | 31:d5cbda07fd95 | 661 | if (isLauncher) |
Sufa | 30:d69cc27ac644 | 662 | { |
be_bryan | 28:2d0746dc2d7d | 663 | currentMillis = millis(); |
be_bryan | 28:2d0746dc2d7d | 664 | currentMillis2 = millis(); |
be_bryan | 28:2d0746dc2d7d | 665 | |
gustavaditya | 31:d5cbda07fd95 | 666 | // PID Launcher Depan |
gustavaditya | 38:3ef6754bd8d8 | 667 | if (currentMillis-previousMillis>=12.5) |
be_bryan | 26:256160a1a82d | 668 | { |
gustavaditya | 31:d5cbda07fd95 | 669 | rpm = (float)encLauncherBlk.getPulses(); |
be_bryan | 26:256160a1a82d | 670 | current_error = target_rpm - rpm; |
Najib_irvani | 44:d2ebfa6d1a7b | 671 | sum_error = sum_error + current_error*12.5; |
be_bryan | 26:256160a1a82d | 672 | p = current_error*kpA; |
gustavaditya | 38:3ef6754bd8d8 | 673 | d = (current_error-last_error)*kdA/12.5; |
Najib_irvani | 44:d2ebfa6d1a7b | 674 | i = sum_error*kiA; |
be_bryan | 26:256160a1a82d | 675 | speed = p + d + i; |
gustavaditya | 38:3ef6754bd8d8 | 676 | //init_speed(); |
gustavaditya | 38:3ef6754bd8d8 | 677 | if(speed > maxSpeed){ |
gustavaditya | 38:3ef6754bd8d8 | 678 | launcherBlk.speed(maxSpeed); |
gustavaditya | 38:3ef6754bd8d8 | 679 | } |
gustavaditya | 39:11358f3f61ff | 680 | else if ( speed < minSpeed){ |
gustavaditya | 39:11358f3f61ff | 681 | launcherBlk.speed(minSpeed); |
gustavaditya | 39:11358f3f61ff | 682 | } |
gustavaditya | 38:3ef6754bd8d8 | 683 | else { |
gustavaditya | 38:3ef6754bd8d8 | 684 | launcherBlk.speed(speed); |
gustavaditya | 38:3ef6754bd8d8 | 685 | } |
be_bryan | 26:256160a1a82d | 686 | last_error = current_error; |
gustavaditya | 31:d5cbda07fd95 | 687 | encLauncherBlk.reset(); |
be_bryan | 26:256160a1a82d | 688 | //pc.printf("%.04lf\n",rpm); |
be_bryan | 26:256160a1a82d | 689 | previousMillis = currentMillis; |
be_bryan | 26:256160a1a82d | 690 | } |
gustavaditya | 38:3ef6754bd8d8 | 691 | if (currentMillis2-previousMillis2>=12.5) |
be_bryan | 27:68efb1622985 | 692 | { |
gustavaditya | 31:d5cbda07fd95 | 693 | rpm2 = (float)encLauncherDpn.getPulses(); |
be_bryan | 27:68efb1622985 | 694 | current_error2 = target_rpm2 - rpm2; |
Najib_irvani | 44:d2ebfa6d1a7b | 695 | sum_error2 = sum_error2 + current_error2*12.5; |
be_bryan | 27:68efb1622985 | 696 | p2 = current_error2*kpA; |
gustavaditya | 38:3ef6754bd8d8 | 697 | d2 = (current_error2-last_error2)*kdA/12.5; |
Najib_irvani | 44:d2ebfa6d1a7b | 698 | i2 = sum_error2*kiA; |
be_bryan | 27:68efb1622985 | 699 | speed2 = p2 + d2 + i2; |
gustavaditya | 38:3ef6754bd8d8 | 700 | //init_speed(); |
gustavaditya | 38:3ef6754bd8d8 | 701 | if (speed2 > maxSpeed){ |
gustavaditya | 38:3ef6754bd8d8 | 702 | launcherDpn.speed(maxSpeed); |
gustavaditya | 38:3ef6754bd8d8 | 703 | } |
gustavaditya | 39:11358f3f61ff | 704 | else if ( speed < minSpeed){ |
gustavaditya | 39:11358f3f61ff | 705 | launcherDpn.speed(minSpeed); |
gustavaditya | 39:11358f3f61ff | 706 | } |
gustavaditya | 38:3ef6754bd8d8 | 707 | else{ |
gustavaditya | 38:3ef6754bd8d8 | 708 | launcherDpn.speed(speed2); |
gustavaditya | 38:3ef6754bd8d8 | 709 | } |
be_bryan | 27:68efb1622985 | 710 | last_error2 = current_error2; |
gustavaditya | 31:d5cbda07fd95 | 711 | encLauncherDpn.reset(); |
be_bryan | 27:68efb1622985 | 712 | previousMillis2 = currentMillis2; |
be_bryan | 27:68efb1622985 | 713 | } |
Najib_irvani | 44:d2ebfa6d1a7b | 714 | pc.printf("%.2f\t%.2f\n",rpm,rpm2); |
rahmadirizki18 | 6:68293bed71ea | 715 | } |
Sufa | 29:7b372b0aaa61 | 716 | else |
Sufa | 29:7b372b0aaa61 | 717 | { |
gustavaditya | 31:d5cbda07fd95 | 718 | launcherDpn.brake(1); |
gustavaditya | 31:d5cbda07fd95 | 719 | launcherBlk.brake(1); |
Najib_irvani | 44:d2ebfa6d1a7b | 720 | sum_error = 0; |
Najib_irvani | 44:d2ebfa6d1a7b | 721 | sum_error2 = 0; |
Najib_irvani | 44:d2ebfa6d1a7b | 722 | current_error = 0; |
Najib_irvani | 44:d2ebfa6d1a7b | 723 | current_error2 = 0; |
Najib_irvani | 44:d2ebfa6d1a7b | 724 | last_error = 0; |
Najib_irvani | 44:d2ebfa6d1a7b | 725 | last_error2 = 0; |
gustavaditya | 31:d5cbda07fd95 | 726 | } |
rahmadirizki18 | 5:3aa203218306 | 727 | } |
gustavaditya | 31:d5cbda07fd95 | 728 | |
MarchioKevin | 22:4632f58461e0 | 729 | /*********************************************************/ |
MarchioKevin | 22:4632f58461e0 | 730 | /* Main Function */ |
MarchioKevin | 22:4632f58461e0 | 731 | /*********************************************************/ |
calmantara186 | 16:90119f03c5d1 | 732 | |
gustavaditya | 31:d5cbda07fd95 | 733 | int main (void) |
gustavaditya | 31:d5cbda07fd95 | 734 | { |
gustavaditya | 31:d5cbda07fd95 | 735 | // Set baud rate - 115200 |
fanny868 | 0:9072e932503c | 736 | joystick.setup(); |
rahmadirizki18 | 23:023b522977b2 | 737 | pc.baud(115200); |
rahmadirizki18 | 6:68293bed71ea | 738 | wait_ms(1000); |
gustavaditya | 40:5b937cac959a | 739 | |
gustavaditya | 40:5b937cac959a | 740 | // initializing encoder |
gustavaditya | 41:336a19289c2d | 741 | pneumatik =1; |
gustavaditya | 41:336a19289c2d | 742 | |
rahmadirizki18 | 5:3aa203218306 | 743 | setCenter(); |
gustavaditya | 41:336a19289c2d | 744 | |
rahmadirizki18 | 5:3aa203218306 | 745 | wait_ms(500); |
gustavaditya | 40:5b937cac959a | 746 | |
gustavaditya | 40:5b937cac959a | 747 | //initializing PING |
gustavaditya | 40:5b937cac959a | 748 | pingAtas.Send(); |
gustavaditya | 40:5b937cac959a | 749 | |
rahmadirizki18 | 23:023b522977b2 | 750 | pc.printf("ready...."); |
gustavaditya | 35:69a47b4cb3fc | 751 | startMillis(); |
fanny868 | 0:9072e932503c | 752 | while(1) |
gustavaditya | 40:5b937cac959a | 753 | { |
gustavaditya | 40:5b937cac959a | 754 | // interupsi pembacaan PING setiap 30 ms |
gustavaditya | 41:336a19289c2d | 755 | if(millis() - previousMillis4 >= 5){ //30 |
gustavaditya | 41:336a19289c2d | 756 | jarak_ping = (float)pingAtas.Read_cm()/2; |
gustavaditya | 40:5b937cac959a | 757 | |
gustavaditya | 40:5b937cac959a | 758 | pingAtas.Send(); |
gustavaditya | 40:5b937cac959a | 759 | previousMillis4 = millis(); |
gustavaditya | 40:5b937cac959a | 760 | } |
gustavaditya | 40:5b937cac959a | 761 | |
fanny868 | 0:9072e932503c | 762 | // Interrupt Serial |
calmantara186 | 16:90119f03c5d1 | 763 | joystick.idle(); |
gustavaditya | 31:d5cbda07fd95 | 764 | if(joystick.readable()) |
gustavaditya | 31:d5cbda07fd95 | 765 | { |
fanny868 | 0:9072e932503c | 766 | // Panggil fungsi pembacaan joystik |
fanny868 | 0:9072e932503c | 767 | joystick.baca_data(); |
fanny868 | 0:9072e932503c | 768 | // Panggil fungsi pengolahan data joystik |
fanny868 | 0:9072e932503c | 769 | joystick.olah_data(); |
gustavaditya | 31:d5cbda07fd95 | 770 | // Masuk ke case joystick |
gustavaditya | 31:d5cbda07fd95 | 771 | case_joy = case_joystick(); |
Najib_irvani | 44:d2ebfa6d1a7b | 772 | //pc.printf("%d\n",case_joy); |
rahmadirizki18 | 3:1287fccc11be | 773 | aktuator(); |
gustavaditya | 31:d5cbda07fd95 | 774 | launcher(); |
gustavaditya | 40:5b937cac959a | 775 | reloader(); |
Najib_irvani | 43:3807a95aa284 | 776 | if ((millis()-previousMillis3 >= 320)&&(flag_Pneu)){ |
be_bryan | 26:256160a1a82d | 777 | pneumatik = 1; |
gustavaditya | 31:d5cbda07fd95 | 778 | flag_Pneu = false; |
be_bryan | 26:256160a1a82d | 779 | } |
be_bryan | 26:256160a1a82d | 780 | } |
gustavaditya | 31:d5cbda07fd95 | 781 | else |
gustavaditya | 31:d5cbda07fd95 | 782 | { |
gustavaditya | 31:d5cbda07fd95 | 783 | joystick.idle(); |
MarchioKevin | 21:da2f3d04468f | 784 | } |
franshendri | 42:6caf8bd5abbc | 785 | |
Najib_irvani | 44:d2ebfa6d1a7b | 786 | if(millis() - previousMillis5 >= 400) |
Najib_irvani | 44:d2ebfa6d1a7b | 787 | { |
Najib_irvani | 43:3807a95aa284 | 788 | display.write(0,((int) rpm2) / 10); |
Najib_irvani | 43:3807a95aa284 | 789 | display.write(1,((int)rpm2) % 10); |
franshendri | 42:6caf8bd5abbc | 790 | display.write(2, (int)target_rpm2 / 10); |
franshendri | 42:6caf8bd5abbc | 791 | display.write(3, (int)target_rpm2 % 10); |
franshendri | 42:6caf8bd5abbc | 792 | display.setColon(true); |
franshendri | 42:6caf8bd5abbc | 793 | |
franshendri | 42:6caf8bd5abbc | 794 | previousMillis5 = millis(); |
franshendri | 42:6caf8bd5abbc | 795 | } |
fanny868 | 0:9072e932503c | 796 | } |
be_bryan | 28:2d0746dc2d7d | 797 | } |