KRAI 2017 / Mbed 2 deprecated MainProgram_BaseBaru_fix_omni_5April_23-04

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Dependencies:   DigitDisplay Motor PID Ping mbed millis

Fork of MainProgram_BaseBaru_fix_omni_5April_fix by KRAI 2017

main.cpp@45:964ae71a30e3, 2017-04-05 (annotated)

Committer:
gustavaditya
Date:
Wed Apr 05 16:04:08 2017 +0000
Revision:
45:964ae71a30e3
Parent:
44:452c214d9cf5 
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Who changed what in which revision?

UserRevisionLine numberNew 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 44:452c214d9cf5 28 /* Tombol silang => Pneumatik aktif */
Sufa 30:d69cc27ac644 29 /* Tombol segitiga => Aktif motor Launcher */
Najib_irvani 44:452c214d9cf5 30 /* Tombol lingkaran => Reloader naik */
Najib_irvani 44:452c214d9cf5 31 /* Tombol kotak => Reloader turun */
Sufa 30:d69cc27ac644 32 /* Tombol L1 => Pivot Kiri */
Sufa 30:d69cc27ac644 33 /* Tombol R1 => Pivot Kanan */
Najib_irvani 44:452c214d9cf5 34 /* Tombol L2 => Kurang PWM Motor Launcher */
Najib_irvani 44:452c214d9cf5 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 44:452c214d9cf5 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 44:452c214d9cf5 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 44:452c214d9cf5 68 const float pwmPowerUp = 1.0;
Najib_irvani 44:452c214d9cf5 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 44:452c214d9cf5 78 float PIVOT = 0.17; // PWM Pivot Kanan, Pivot Kiri
Najib_irvani 44:452c214d9cf5 79 float tuneDpn = 0.80; // Tunning PWM motor Depan
Najib_irvani 44:452c214d9cf5 80 float tuneBlk = 0.80; // Tunning PWM motor belakang
gustavaditya 45:964ae71a30e3 81 float tuneAksel = 0.6;
gustavaditya 45:964ae71a30e3 82 int aksel = 0;
gustavaditya 45:964ae71a30e3 83 float tuneAkselBlk = 0.4;
Najib_irvani 44:452c214d9cf5 84 float tuneR = 0.78;
Najib_irvani 43:3807a95aa284 85 float tuneL = 0.72;
Najib_irvani 44:452c214d9cf5 86 float serong = 0.4;
Najib_irvani 43:3807a95aa284 87 float rasio = 1.4545;
Najib_irvani 43:3807a95aa284 88
Najib_irvani 43:3807a95aa284 89 /* variable tunning */
Najib_irvani 43:3807a95aa284 90 float tunning_L;
Najib_irvani 43:3807a95aa284 91 float tunning_R;
Najib_irvani 43:3807a95aa284 92 float tunning_Dpn;
Najib_irvani 43:3807a95aa284 93 float tunning_Blk;
gustavaditya 31:d5cbda07fd95 94
gustavaditya 31:d5cbda07fd95 95 /* Variabel Encoder Bawah */
gustavaditya 31:d5cbda07fd95 96 float errTetha, Tetha; // Variabel yang didapatkan encoder
gustavaditya 31:d5cbda07fd95 97
gustavaditya 31:d5cbda07fd95 98 /* Deklarasi Variable Millis */
gustavaditya 33:69d266bc3fe9 99 unsigned long int previousMillis = 0; // PID launcher
gustavaditya 31:d5cbda07fd95 100 unsigned long int currentMillis;
gustavaditya 33:69d266bc3fe9 101 unsigned long int previousMillis2 = 0; // PID launcher
gustavaditya 31:d5cbda07fd95 102 unsigned long int currentMillis2;
gustavaditya 33:69d266bc3fe9 103 unsigned long int previousMillis3 = 0; // Pneumatik
gustavaditya 40:5b937cac959a 104 unsigned long int previousMillis4 = 0; // Ping
franshendri 42:6caf8bd5abbc 105 unsigned long int previousMillis5 = 0; // Display
MarchioKevin 22:4632f58461e0 106
gustavaditya 31:d5cbda07fd95 107 /* Variabel Stick */
gustavaditya 31:d5cbda07fd95 108 //Logic untuk masuk aktuator
gustavaditya 31:d5cbda07fd95 109 int case_joy;
gustavaditya 31:d5cbda07fd95 110 bool isLauncher = false;
gustavaditya 31:d5cbda07fd95 111 bool isReload = false;
rizqicahyo 36:5963c9a49485 112 bool ReloadOn = false;
gustavaditya 31:d5cbda07fd95 113 bool flag_Pneu = false;
Najib_irvani 44:452c214d9cf5 114 bool ready = false;
gustavaditya 31:d5cbda07fd95 115
gustavaditya 31:d5cbda07fd95 116 /*****************************************************/
gustavaditya 31:d5cbda07fd95 117 /* Definisi Prosedur, Fungsi dan Setting Pinout */
gustavaditya 31:d5cbda07fd95 118 /*****************************************************/
gustavaditya 31:d5cbda07fd95 119
gustavaditya 31:d5cbda07fd95 120 /* Fungsi dan Procedur Encoder */
gustavaditya 31:d5cbda07fd95 121 void init_speed(); //
gustavaditya 31:d5cbda07fd95 122 void aktuator(); // Pergerakan aktuator berdasarkan case joystick
gustavaditya 31:d5cbda07fd95 123 int case_joystick(); // Mendapatkan case dari joystick
gustavaditya 33:69d266bc3fe9 124 //void speedKalibrasiMotor(); // Pertambahan target RPM motor atas melalui joystick
gustavaditya 31:d5cbda07fd95 125 void setCenter(); // Prosedur reset encoder, posisi saat itu diset jadi titik (0,0)
gustavaditya 31:d5cbda07fd95 126 float getTetha(); // Fungsi mendapatkan error Tetha
gustavaditya 31:d5cbda07fd95 127
gustavaditya 31:d5cbda07fd95 128 /* Inisialisasi Pin TX-RX Joystik dan PC */
gustavaditya 31:d5cbda07fd95 129 joysticknucleo joystick(PA_0,PA_1);
gustavaditya 31:d5cbda07fd95 130 Serial pc(USBTX,USBRX);
calmantara186 16:90119f03c5d1 131
be_bryan 26:256160a1a82d 132 /* Deklarasi Encoder Base */
gustavaditya 31:d5cbda07fd95 133 encoderKRAI encoderBase(PC_4, PB_15, 2000, encoderKRAI::X2_ENCODING); //inA, inB, pin Indeks (NC = tak ada), 2xresolusi, mode pembacaan
rahmadirizki18 15:98f0d56b14f0 134
be_bryan 26:256160a1a82d 135 /* Deklarasi Encoder Launcher */
Najib_irvani 44:452c214d9cf5 136 encoderKRAI encLauncherDpn( PC_10, PC_11, 28, encoderKRAI::X4_ENCODING);
Najib_irvani 44:452c214d9cf5 137 encoderKRAI encLauncherBlk( PC_12, PD_2, 28, encoderKRAI::X4_ENCODING);
be_bryan 26:256160a1a82d 138
calmantara186 16:90119f03c5d1 139 /* Deklarasi Motor Base */
Najib_irvani 44:452c214d9cf5 140 Motor motorDpn(PB_7, PC_3, PC_0); //(PB_9, PA_12, PC_5);
Najib_irvani 44:452c214d9cf5 141 //Motor motorBlk(PB_6, PC_14, PC_13); //(PB_6, PB_1, PB_12); (PC_7, PC_14, PC_13);
Najib_irvani 44:452c214d9cf5 142 Motor motorBlk(PB_2, PB_15, PB_1);
Najib_irvani 44:452c214d9cf5 143 Motor motorL (PB_9, PA_12, PA_6);
Najib_irvani 44:452c214d9cf5 144 Motor motorR (PB_8, PC_5, PC_6); //(PC_6, PB_4, PB_5);
fanny868 0:9072e932503c 145
calmantara186 16:90119f03c5d1 146 /* Deklarasi Motor Launcher */
Najib_irvani 44:452c214d9cf5 147 Motor launcherDpn(PA_5,PB_12,PA_11); // pwm ,fwd, rev
Najib_irvani 44:452c214d9cf5 148 Motor launcherBlk(PB_3, PC_4, PA_10); // pwm, fwd, rev
Najib_irvani 44:452c214d9cf5 149 Motor powerScrew(PB_10, PB_14, PB_13); // pwm, fwd, rev
rahmadirizki18 5:3aa203218306 150
be_bryan 26:256160a1a82d 151 /* Deklarasi Penumatik Launcher */
Najib_irvani 44:452c214d9cf5 152 DigitalOut pneumatik(PA_4, PullUp);
be_bryan 26:256160a1a82d 153
be_bryan 27:68efb1622985 154 /*Dekalrasi Limit Switch */
gustavaditya 40:5b937cac959a 155 //DigitalIn infraAtas(PC_9, PullUp);
Najib_irvani 44:452c214d9cf5 156 DigitalIn limitTengah(PA_9, PullUp);
Najib_irvani 44:452c214d9cf5 157 DigitalIn limitBawah(PC_7, PullUp);
Najib_irvani 44:452c214d9cf5 158 DigitalIn limitBawah1(PA_7, PullUp);
rahmadirizki18 5:3aa203218306 159
gustavaditya 40:5b937cac959a 160 /*deklarasi PING ultrasonic*/
Najib_irvani 44:452c214d9cf5 161 Ping pingAtas(PC_15);
fanny868 0:9072e932503c 162
franshendri 42:6caf8bd5abbc 163 /*Deklarasi Display*/
Najib_irvani 44:452c214d9cf5 164 DigitDisplay display (PA_8, PC_8);
franshendri 42:6caf8bd5abbc 165
MarchioKevin 22:4632f58461e0 166 /****************************************************/
MarchioKevin 22:4632f58461e0 167 /* Deklarasi Fungsi dan Procedure */
MarchioKevin 22:4632f58461e0 168 /****************************************************/
gustavaditya 31:d5cbda07fd95 169 int case_joystick()
gustavaditya 31:d5cbda07fd95 170 {
gustavaditya 31:d5cbda07fd95 171 //---------------------------------------------------//
gustavaditya 31:d5cbda07fd95 172 // Gerak Motor Base //
gustavaditya 31:d5cbda07fd95 173 // Case 1 : Pivot kanan //
gustavaditya 31:d5cbda07fd95 174 // Case 2 : Pivot Kiri //
gustavaditya 31:d5cbda07fd95 175 // Case 3 : Kanan //
gustavaditya 31:d5cbda07fd95 176 // Case 4 : Kiri //
gustavaditya 31:d5cbda07fd95 177 // Case 5 : Break //
gustavaditya 31:d5cbda07fd95 178 //---------------------------------------------------//
gustavaditya 31:d5cbda07fd95 179
gustavaditya 31:d5cbda07fd95 180 int caseJoystick;
Najib_irvani 43:3807a95aa284 181 if ((joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) {
gustavaditya 31:d5cbda07fd95 182 // Pivot Kanan
gustavaditya 31:d5cbda07fd95 183 caseJoystick = 1;
gustavaditya 31:d5cbda07fd95 184 }
Najib_irvani 43:3807a95aa284 185 else if ((!joystick.R1)&&(joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) {
gustavaditya 31:d5cbda07fd95 186 // Pivot Kiri
gustavaditya 31:d5cbda07fd95 187 caseJoystick = 2;
Najib_irvani 43:3807a95aa284 188 }
Najib_irvani 44:452c214d9cf5 189 else if ((joystick.START_click)&&(!joystick.SELECT_click)&&(!joystick.R3_click)) {
Najib_irvani 44:452c214d9cf5 190 // tambah rpm dengan nilai tertentu
Najib_irvani 44:452c214d9cf5 191 caseJoystick = 31;
Najib_irvani 44:452c214d9cf5 192 }
Najib_irvani 44:452c214d9cf5 193 else if ((!joystick.START_click)&&(joystick.SELECT_click)&&(!joystick.R3_click)) {
Najib_irvani 44:452c214d9cf5 194 // kurangi rpm dengan nilai tertentu
Najib_irvani 44:452c214d9cf5 195 caseJoystick = 32;
Najib_irvani 44:452c214d9cf5 196 }
Najib_irvani 44:452c214d9cf5 197 else if ((!joystick.START_click)&&(!joystick.SELECT_click)&&(joystick.R3_click)) {
Najib_irvani 44:452c214d9cf5 198 // kurangi rpm dengan nilai tertentu
Najib_irvani 44:452c214d9cf5 199 caseJoystick = 33;
Najib_irvani 44:452c214d9cf5 200 }
Najib_irvani 43:3807a95aa284 201 else if ((joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri)) {
Najib_irvani 43:3807a95aa284 202 // Kanan + Rotasi kanan
Najib_irvani 43:3807a95aa284 203 caseJoystick = 17;
Najib_irvani 43:3807a95aa284 204 }
Najib_irvani 43:3807a95aa284 205 else if ((!joystick.R1)&&(joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri)) {
Najib_irvani 43:3807a95aa284 206 // Kanan + Rotasi kiri
Najib_irvani 43:3807a95aa284 207 caseJoystick = 18;
Najib_irvani 43:3807a95aa284 208 }
Najib_irvani 43:3807a95aa284 209 else if ((joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)) {
Najib_irvani 43:3807a95aa284 210 // Kiri + Rotasi kanan
Najib_irvani 43:3807a95aa284 211 caseJoystick = 19;
Najib_irvani 43:3807a95aa284 212 }
Najib_irvani 43:3807a95aa284 213 else if ((!joystick.R1)&&(joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)) {
Najib_irvani 43:3807a95aa284 214 // Kanan + Rotasi kiri
Najib_irvani 43:3807a95aa284 215 caseJoystick = 20;
Najib_irvani 43:3807a95aa284 216 }
Najib_irvani 43:3807a95aa284 217 else if ((joystick.R1)&&(!joystick.L1)&&(joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) {
Najib_irvani 43:3807a95aa284 218 // Maju + Rotasi kanan
Najib_irvani 43:3807a95aa284 219 caseJoystick = 21;
Najib_irvani 43:3807a95aa284 220 }
Najib_irvani 43:3807a95aa284 221 else if ((!joystick.R1)&&(joystick.L1)&&(joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) {
Najib_irvani 43:3807a95aa284 222 // Maju + Rotasi kiri
Najib_irvani 43:3807a95aa284 223 caseJoystick = 22;
Najib_irvani 43:3807a95aa284 224 }
Najib_irvani 43:3807a95aa284 225 else if ((joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) {
Najib_irvani 43:3807a95aa284 226 // Mundur + Rotasi kanan
Najib_irvani 43:3807a95aa284 227 caseJoystick = 23;
Najib_irvani 43:3807a95aa284 228 }
Najib_irvani 43:3807a95aa284 229 else if ((!joystick.R1)&&(joystick.L1)&&(!joystick.atas)&&(joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) {
Najib_irvani 43:3807a95aa284 230 // Mundur + Rotasi kiri
Najib_irvani 43:3807a95aa284 231 caseJoystick = 24;
Najib_irvani 43:3807a95aa284 232 }
Najib_irvani 43:3807a95aa284 233 else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri)&&(joystick.segitiga_click)) {
Najib_irvani 43:3807a95aa284 234 // Kanan + segitiga
Najib_irvani 43:3807a95aa284 235 caseJoystick = 25;
Najib_irvani 43:3807a95aa284 236 }
Najib_irvani 43:3807a95aa284 237 else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)&&(joystick.segitiga_click)) {
Najib_irvani 43:3807a95aa284 238 // Kiri + segitiga
Najib_irvani 43:3807a95aa284 239 caseJoystick = 26;
Najib_irvani 43:3807a95aa284 240 }
Najib_irvani 43:3807a95aa284 241 else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri)&&(joystick.lingkaran_click)) {
Najib_irvani 43:3807a95aa284 242 // Kanan + lingkaran
Najib_irvani 43:3807a95aa284 243 caseJoystick = 27;
Najib_irvani 43:3807a95aa284 244 }
Najib_irvani 43:3807a95aa284 245 else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)&&(joystick.lingkaran_click)) {
Najib_irvani 43:3807a95aa284 246 // Kiri + lingkaran
Najib_irvani 43:3807a95aa284 247 caseJoystick = 28;
Najib_irvani 43:3807a95aa284 248 }
Najib_irvani 43:3807a95aa284 249 else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri)&&(joystick.kotak_click)) {
Najib_irvani 43:3807a95aa284 250 // Kanan + kotak
Najib_irvani 43:3807a95aa284 251 caseJoystick = 29;
Najib_irvani 43:3807a95aa284 252 }
Najib_irvani 43:3807a95aa284 253 else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)&&(joystick.kotak_click)) {
Najib_irvani 43:3807a95aa284 254 // Kiri + kotak
Najib_irvani 43:3807a95aa284 255 caseJoystick = 30;
Najib_irvani 43:3807a95aa284 256 }
Najib_irvani 43:3807a95aa284 257 else if ((!joystick.R1)&&(!joystick.L1)&&(joystick.atas)&&(!joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri)) {
Najib_irvani 43:3807a95aa284 258 // Serong kanan maju
Najib_irvani 44:452c214d9cf5 259 caseJoystick = 13;
Najib_irvani 43:3807a95aa284 260 }
Najib_irvani 43:3807a95aa284 261 else if ((!joystick.R1)&&(!joystick.L1)&&(joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)) {
Najib_irvani 43:3807a95aa284 262 // Serong kiri maju
Najib_irvani 44:452c214d9cf5 263 caseJoystick = 14;
Najib_irvani 43:3807a95aa284 264 }
Najib_irvani 43:3807a95aa284 265 else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri)) {
Najib_irvani 43:3807a95aa284 266 // Serong kanan mundur
Najib_irvani 44:452c214d9cf5 267 caseJoystick = 15;
Najib_irvani 43:3807a95aa284 268 }
Najib_irvani 43:3807a95aa284 269 else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)) {
Najib_irvani 43:3807a95aa284 270 // Serong kiri mundur
Najib_irvani 44:452c214d9cf5 271 caseJoystick = 16;
gustavaditya 31:d5cbda07fd95 272 }
gustavaditya 31:d5cbda07fd95 273 else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri)) {
gustavaditya 31:d5cbda07fd95 274 // Kanan
gustavaditya 31:d5cbda07fd95 275 caseJoystick = 3;
gustavaditya 31:d5cbda07fd95 276 }
gustavaditya 31:d5cbda07fd95 277 else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)) {
gustavaditya 31:d5cbda07fd95 278 // Kiri
gustavaditya 31:d5cbda07fd95 279 caseJoystick = 4;
Najib_irvani 43:3807a95aa284 280 }
Najib_irvani 43:3807a95aa284 281 else if ((!joystick.R1)&&(!joystick.L1)&&(joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) {
Najib_irvani 43:3807a95aa284 282 // Atas -- Maju
Najib_irvani 44:452c214d9cf5 283 caseJoystick = 8;
Najib_irvani 43:3807a95aa284 284 }
Najib_irvani 43:3807a95aa284 285 else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) {
Najib_irvani 43:3807a95aa284 286 // Bawah -- Mundur
Najib_irvani 44:452c214d9cf5 287 caseJoystick = 9;
gustavaditya 31:d5cbda07fd95 288 }
gustavaditya 38:3ef6754bd8d8 289 else if (joystick.segitiga_click){
gustavaditya 31:d5cbda07fd95 290 // Motor Launcher
gustavaditya 31:d5cbda07fd95 291 caseJoystick = 5;
gustavaditya 31:d5cbda07fd95 292 }
gustavaditya 38:3ef6754bd8d8 293 else if (joystick.R2_click){
gustavaditya 31:d5cbda07fd95 294 // Target Pulse PID ++ Motor Depan
gustavaditya 31:d5cbda07fd95 295 caseJoystick = 6;
gustavaditya 31:d5cbda07fd95 296 }
gustavaditya 38:3ef6754bd8d8 297 else if (joystick.L2_click){
Najib_irvani 43:3807a95aa284 298 // Target Pulse PID -- Motor
gustavaditya 31:d5cbda07fd95 299 caseJoystick = 7;
gustavaditya 31:d5cbda07fd95 300 }
gustavaditya 31:d5cbda07fd95 301 else if (joystick.silang_click){
gustavaditya 31:d5cbda07fd95 302 // Pnemuatik ON
gustavaditya 31:d5cbda07fd95 303 caseJoystick = 10;
gustavaditya 31:d5cbda07fd95 304 }
Najib_irvani 43:3807a95aa284 305 else if ((joystick.lingkaran_click)&&(!joystick.kotak_click)) {
gustavaditya 31:d5cbda07fd95 306 // Power Screw Up
gustavaditya 31:d5cbda07fd95 307 caseJoystick = 11;
gustavaditya 31:d5cbda07fd95 308 }
Najib_irvani 43:3807a95aa284 309 else if ((joystick.kotak_click)&&(!joystick.lingkaran_click)) {
gustavaditya 31:d5cbda07fd95 310 // Power Screw Down
gustavaditya 31:d5cbda07fd95 311 caseJoystick = 12;
gustavaditya 31:d5cbda07fd95 312 }
gustavaditya 45:964ae71a30e3 313 else
gustavaditya 45:964ae71a30e3 314 {
gustavaditya 45:964ae71a30e3 315 tuneAksel = 0.6;
gustavaditya 45:964ae71a30e3 316 aksel = 0;
gustavaditya 45:964ae71a30e3 317 }
gustavaditya 31:d5cbda07fd95 318
gustavaditya 31:d5cbda07fd95 319 return(caseJoystick);
gustavaditya 31:d5cbda07fd95 320 }
gustavaditya 31:d5cbda07fd95 321
gustavaditya 31:d5cbda07fd95 322 float getTetha(){
gustavaditya 31:d5cbda07fd95 323 // Fungsi untuk mendapatkan nilai tetha
gustavaditya 31:d5cbda07fd95 324 float busur, tetha;
gustavaditya 31:d5cbda07fd95 325 busur = ((encoderBase.getPulses())/(float)(2000.0)*keliling_enc);
gustavaditya 31:d5cbda07fd95 326 tetha = busur/keliling_robot*360;
gustavaditya 31:d5cbda07fd95 327
gustavaditya 31:d5cbda07fd95 328 return -(tetha);
gustavaditya 31:d5cbda07fd95 329 }
gustavaditya 31:d5cbda07fd95 330
be_bryan 26:256160a1a82d 331 float pidBase(float Kp, float Ki, float Kd)
Joshua23 25:054d3048dd03 332 {
Joshua23 25:054d3048dd03 333 int errorP;
Joshua23 25:054d3048dd03 334 errorP = getTetha();
gustavaditya 33:69d266bc3fe9 335 if (errorP<3.5 && errorP>(-3.5))
gustavaditya 33:69d266bc3fe9 336 errorP = 0;
Joshua23 25:054d3048dd03 337 return (float)Kp*errorP;
Joshua23 25:054d3048dd03 338 }
gustavaditya 31:d5cbda07fd95 339
gustavaditya 31:d5cbda07fd95 340 void setCenter(){
gustavaditya 31:d5cbda07fd95 341 // Fungsi untuk menentukan center dari robot
gustavaditya 31:d5cbda07fd95 342 encoderBase.reset();
fanny868 0:9072e932503c 343 }
fanny868 0:9072e932503c 344
gustavaditya 37:67d54563af90 345 void init_rpm (){
gustavaditya 38:3ef6754bd8d8 346 if (target_rpm>maxRPM-2){
gustavaditya 38:3ef6754bd8d8 347 target_rpm = maxRPM-2;
gustavaditya 37:67d54563af90 348 }
franshendri 42:6caf8bd5abbc 349 if (target_rpm<minRPM){
gustavaditya 37:67d54563af90 350 target_rpm = minRPM;
gustavaditya 37:67d54563af90 351 }
gustavaditya 37:67d54563af90 352 if (target_rpm2>maxRPM){
gustavaditya 37:67d54563af90 353 target_rpm2 = maxRPM;
gustavaditya 37:67d54563af90 354 }
franshendri 42:6caf8bd5abbc 355 if (target_rpm2<minRPM+2){
gustavaditya 38:3ef6754bd8d8 356 target_rpm2 = minRPM+2;
gustavaditya 37:67d54563af90 357 }
gustavaditya 37:67d54563af90 358 }
gustavaditya 37:67d54563af90 359
gustavaditya 31:d5cbda07fd95 360 void aktuator()
gustavaditya 31:d5cbda07fd95 361 {
gustavaditya 31:d5cbda07fd95 362 switch (case_joy) {
gustavaditya 31:d5cbda07fd95 363 case (1):
gustavaditya 31:d5cbda07fd95 364 {
gustavaditya 31:d5cbda07fd95 365 // Pivot Kanan
gustavaditya 31:d5cbda07fd95 366 motorDpn.speed(-PIVOT);
gustavaditya 31:d5cbda07fd95 367 motorBlk.speed(-PIVOT);
Najib_irvani 43:3807a95aa284 368 motorR.speed(-rasio*PIVOT);
Najib_irvani 43:3807a95aa284 369 motorL.speed(-rasio*PIVOT);
gustavaditya 31:d5cbda07fd95 370 break;
gustavaditya 31:d5cbda07fd95 371 }
gustavaditya 31:d5cbda07fd95 372 case (2):
gustavaditya 31:d5cbda07fd95 373 {
gustavaditya 31:d5cbda07fd95 374 // Pivot Kiri
gustavaditya 31:d5cbda07fd95 375 motorDpn.speed(PIVOT);
gustavaditya 31:d5cbda07fd95 376 motorBlk.speed(PIVOT);
Najib_irvani 43:3807a95aa284 377 motorR.speed(rasio*PIVOT);
Najib_irvani 43:3807a95aa284 378 motorL.speed(rasio*PIVOT);
Najib_irvani 43:3807a95aa284 379 break;
Najib_irvani 43:3807a95aa284 380 }
Najib_irvani 43:3807a95aa284 381 case (17):
Najib_irvani 43:3807a95aa284 382 {
Najib_irvani 43:3807a95aa284 383 // Kanan + Rotasi Kanan
Najib_irvani 43:3807a95aa284 384 motorDpn.speed(-PIVOT);
Najib_irvani 43:3807a95aa284 385 motorBlk.speed(-PIVOT);
Najib_irvani 43:3807a95aa284 386 motorR.speed(-rasio*PIVOT);
Najib_irvani 43:3807a95aa284 387 motorL.speed(-rasio*PIVOT);
Najib_irvani 43:3807a95aa284 388 break;
Najib_irvani 43:3807a95aa284 389 }
Najib_irvani 43:3807a95aa284 390 case (18):
Najib_irvani 43:3807a95aa284 391 {
Najib_irvani 43:3807a95aa284 392 // Kanan + Rotasi Kiri
Najib_irvani 43:3807a95aa284 393 motorDpn.speed(PIVOT);
Najib_irvani 43:3807a95aa284 394 motorBlk.speed(PIVOT);
Najib_irvani 43:3807a95aa284 395 motorR.speed(rasio*PIVOT);
Najib_irvani 43:3807a95aa284 396 motorL.speed(rasio*PIVOT);
Najib_irvani 43:3807a95aa284 397 break;
Najib_irvani 43:3807a95aa284 398 }
Najib_irvani 43:3807a95aa284 399 case (19):
Najib_irvani 43:3807a95aa284 400 {
Najib_irvani 43:3807a95aa284 401 // Kiri + Rotasi Kanan
Najib_irvani 43:3807a95aa284 402 motorDpn.speed(-PIVOT);
Najib_irvani 43:3807a95aa284 403 motorBlk.speed(-PIVOT);
Najib_irvani 43:3807a95aa284 404 motorR.speed(-rasio*PIVOT);
Najib_irvani 43:3807a95aa284 405 motorL.speed(-rasio*PIVOT);
Najib_irvani 43:3807a95aa284 406 break;
Najib_irvani 43:3807a95aa284 407 }
Najib_irvani 43:3807a95aa284 408 case (20):
Najib_irvani 43:3807a95aa284 409 {
Najib_irvani 43:3807a95aa284 410 // Kiri + Rotasi Kiri
Najib_irvani 43:3807a95aa284 411 motorDpn.speed(PIVOT);
Najib_irvani 43:3807a95aa284 412 motorBlk.speed(PIVOT);
Najib_irvani 43:3807a95aa284 413 motorR.speed(rasio*PIVOT);
Najib_irvani 43:3807a95aa284 414 motorL.speed(rasio*PIVOT);
Najib_irvani 43:3807a95aa284 415 break;
Najib_irvani 43:3807a95aa284 416 }
Najib_irvani 43:3807a95aa284 417 case (21):
Najib_irvani 43:3807a95aa284 418 {
Najib_irvani 43:3807a95aa284 419 // Maju + Rotasi Kanan
Najib_irvani 43:3807a95aa284 420 motorDpn.speed(-PIVOT);
Najib_irvani 43:3807a95aa284 421 motorBlk.speed(-PIVOT);
Najib_irvani 43:3807a95aa284 422 motorR.speed(-rasio*PIVOT);
Najib_irvani 43:3807a95aa284 423 motorL.speed(-rasio*PIVOT);
Najib_irvani 43:3807a95aa284 424 break;
Najib_irvani 43:3807a95aa284 425 }
Najib_irvani 43:3807a95aa284 426 case (22):
Najib_irvani 43:3807a95aa284 427 {
Najib_irvani 43:3807a95aa284 428 // Maju + Rotasi Kiri
Najib_irvani 43:3807a95aa284 429 motorDpn.speed(PIVOT);
Najib_irvani 43:3807a95aa284 430 motorBlk.speed(PIVOT);
Najib_irvani 43:3807a95aa284 431 motorR.speed(rasio*PIVOT);
Najib_irvani 43:3807a95aa284 432 motorL.speed(rasio*PIVOT);
Najib_irvani 43:3807a95aa284 433 break;
Najib_irvani 43:3807a95aa284 434 }
Najib_irvani 43:3807a95aa284 435 case (23):
Najib_irvani 43:3807a95aa284 436 {
Najib_irvani 43:3807a95aa284 437 // Mundur + Rotasi Kanan
Najib_irvani 43:3807a95aa284 438 motorDpn.speed(-PIVOT);
Najib_irvani 43:3807a95aa284 439 motorBlk.speed(-PIVOT);
Najib_irvani 43:3807a95aa284 440 motorR.speed(-rasio*PIVOT);
Najib_irvani 43:3807a95aa284 441 motorL.speed(-rasio*PIVOT);
Najib_irvani 43:3807a95aa284 442 break;
Najib_irvani 43:3807a95aa284 443 }
Najib_irvani 43:3807a95aa284 444 case (24):
Najib_irvani 43:3807a95aa284 445 {
Najib_irvani 43:3807a95aa284 446 // Mundur + Rotasi Kiri
Najib_irvani 43:3807a95aa284 447 motorDpn.speed(PIVOT);
Najib_irvani 43:3807a95aa284 448 motorBlk.speed(PIVOT);
Najib_irvani 43:3807a95aa284 449 motorR.speed(rasio*PIVOT);
Najib_irvani 43:3807a95aa284 450 motorL.speed(rasio*PIVOT);
Najib_irvani 43:3807a95aa284 451 break;
Najib_irvani 43:3807a95aa284 452 }
Najib_irvani 43:3807a95aa284 453 case (25):
Najib_irvani 43:3807a95aa284 454 {
Najib_irvani 43:3807a95aa284 455 // Kanan + segitiga
Najib_irvani 43:3807a95aa284 456 isLauncher = !isLauncher;
Najib_irvani 43:3807a95aa284 457 break;
Najib_irvani 43:3807a95aa284 458 }
Najib_irvani 43:3807a95aa284 459 case (26):
Najib_irvani 43:3807a95aa284 460 {
Najib_irvani 43:3807a95aa284 461 // Kiri + segitiga
Najib_irvani 43:3807a95aa284 462 isLauncher = !isLauncher;
Najib_irvani 43:3807a95aa284 463 break;
Najib_irvani 43:3807a95aa284 464 }
Najib_irvani 43:3807a95aa284 465 case (27):
Najib_irvani 43:3807a95aa284 466 {
Najib_irvani 43:3807a95aa284 467 // Kanan + lingkaran
Najib_irvani 43:3807a95aa284 468 ReloadOn = !ReloadOn;
Najib_irvani 43:3807a95aa284 469 isReload = false;
Najib_irvani 43:3807a95aa284 470 break;
Najib_irvani 43:3807a95aa284 471 }
Najib_irvani 43:3807a95aa284 472 case (28):
Najib_irvani 43:3807a95aa284 473 {
Najib_irvani 43:3807a95aa284 474 // Kiri + lingkaran
Najib_irvani 43:3807a95aa284 475 ReloadOn = !ReloadOn;
Najib_irvani 43:3807a95aa284 476 isReload = false;
Najib_irvani 43:3807a95aa284 477 break;
Najib_irvani 43:3807a95aa284 478 }
Najib_irvani 43:3807a95aa284 479 case (29):
Najib_irvani 43:3807a95aa284 480 {
Najib_irvani 43:3807a95aa284 481 // Kanan + kotak
Najib_irvani 43:3807a95aa284 482 ReloadOn = !ReloadOn;
Najib_irvani 43:3807a95aa284 483 isReload = true;
Najib_irvani 43:3807a95aa284 484 break;
Najib_irvani 43:3807a95aa284 485 }
Najib_irvani 43:3807a95aa284 486 case (30):
Najib_irvani 43:3807a95aa284 487 {
Najib_irvani 43:3807a95aa284 488 // Kiri + kotak
Najib_irvani 43:3807a95aa284 489 ReloadOn = !ReloadOn;
Najib_irvani 43:3807a95aa284 490 isReload = true;
Najib_irvani 43:3807a95aa284 491 break;
Najib_irvani 43:3807a95aa284 492 }
Najib_irvani 43:3807a95aa284 493 case (13) :
Najib_irvani 43:3807a95aa284 494 {
Najib_irvani 43:3807a95aa284 495 // Serong kanan maju
Najib_irvani 43:3807a95aa284 496 motorDpn.speed(-serong);
Najib_irvani 44:452c214d9cf5 497 motorL.speed(-serong);
Najib_irvani 43:3807a95aa284 498 motorBlk.speed(serong);
Najib_irvani 44:452c214d9cf5 499 motorR.speed(serong);
Najib_irvani 43:3807a95aa284 500 break;
Najib_irvani 43:3807a95aa284 501 }
Najib_irvani 43:3807a95aa284 502 case (14) :
Najib_irvani 43:3807a95aa284 503 {
Najib_irvani 43:3807a95aa284 504 // Serong kiri maju
Najib_irvani 43:3807a95aa284 505 motorDpn.speed(serong);
Najib_irvani 44:452c214d9cf5 506 motorR.speed(serong);
Najib_irvani 43:3807a95aa284 507 motorBlk.speed(-serong);
Najib_irvani 44:452c214d9cf5 508 motorL.speed(-serong);
Najib_irvani 43:3807a95aa284 509 break;
Najib_irvani 43:3807a95aa284 510 }
Najib_irvani 43:3807a95aa284 511 case (15) :
Najib_irvani 43:3807a95aa284 512 {
Najib_irvani 43:3807a95aa284 513 // Serong kanan mundur
Najib_irvani 44:452c214d9cf5 514 motorDpn.speed(-serong);
Najib_irvani 44:452c214d9cf5 515 motorR.speed(-serong);
Najib_irvani 43:3807a95aa284 516 motorBlk.speed(serong);
Najib_irvani 44:452c214d9cf5 517 motorL.speed(serong);
Najib_irvani 43:3807a95aa284 518 break;
Najib_irvani 43:3807a95aa284 519 }
Najib_irvani 43:3807a95aa284 520 case (16) :
Najib_irvani 43:3807a95aa284 521 {
Najib_irvani 43:3807a95aa284 522 // Serong kiri mundur
Najib_irvani 43:3807a95aa284 523 motorDpn.speed(serong);
Najib_irvani 44:452c214d9cf5 524 motorL.speed(serong);
Najib_irvani 43:3807a95aa284 525 motorBlk.speed(-serong);
Najib_irvani 44:452c214d9cf5 526 motorR.speed(-serong);
gustavaditya 31:d5cbda07fd95 527 break;
gustavaditya 31:d5cbda07fd95 528 }
gustavaditya 31:d5cbda07fd95 529 case (3) :
gustavaditya 31:d5cbda07fd95 530 {
gustavaditya 31:d5cbda07fd95 531 // Kanan
gustavaditya 45:964ae71a30e3 532 aksel++;
gustavaditya 45:964ae71a30e3 533 if (aksel>300)
gustavaditya 45:964ae71a30e3 534 tuneAksel = 0.9;
gustavaditya 45:964ae71a30e3 535
gustavaditya 45:964ae71a30e3 536 motorDpn.speed(-tuneAksel);
gustavaditya 45:964ae71a30e3 537 motorBlk.speed(tuneAksel);
Najib_irvani 43:3807a95aa284 538 motorR.brake(1);
Najib_irvani 43:3807a95aa284 539 motorL.brake(1);
gustavaditya 31:d5cbda07fd95 540 break;
gustavaditya 31:d5cbda07fd95 541 }
gustavaditya 31:d5cbda07fd95 542 case (4) :
gustavaditya 31:d5cbda07fd95 543 {
gustavaditya 31:d5cbda07fd95 544 // Kiri
gustavaditya 45:964ae71a30e3 545 aksel++;
gustavaditya 45:964ae71a30e3 546 if (aksel>300)
gustavaditya 45:964ae71a30e3 547 tuneAksel = 0.9;
gustavaditya 45:964ae71a30e3 548
gustavaditya 45:964ae71a30e3 549 motorDpn.speed(tuneAksel);
gustavaditya 45:964ae71a30e3 550 motorBlk.speed(-tuneAksel);
Najib_irvani 43:3807a95aa284 551 motorR.brake(1);
Najib_irvani 43:3807a95aa284 552 motorL.brake(1);
Najib_irvani 43:3807a95aa284 553 break;
Najib_irvani 43:3807a95aa284 554 }
Najib_irvani 43:3807a95aa284 555 case (8) :
Najib_irvani 43:3807a95aa284 556 {
Najib_irvani 43:3807a95aa284 557 // Maju
gustavaditya 45:964ae71a30e3 558 aksel++;
gustavaditya 45:964ae71a30e3 559 if (aksel>300)
gustavaditya 45:964ae71a30e3 560 tuneAksel = 0.9;
gustavaditya 45:964ae71a30e3 561
gustavaditya 45:964ae71a30e3 562 motorR.speed(tuneAksel);
gustavaditya 45:964ae71a30e3 563 motorL.speed(-tuneAksel);
Najib_irvani 43:3807a95aa284 564 motorDpn.brake(1);
Najib_irvani 43:3807a95aa284 565 motorBlk.brake(1);
Najib_irvani 43:3807a95aa284 566 break;
Najib_irvani 43:3807a95aa284 567 }
Najib_irvani 43:3807a95aa284 568 case (9) :
Najib_irvani 43:3807a95aa284 569 {
Najib_irvani 43:3807a95aa284 570 // Mundur
gustavaditya 45:964ae71a30e3 571 aksel++;
gustavaditya 45:964ae71a30e3 572 if (aksel>300)
gustavaditya 45:964ae71a30e3 573 tuneAksel = 0.9;
gustavaditya 45:964ae71a30e3 574
gustavaditya 45:964ae71a30e3 575 motorR.speed(-tuneAksel);
gustavaditya 45:964ae71a30e3 576 motorL.speed(tuneAksel);
Najib_irvani 43:3807a95aa284 577 motorDpn.brake(1);
Najib_irvani 43:3807a95aa284 578 motorBlk.brake(1);
gustavaditya 31:d5cbda07fd95 579 break;
gustavaditya 31:d5cbda07fd95 580 }
gustavaditya 31:d5cbda07fd95 581 case (5) :
gustavaditya 31:d5cbda07fd95 582 {
gustavaditya 31:d5cbda07fd95 583 // Aktifkan motor atas
gustavaditya 31:d5cbda07fd95 584 isLauncher = !isLauncher;
gustavaditya 31:d5cbda07fd95 585 break;
Joshua23 8:0711dea61312 586 }
gustavaditya 31:d5cbda07fd95 587 case (6) :
gustavaditya 31:d5cbda07fd95 588 {
gustavaditya 31:d5cbda07fd95 589 // Target Pulse PID ++ Motor Depan
gustavaditya 39:11358f3f61ff 590 target_rpm2 = target_rpm2+1.0;
gustavaditya 39:11358f3f61ff 591 target_rpm = target_rpm+1.0;
gustavaditya 37:67d54563af90 592 init_rpm();
gustavaditya 31:d5cbda07fd95 593 break;
gustavaditya 31:d5cbda07fd95 594 }
gustavaditya 31:d5cbda07fd95 595 case (7) :
gustavaditya 31:d5cbda07fd95 596 {
gustavaditya 31:d5cbda07fd95 597 // Target Pulse PID -- Motor Depan
gustavaditya 39:11358f3f61ff 598 target_rpm2 = target_rpm2-1.0;
gustavaditya 39:11358f3f61ff 599 target_rpm = target_rpm-1.0;
gustavaditya 37:67d54563af90 600 init_rpm();
gustavaditya 31:d5cbda07fd95 601 break;
gustavaditya 31:d5cbda07fd95 602 }
gustavaditya 31:d5cbda07fd95 603 case (10) :
gustavaditya 31:d5cbda07fd95 604 {
gustavaditya 31:d5cbda07fd95 605 // Pneumatik
Najib_irvani 44:452c214d9cf5 606 if (ready)
Najib_irvani 44:452c214d9cf5 607 {
Najib_irvani 44:452c214d9cf5 608 pneumatik = 0;
Najib_irvani 44:452c214d9cf5 609 previousMillis3 = millis();
Najib_irvani 44:452c214d9cf5 610 flag_Pneu = true;
Najib_irvani 44:452c214d9cf5 611 ready = false;
gustavaditya 45:964ae71a30e3 612
Najib_irvani 44:452c214d9cf5 613 }
gustavaditya 31:d5cbda07fd95 614 break;
gustavaditya 31:d5cbda07fd95 615 }
gustavaditya 31:d5cbda07fd95 616 case (11) :
gustavaditya 31:d5cbda07fd95 617 {
gustavaditya 31:d5cbda07fd95 618 // Power Screw Up
gustavaditya 40:5b937cac959a 619 ReloadOn = !ReloadOn;
Najib_irvani 43:3807a95aa284 620 isReload = false;
gustavaditya 31:d5cbda07fd95 621 break;
gustavaditya 31:d5cbda07fd95 622 }
Najib_irvani 44:452c214d9cf5 623 case (31) :
Najib_irvani 44:452c214d9cf5 624 {
Najib_irvani 44:452c214d9cf5 625 // start
Najib_irvani 44:452c214d9cf5 626 target_rpm2 = 22;
Najib_irvani 44:452c214d9cf5 627 target_rpm = 22;
Najib_irvani 44:452c214d9cf5 628 init_rpm();
Najib_irvani 44:452c214d9cf5 629 break;
Najib_irvani 44:452c214d9cf5 630 }
Najib_irvani 44:452c214d9cf5 631 case (32) :
Najib_irvani 44:452c214d9cf5 632 {
Najib_irvani 44:452c214d9cf5 633 // select
Najib_irvani 44:452c214d9cf5 634 target_rpm2 = 10;
Najib_irvani 44:452c214d9cf5 635 target_rpm = 10;
Najib_irvani 44:452c214d9cf5 636 init_rpm();
Najib_irvani 44:452c214d9cf5 637 break;
Najib_irvani 44:452c214d9cf5 638 }
Najib_irvani 44:452c214d9cf5 639 case (33) :
Najib_irvani 44:452c214d9cf5 640 {
Najib_irvani 44:452c214d9cf5 641 // R3
Najib_irvani 44:452c214d9cf5 642 target_rpm2 = 17;
Najib_irvani 44:452c214d9cf5 643 target_rpm = 17;
Najib_irvani 44:452c214d9cf5 644 init_rpm();
Najib_irvani 44:452c214d9cf5 645 break;
Najib_irvani 44:452c214d9cf5 646 }
gustavaditya 31:d5cbda07fd95 647 case (12) :
gustavaditya 31:d5cbda07fd95 648 {
gustavaditya 31:d5cbda07fd95 649 // Power Screw Down
Najib_irvani 43:3807a95aa284 650 ReloadOn = !ReloadOn;
Najib_irvani 43:3807a95aa284 651 isReload = true;
gustavaditya 31:d5cbda07fd95 652 break;
gustavaditya 31:d5cbda07fd95 653 }
gustavaditya 31:d5cbda07fd95 654 default :
gustavaditya 31:d5cbda07fd95 655 {
gustavaditya 45:964ae71a30e3 656 tuneAksel = 0.6;
gustavaditya 45:964ae71a30e3 657 aksel = 0;
gustavaditya 31:d5cbda07fd95 658 motorDpn.brake(1);
gustavaditya 31:d5cbda07fd95 659 motorBlk.brake(1);
Najib_irvani 43:3807a95aa284 660 motorR.brake(1);
Najib_irvani 43:3807a95aa284 661 motorL.brake(1);
gustavaditya 31:d5cbda07fd95 662 }
gustavaditya 31:d5cbda07fd95 663 } // End Switch
gustavaditya 31:d5cbda07fd95 664 }
gustavaditya 31:d5cbda07fd95 665
gustavaditya 40:5b937cac959a 666 void reloader()
rizqicahyo 36:5963c9a49485 667 {
rizqicahyo 36:5963c9a49485 668 if(ReloadOn){
rizqicahyo 36:5963c9a49485 669 if(isReload){
rizqicahyo 36:5963c9a49485 670 powerScrew.speed(pwmPowerDown);
Najib_irvani 44:452c214d9cf5 671 if((!limitBawah)||(!limitBawah1)){
rizqicahyo 36:5963c9a49485 672 isReload = false;
rizqicahyo 36:5963c9a49485 673 ReloadOn = false;
rizqicahyo 36:5963c9a49485 674 }
rizqicahyo 36:5963c9a49485 675 }
rizqicahyo 36:5963c9a49485 676 else if(!limitTengah){
rizqicahyo 36:5963c9a49485 677 isReload = true;
rizqicahyo 36:5963c9a49485 678 }
Najib_irvani 43:3807a95aa284 679 else if((jarak_ping > 6.5) && !flag_Pneu){
gustavaditya 40:5b937cac959a 680 powerScrew.speed(pwmPowerUp);
Najib_irvani 44:452c214d9cf5 681 ready = false;
gustavaditya 40:5b937cac959a 682 }
Najib_irvani 44:452c214d9cf5 683 else if((jarak_ping < 6.0) && !flag_Pneu) {
Najib_irvani 44:452c214d9cf5 684 powerScrew.speed(-0.85);
Najib_irvani 44:452c214d9cf5 685 ready = false;
rizqicahyo 36:5963c9a49485 686 }
rizqicahyo 36:5963c9a49485 687 else{
gustavaditya 40:5b937cac959a 688 powerScrew.brake(1);
Najib_irvani 44:452c214d9cf5 689 ready = true;
rizqicahyo 36:5963c9a49485 690 }
rizqicahyo 36:5963c9a49485 691 }
rizqicahyo 36:5963c9a49485 692 else{
rizqicahyo 36:5963c9a49485 693 powerScrew.brake(1);
rizqicahyo 36:5963c9a49485 694 }
gustavaditya 40:5b937cac959a 695 }
rizqicahyo 36:5963c9a49485 696
rizqicahyo 36:5963c9a49485 697
gustavaditya 31:d5cbda07fd95 698 void launcher()
gustavaditya 31:d5cbda07fd95 699 {
gustavaditya 31:d5cbda07fd95 700 if (isLauncher)
Sufa 30:d69cc27ac644 701 {
be_bryan 28:2d0746dc2d7d 702 currentMillis = millis();
be_bryan 28:2d0746dc2d7d 703 currentMillis2 = millis();
be_bryan 28:2d0746dc2d7d 704
gustavaditya 31:d5cbda07fd95 705 // PID Launcher Depan
gustavaditya 38:3ef6754bd8d8 706 if (currentMillis-previousMillis>=12.5)
be_bryan 26:256160a1a82d 707 {
gustavaditya 31:d5cbda07fd95 708 rpm = (float)encLauncherBlk.getPulses();
be_bryan 26:256160a1a82d 709 current_error = target_rpm - rpm;
Najib_irvani 44:452c214d9cf5 710 sum_error = sum_error + current_error*12.5;
be_bryan 26:256160a1a82d 711 p = current_error*kpA;
gustavaditya 38:3ef6754bd8d8 712 d = (current_error-last_error)*kdA/12.5;
Najib_irvani 44:452c214d9cf5 713 i = sum_error*kiA;
be_bryan 26:256160a1a82d 714 speed = p + d + i;
gustavaditya 38:3ef6754bd8d8 715 //init_speed();
gustavaditya 38:3ef6754bd8d8 716 if(speed > maxSpeed){
gustavaditya 38:3ef6754bd8d8 717 launcherBlk.speed(maxSpeed);
gustavaditya 38:3ef6754bd8d8 718 }
gustavaditya 39:11358f3f61ff 719 else if ( speed < minSpeed){
gustavaditya 39:11358f3f61ff 720 launcherBlk.speed(minSpeed);
gustavaditya 39:11358f3f61ff 721 }
gustavaditya 38:3ef6754bd8d8 722 else {
gustavaditya 38:3ef6754bd8d8 723 launcherBlk.speed(speed);
gustavaditya 38:3ef6754bd8d8 724 }
be_bryan 26:256160a1a82d 725 last_error = current_error;
gustavaditya 31:d5cbda07fd95 726 encLauncherBlk.reset();
be_bryan 26:256160a1a82d 727 //pc.printf("%.04lf\n",rpm);
be_bryan 26:256160a1a82d 728 previousMillis = currentMillis;
be_bryan 26:256160a1a82d 729 }
gustavaditya 38:3ef6754bd8d8 730 if (currentMillis2-previousMillis2>=12.5)
be_bryan 27:68efb1622985 731 {
gustavaditya 31:d5cbda07fd95 732 rpm2 = (float)encLauncherDpn.getPulses();
be_bryan 27:68efb1622985 733 current_error2 = target_rpm2 - rpm2;
Najib_irvani 44:452c214d9cf5 734 sum_error2 = sum_error2 + current_error2*12.5;
be_bryan 27:68efb1622985 735 p2 = current_error2*kpA;
gustavaditya 38:3ef6754bd8d8 736 d2 = (current_error2-last_error2)*kdA/12.5;
Najib_irvani 44:452c214d9cf5 737 i2 = sum_error2*kiA;
be_bryan 27:68efb1622985 738 speed2 = p2 + d2 + i2;
gustavaditya 38:3ef6754bd8d8 739 //init_speed();
gustavaditya 38:3ef6754bd8d8 740 if (speed2 > maxSpeed){
gustavaditya 38:3ef6754bd8d8 741 launcherDpn.speed(maxSpeed);
gustavaditya 38:3ef6754bd8d8 742 }
gustavaditya 39:11358f3f61ff 743 else if ( speed < minSpeed){
gustavaditya 39:11358f3f61ff 744 launcherDpn.speed(minSpeed);
gustavaditya 39:11358f3f61ff 745 }
gustavaditya 38:3ef6754bd8d8 746 else{
gustavaditya 38:3ef6754bd8d8 747 launcherDpn.speed(speed2);
gustavaditya 38:3ef6754bd8d8 748 }
be_bryan 27:68efb1622985 749 last_error2 = current_error2;
gustavaditya 31:d5cbda07fd95 750 encLauncherDpn.reset();
be_bryan 27:68efb1622985 751 previousMillis2 = currentMillis2;
be_bryan 27:68efb1622985 752 }
Najib_irvani 44:452c214d9cf5 753 pc.printf("%.2f\t%.2f\n",rpm,rpm2);
rahmadirizki18 6:68293bed71ea 754 }
Sufa 29:7b372b0aaa61 755 else
Sufa 29:7b372b0aaa61 756 {
gustavaditya 31:d5cbda07fd95 757 launcherDpn.brake(1);
gustavaditya 31:d5cbda07fd95 758 launcherBlk.brake(1);
Najib_irvani 44:452c214d9cf5 759 sum_error = 0;
Najib_irvani 44:452c214d9cf5 760 sum_error2 = 0;
Najib_irvani 44:452c214d9cf5 761 current_error = 0;
Najib_irvani 44:452c214d9cf5 762 current_error2 = 0;
Najib_irvani 44:452c214d9cf5 763 last_error = 0;
Najib_irvani 44:452c214d9cf5 764 last_error2 = 0;
gustavaditya 31:d5cbda07fd95 765 }
rahmadirizki18 5:3aa203218306 766 }
gustavaditya 31:d5cbda07fd95 767
MarchioKevin 22:4632f58461e0 768 /*********************************************************/
MarchioKevin 22:4632f58461e0 769 /* Main Function */
MarchioKevin 22:4632f58461e0 770 /*********************************************************/
calmantara186 16:90119f03c5d1 771
gustavaditya 31:d5cbda07fd95 772 int main (void)
gustavaditya 31:d5cbda07fd95 773 {
gustavaditya 31:d5cbda07fd95 774 // Set baud rate - 115200
fanny868 0:9072e932503c 775 joystick.setup();
rahmadirizki18 23:023b522977b2 776 pc.baud(115200);
rahmadirizki18 6:68293bed71ea 777 wait_ms(1000);
gustavaditya 40:5b937cac959a 778
gustavaditya 40:5b937cac959a 779 // initializing encoder
gustavaditya 41:336a19289c2d 780 pneumatik =1;
gustavaditya 41:336a19289c2d 781
rahmadirizki18 5:3aa203218306 782 setCenter();
gustavaditya 41:336a19289c2d 783
rahmadirizki18 5:3aa203218306 784 wait_ms(500);
gustavaditya 40:5b937cac959a 785
gustavaditya 40:5b937cac959a 786 //initializing PING
gustavaditya 40:5b937cac959a 787 pingAtas.Send();
gustavaditya 40:5b937cac959a 788
rahmadirizki18 23:023b522977b2 789 pc.printf("ready....");
gustavaditya 35:69a47b4cb3fc 790 startMillis();
fanny868 0:9072e932503c 791 while(1)
gustavaditya 40:5b937cac959a 792 {
gustavaditya 40:5b937cac959a 793 // interupsi pembacaan PING setiap 30 ms
gustavaditya 41:336a19289c2d 794 if(millis() - previousMillis4 >= 5){ //30
gustavaditya 41:336a19289c2d 795 jarak_ping = (float)pingAtas.Read_cm()/2;
gustavaditya 40:5b937cac959a 796
gustavaditya 40:5b937cac959a 797 pingAtas.Send();
gustavaditya 40:5b937cac959a 798 previousMillis4 = millis();
gustavaditya 40:5b937cac959a 799 }
gustavaditya 40:5b937cac959a 800
fanny868 0:9072e932503c 801 // Interrupt Serial
calmantara186 16:90119f03c5d1 802 joystick.idle();
gustavaditya 31:d5cbda07fd95 803 if(joystick.readable())
gustavaditya 31:d5cbda07fd95 804 {
fanny868 0:9072e932503c 805 // Panggil fungsi pembacaan joystik
fanny868 0:9072e932503c 806 joystick.baca_data();
fanny868 0:9072e932503c 807 // Panggil fungsi pengolahan data joystik
fanny868 0:9072e932503c 808 joystick.olah_data();
gustavaditya 31:d5cbda07fd95 809 // Masuk ke case joystick
gustavaditya 31:d5cbda07fd95 810 case_joy = case_joystick();
Najib_irvani 44:452c214d9cf5 811 //pc.printf("%d\n",case_joy);
rahmadirizki18 3:1287fccc11be 812 aktuator();
gustavaditya 31:d5cbda07fd95 813 launcher();
gustavaditya 40:5b937cac959a 814 reloader();
Najib_irvani 43:3807a95aa284 815 if ((millis()-previousMillis3 >= 320)&&(flag_Pneu)){
be_bryan 26:256160a1a82d 816 pneumatik = 1;
gustavaditya 31:d5cbda07fd95 817 flag_Pneu = false;
be_bryan 26:256160a1a82d 818 }
be_bryan 26:256160a1a82d 819 }
gustavaditya 31:d5cbda07fd95 820 else
gustavaditya 31:d5cbda07fd95 821 {
gustavaditya 31:d5cbda07fd95 822 joystick.idle();
MarchioKevin 21:da2f3d04468f 823 }
franshendri 42:6caf8bd5abbc 824
Najib_irvani 44:452c214d9cf5 825 if(millis() - previousMillis5 >= 400)
Najib_irvani 44:452c214d9cf5 826 {
Najib_irvani 43:3807a95aa284 827 display.write(0,((int) rpm2) / 10);
Najib_irvani 43:3807a95aa284 828 display.write(1,((int)rpm2) % 10);
franshendri 42:6caf8bd5abbc 829 display.write(2, (int)target_rpm2 / 10);
franshendri 42:6caf8bd5abbc 830 display.write(3, (int)target_rpm2 % 10);
franshendri 42:6caf8bd5abbc 831 display.setColon(true);
franshendri 42:6caf8bd5abbc 832
franshendri 42:6caf8bd5abbc 833 previousMillis5 = millis();
franshendri 42:6caf8bd5abbc 834 }
fanny868 0:9072e932503c 835 }
be_bryan 28:2d0746dc2d7d 836 }