File content as of revision 0:e708f9673603:

#include "Motor.h"
#include "millis.h"
#include "mbed.h"
#include "JoystickPS3.h"

bool isReload = false;
bool ReloadOn = false;
bool flag_Pneu = false;
bool readySlideFromLeft = false;
bool readySlideFromMiddle = false;
bool getBack = false;
bool isUp = false, isDown = false, sliderOn = false;
bool ready = true;
bool init_slider = true;

static volatile uint32_t previousMillis3 = 0;  // Pneumatik
static volatile uint32_t previousMillis6 = 0;  // pneu

int caseJoystick, case_joy;

float lempar = -0.6, balik = 0.6;
 
DigitalOut pneumatik(PA_4, PullUp);
DigitalIn limitAtasLifter(PB_3, PullUp);  // Vertikal Atas: Lifter
DigitalIn limitAtasSlider(PB_2, PullUp);  // Vertikal Atas: Saucer
DigitalIn limitBawah(PB_10, PullUp); // Vertikal Bawah
DigitalIn limitKiri(PA_5, PullUp);  // Horizontal Kiri
DigitalIn limitTengah(PC_9, PullUp);// Horizontal Tengah
DigitalIn limitKanan(PC_8, PullUp); // Horizontal Kanan (Frisbee keluar)
 
Motor lifter(PA_8, PC_1, PC_2); // pwm, fwd, rev
Motor slider(PA_10, PC_3, PC_0);

/* Inisialisasi  Pin TX-RX Joystik dan PC */
joysticknucleo joystick(PA_0,PA_1);
Serial pc(USBTX,USBRX);

int case_joystick()
{
    if (joystick.silang_click){
        // Pnemuatik ON
        caseJoystick = 1;
    }
    else if ((joystick.lingkaran_click)&&(!joystick.kotak_click))  {   
        // Lifter Up
        caseJoystick = 2;
    } 
    else if ((joystick.kotak_click)&&(!joystick.lingkaran_click)) {   
        // Lifter Down
        caseJoystick = 3;
    }
    
    return caseJoystick;    
}

void aktuator()
{
    switch (case_joy) {
        case (1):        
            // Pneumatik
            if (ready)
            {
                pneumatik = 0;
                previousMillis3 = millis();
                flag_Pneu = true;
                ready = false;
                previousMillis6 = millis();  
            }
            break;
        case (2): 
            // Lifter Up
            ReloadOn = !ReloadOn;
            isUp = true;
            isDown = false;
            break;
        case (3): 
            // Lifter Down
            ReloadOn = !ReloadOn;
            isUp = false;
            isDown = true;
            break;
    }    
}

void reloader()
{
    if(ReloadOn)
    {
        if (isUp && !isDown && !sliderOn)
        {
            lifter.speed(1.0);
            if(!limitAtasSlider)
            {
                sliderOn = true;
                isUp = false;
                isDown = false;
                readySlideFromLeft = true;
            }
            
            if(!limitAtasLifter)
            {
                isUp = false;
                sliderOn = false;
                isDown = true;
            }    
        }
        
        if (!isUp && !isDown && sliderOn)
        {
            if (readySlideFromLeft)
            {
                slider.speed(lempar);
                if (!limitTengah)
                {
                    readySlideFromLeft = false;
                    slider.brake(1);   
                }
            }
            else if (readySlideFromMiddle)
            {
                slider.speed(lempar);
                if (!limitKanan)
                {
                    readySlideFromMiddle = false;
                    getBack = true;
                    slider.brake(1);   
                }   
            }
            else if (getBack)
            {
                slider.speed(balik);
                if (!limitKiri)
                {
                    readySlideFromLeft = true;
                    sliderOn = false;
                    isUp = true;
                    isDown = false;
                    getBack = false;
                    slider.brake(1);   
                } 
            }
            else
            { slider.brake(1);}       
        }
        
        if (!isUp && isDown && !sliderOn)
        {
            lifter.speed(-1.0);
            if(!limitBawah)
            {
                ReloadOn = !ReloadOn;  
                lifter.brake(1); 
            }   
        }
    }
    else
    {
        lifter.brake(1);
    }
}

int main(void)
{
    joystick.setup();
    pc.baud(115200);
    wait_ms(1000);
    /*while (init_slider)
    {
        slider.speed(balik);
        if (!limitKiri)
        {
            readySlideFromLeft = true;
            slider.brake(1);
            init_slider = false;   
        }   
    }*/
    startMillis();
    while(1)
    {
        //COBA ROTASI
        /*joystick.idle();        
        if(joystick.readable()) 
        {
            // Panggil fungsi pembacaan joystik
            joystick.baca_data();
            // Panggil fungsi pengolahan data joystik
            joystick.olah_data();
            // Masuk ke case joystick
            case_joy = case_joystick();
            aktuator();
            reloader();
            
            if ((millis()-previousMillis3 >= 230)&&(flag_Pneu)){
                pneumatik = 1;
                flag_Pneu = false;
                ready = true;
                readySlideFromMiddle = true;
                //wait_ms(1000);
            }
        }
        else
        {
            joystick.idle();
        }*/
        if (!limitKiri)
        {
            pc.printf("limit kiri\n");   
        }
    }
}