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tugas akhir
Dependencies: Motor mbed millis
Fork of DagonFly__RoadToJapan_15Mei_Ultimate by
main.cpp@26:256160a1a82d, 2017-02-10 (annotated)
- Committer:
- be_bryan
- Date:
- Fri Feb 10 13:22:02 2017 +0000
- Revision:
- 26:256160a1a82d
- Parent:
- 25:054d3048dd03
- Child:
- 27:68efb1622985
base baru + pid launcher
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
rahmadirizki18 | 5:3aa203218306 | 1 | /****************************************************************************/ |
rahmadirizki18 | 5:3aa203218306 | 2 | /* PROGRAM UNTUK PID CLOSED LOOP */ |
rahmadirizki18 | 5:3aa203218306 | 3 | /* */ |
rahmadirizki18 | 5:3aa203218306 | 4 | /* - Digunakan encoder autonics */ |
rahmadirizki18 | 5:3aa203218306 | 5 | /* - Konfigurasi Motor dan Encoder sbb : */ |
MarchioKevin | 22:4632f58461e0 | 6 | /* ______________________ */ |
MarchioKevin | 22:4632f58461e0 | 7 | /* / \ Rode Depan Belakang: */ |
MarchioKevin | 22:4632f58461e0 | 8 | /* / 2 (Belakang) \ Omniwheel */ |
MarchioKevin | 22:4632f58461e0 | 9 | /* | | */ |
MarchioKevin | 22:4632f58461e0 | 10 | /* | 3 (Encoder) 4 | Roda Kiri Kanan: */ |
MarchioKevin | 22:4632f58461e0 | 11 | /* | | Fixed Wheel */ |
MarchioKevin | 22:4632f58461e0 | 12 | /* \ 1 (Depan) / */ |
MarchioKevin | 22:4632f58461e0 | 13 | /* \______________________/ Putaran berlawanan arah */ |
MarchioKevin | 22:4632f58461e0 | 14 | /* jarum jam positif */ |
rahmadirizki18 | 5:3aa203218306 | 15 | /* SETTINGS (WAJIB!) : */ |
rahmadirizki18 | 5:3aa203218306 | 16 | /* 1. Settings Pin Encoder, Resolusi, dan Tipe encoding di omniPos.h */ |
rahmadirizki18 | 5:3aa203218306 | 17 | /* 2. Deklarasi penggunaan library omniPos pada bagian deklarasi encoder */ |
rahmadirizki18 | 5:3aa203218306 | 18 | /* */ |
rahmadirizki18 | 5:3aa203218306 | 19 | /****************************************************************************/ |
rahmadirizki18 | 6:68293bed71ea | 20 | /* */ |
MarchioKevin | 20:54dc93e7b016 | 21 | /* Joystick */ |
MarchioKevin | 20:54dc93e7b016 | 22 | /* Kanan => Posisi target x ditambah 'perpindahan' */ |
MarchioKevin | 20:54dc93e7b016 | 23 | /* Kiri => Posisi target x dikurang 'perpindahan' */ |
rahmadirizki18 | 6:68293bed71ea | 24 | /* */ |
rahmadirizki18 | 6:68293bed71ea | 25 | /* Tombol silang => Kembali keposisi Awal */ |
rahmadirizki18 | 6:68293bed71ea | 26 | /* Tombol segitiga => Aktif motor Launcher */ |
rahmadirizki18 | 13:8ab42383a2ca | 27 | /* Tombol lingkaran=> Aktif servo Launcher */ |
MarchioKevin | 22:4632f58461e0 | 28 | /* Tombol L1 => Pivot Kiri */ |
MarchioKevin | 22:4632f58461e0 | 29 | /* Tombol R1 => Pivot Kanan */ |
rahmadirizki18 | 24:b3e632cc4533 | 30 | /* Tombol L3 => PWM Motor Belakang Dikurangi */ |
rahmadirizki18 | 24:b3e632cc4533 | 31 | /* Tombol R3 => PWM Motor Belakang Ditambah */ |
rahmadirizki18 | 24:b3e632cc4533 | 32 | /* Tombol L2 => PWM Motor Depan Dikurangi */ |
rahmadirizki18 | 24:b3e632cc4533 | 33 | /* Tombol R2 => PWM Motor Depan Ditambah */ |
rahmadirizki18 | 13:8ab42383a2ca | 34 | /* */ |
calmantara186 | 16:90119f03c5d1 | 35 | /* Bismillahirahmanirrahim */ |
MarchioKevin | 20:54dc93e7b016 | 36 | /* Jagalah Kebersihan Kodingan */ |
rahmadirizki18 | 6:68293bed71ea | 37 | /****************************************************************************/ |
rahmadirizki18 | 6:68293bed71ea | 38 | |
fanny868 | 0:9072e932503c | 39 | #include "mbed.h" |
fanny868 | 0:9072e932503c | 40 | #include "JoystickPS3.h" |
fanny868 | 0:9072e932503c | 41 | #include "Motor.h" |
rahmadirizki18 | 6:68293bed71ea | 42 | #include "Servo.h" |
rahmadirizki18 | 5:3aa203218306 | 43 | #include "encoderKRAI.h" |
be_bryan | 26:256160a1a82d | 44 | #include "millis.h" |
rahmadirizki18 | 5:3aa203218306 | 45 | |
calmantara186 | 16:90119f03c5d1 | 46 | /***********************************************/ |
calmantara186 | 16:90119f03c5d1 | 47 | /* Konstanta dan Variabel */ |
calmantara186 | 16:90119f03c5d1 | 48 | /***********************************************/ |
calmantara186 | 16:90119f03c5d1 | 49 | #define PI 3.14159265 |
be_bryan | 26:256160a1a82d | 50 | #define D_ENCODER 10 // Diameter Roda Encoder |
be_bryan | 26:256160a1a82d | 51 | #define D_ROBOT 80 // Diameter Roda Robot |
MarchioKevin | 22:4632f58461e0 | 52 | #define VMAX 0.3 // Kiri Kanan |
rahmadirizki18 | 17:e4229d77a5ab | 53 | #define PIVOT 0.4 // Pivka, Pivki |
rahmadirizki18 | 17:e4229d77a5ab | 54 | #define PERPINDAHAN 1 // Perpindahan ke kanan dan kiri |
rahmadirizki18 | 5:3aa203218306 | 55 | |
be_bryan | 26:256160a1a82d | 56 | // Variable Atas |
be_bryan | 26:256160a1a82d | 57 | double speed, maxSpeed = 0.8, minSpeed = -0.8; |
be_bryan | 26:256160a1a82d | 58 | double kpA=0.6757, kdA=0.6757, kiA=0.00006757; |
be_bryan | 26:256160a1a82d | 59 | double p,i,d; |
be_bryan | 26:256160a1a82d | 60 | double last_error = 0, current_error, sum_error = 0; |
be_bryan | 26:256160a1a82d | 61 | double rpm, target_rpm = 9.0; |
be_bryan | 26:256160a1a82d | 62 | |
be_bryan | 26:256160a1a82d | 63 | // Variable Bawah |
Joshua23 | 25:054d3048dd03 | 64 | float Vt; |
calmantara186 | 16:90119f03c5d1 | 65 | float k_enc = PI*D_ENCODER; |
Joshua23 | 25:054d3048dd03 | 66 | float k_robot = PI*D_ROBOT; |
MarchioKevin | 22:4632f58461e0 | 67 | float speedT = 0.2; |
MarchioKevin | 22:4632f58461e0 | 68 | float speedB = 0.43; |
MarchioKevin | 22:4632f58461e0 | 69 | float speedL = 0.4; |
MarchioKevin | 22:4632f58461e0 | 70 | float vpid = 0; |
MarchioKevin | 22:4632f58461e0 | 71 | |
calmantara186 | 16:90119f03c5d1 | 72 | |
be_bryan | 26:256160a1a82d | 73 | /* Deklarasi Encoder Base */ |
Joshua23 | 25:054d3048dd03 | 74 | encoderKRAI encoderKiri(PC_4, PB_15, 2000, encoderKRAI::X2_ENCODING); //inA, inB, pin Indeks (NC = tak ada), resolusi, pembacaan |
rahmadirizki18 | 15:98f0d56b14f0 | 75 | |
be_bryan | 26:256160a1a82d | 76 | /* Deklarasi Encoder Launcher */ |
be_bryan | 26:256160a1a82d | 77 | encoderKRAI encoderAtas( PB_13, PB_14, 14, encoderKRAI::X2_ENCODING); |
be_bryan | 26:256160a1a82d | 78 | |
calmantara186 | 16:90119f03c5d1 | 79 | /* Deklarasi Motor Base */ |
be_bryan | 26:256160a1a82d | 80 | Motor motor1(PB_9, PC_5, PA_12); // pwm, fwd, rev, Motor Depan |
be_bryan | 26:256160a1a82d | 81 | Motor motor2(PB_6, PB_1, PB_12); // pwm, fwd, rev, Motor Belakang |
fanny868 | 0:9072e932503c | 82 | |
calmantara186 | 16:90119f03c5d1 | 83 | /* Deklarasi Motor Launcher */ |
be_bryan | 26:256160a1a82d | 84 | Motor motor3(PA_8,PC_1,PC_2); // pwm ,fwd, rev, Motor Atas |
rahmadirizki18 | 23:023b522977b2 | 85 | //Motor motorld(PA_8, PC_1, PC_2); // pwm, fwd, rev |
rahmadirizki18 | 23:023b522977b2 | 86 | //Motor motorlb(PA_0, PA_4, PC_15 ); // pwm, fwd, rev |
rahmadirizki18 | 5:3aa203218306 | 87 | |
be_bryan | 26:256160a1a82d | 88 | /* Deklarasi Penumatik Launcher */ |
be_bryan | 26:256160a1a82d | 89 | DigitalOut pneumatik(PB_2, 0); |
be_bryan | 26:256160a1a82d | 90 | |
be_bryan | 26:256160a1a82d | 91 | /* Deklarasi Servo */ |
rahmadirizki18 | 23:023b522977b2 | 92 | //Servo servoS(PB_2); |
rahmadirizki18 | 23:023b522977b2 | 93 | //Servo servoB(PA_5); |
rahmadirizki18 | 6:68293bed71ea | 94 | |
calmantara186 | 16:90119f03c5d1 | 95 | /** |
calmantara186 | 16:90119f03c5d1 | 96 | * posX dan posY berdasarkan arah robot |
calmantara186 | 16:90119f03c5d1 | 97 | * encoder Depan & Belakang sejajar sumbu Y |
calmantara186 | 16:90119f03c5d1 | 98 | * encoder Kanan & Kiri sejajar sumbu X |
calmantara186 | 16:90119f03c5d1 | 99 | **/ |
rahmadirizki18 | 5:3aa203218306 | 100 | |
calmantara186 | 16:90119f03c5d1 | 101 | /* Variabel Encoder */ |
MarchioKevin | 22:4632f58461e0 | 102 | float errT, Tetha; // Variabel yang didapatkan encoder |
rahmadirizki18 | 5:3aa203218306 | 103 | |
calmantara186 | 16:90119f03c5d1 | 104 | /* Fungsi dan Procedur Encoder */ |
calmantara186 | 16:90119f03c5d1 | 105 | void setCenter(); // Fungsi reset agar robot di tengah |
MarchioKevin | 20:54dc93e7b016 | 106 | float getTetha(); // Fungsi mendapatkan jarak Tetha |
calmantara186 | 16:90119f03c5d1 | 107 | |
calmantara186 | 16:90119f03c5d1 | 108 | /* Inisialisasi Pin TX-RX Joystik dan PC */ |
Joshua23 | 25:054d3048dd03 | 109 | joysticknucleo joystick(PA_0,PA_1); |
rahmadirizki18 | 23:023b522977b2 | 110 | Serial pc(USBTX,USBRX); |
fanny868 | 0:9072e932503c | 111 | |
be_bryan | 26:256160a1a82d | 112 | /* Deklarasi Variable Milis */ |
be_bryan | 26:256160a1a82d | 113 | unsigned long int previousMillis = 0; |
be_bryan | 26:256160a1a82d | 114 | unsigned long int currentMillis; |
be_bryan | 26:256160a1a82d | 115 | |
calmantara186 | 16:90119f03c5d1 | 116 | /* Variabel Stick */ |
fanny868 | 0:9072e932503c | 117 | char case_ger; |
be_bryan | 26:256160a1a82d | 118 | bool launcher = false; |
be_bryan | 26:256160a1a82d | 119 | //bool pneumatikGo = false; |
fanny868 | 0:9072e932503c | 120 | |
MarchioKevin | 22:4632f58461e0 | 121 | /****************************************************/ |
MarchioKevin | 22:4632f58461e0 | 122 | /* Deklarasi Fungsi dan Procedure */ |
MarchioKevin | 22:4632f58461e0 | 123 | /****************************************************/ |
be_bryan | 26:256160a1a82d | 124 | void init_speed(); |
be_bryan | 26:256160a1a82d | 125 | void speedKalibrasiMotor(); |
be_bryan | 26:256160a1a82d | 126 | float pidBase(float Kp, float Ki, float Kd) |
Joshua23 | 25:054d3048dd03 | 127 | { |
Joshua23 | 25:054d3048dd03 | 128 | int errorP; |
Joshua23 | 25:054d3048dd03 | 129 | errorP = getTetha(); |
Joshua23 | 25:054d3048dd03 | 130 | return (float)Kp*errorP; |
Joshua23 | 25:054d3048dd03 | 131 | } |
Joshua23 | 25:054d3048dd03 | 132 | |
calmantara186 | 16:90119f03c5d1 | 133 | int case_gerak(){ |
rahmadirizki18 | 23:023b522977b2 | 134 | /**************************************************** |
calmantara186 | 16:90119f03c5d1 | 135 | ** Gerak Motor Base |
calmantara186 | 16:90119f03c5d1 | 136 | ** Case 1 : Pivot kanan |
calmantara186 | 16:90119f03c5d1 | 137 | ** Case 2 : Pivot Kiri |
MarchioKevin | 22:4632f58461e0 | 138 | ** Case 3 : Kanan |
MarchioKevin | 22:4632f58461e0 | 139 | ** Case 4 : Kiri |
MarchioKevin | 22:4632f58461e0 | 140 | ** Case 5 : Break |
calmantara186 | 16:90119f03c5d1 | 141 | ****************************************************/ |
MarchioKevin | 22:4632f58461e0 | 142 | |
fanny868 | 0:9072e932503c | 143 | int casegerak; |
calmantara186 | 16:90119f03c5d1 | 144 | if (!joystick.L1 && joystick.R1) { |
fanny868 | 0:9072e932503c | 145 | // Pivot Kanan |
fanny868 | 0:9072e932503c | 146 | casegerak = 1; |
calmantara186 | 16:90119f03c5d1 | 147 | } |
calmantara186 | 16:90119f03c5d1 | 148 | else if (!joystick.R1 && joystick.L1) { |
fanny868 | 0:9072e932503c | 149 | // Pivot Kiri |
fanny868 | 0:9072e932503c | 150 | casegerak = 2; |
calmantara186 | 16:90119f03c5d1 | 151 | } |
calmantara186 | 16:90119f03c5d1 | 152 | else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri)) { |
fanny868 | 0:9072e932503c | 153 | // Kanan |
MarchioKevin | 22:4632f58461e0 | 154 | casegerak = 3; |
rahmadirizki18 | 23:023b522977b2 | 155 | pc.printf("kanan"); |
calmantara186 | 16:90119f03c5d1 | 156 | } |
calmantara186 | 16:90119f03c5d1 | 157 | else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)) { |
fanny868 | 0:9072e932503c | 158 | // Kiri |
rahmadirizki18 | 23:023b522977b2 | 159 | casegerak = 4; |
rahmadirizki18 | 23:023b522977b2 | 160 | pc.printf("kiri"); |
calmantara186 | 16:90119f03c5d1 | 161 | } |
calmantara186 | 16:90119f03c5d1 | 162 | else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) { |
MarchioKevin | 22:4632f58461e0 | 163 | // Break |
MarchioKevin | 22:4632f58461e0 | 164 | casegerak = 5; |
calmantara186 | 16:90119f03c5d1 | 165 | } |
fanny868 | 0:9072e932503c | 166 | return(casegerak); |
fanny868 | 0:9072e932503c | 167 | } |
fanny868 | 0:9072e932503c | 168 | |
calmantara186 | 16:90119f03c5d1 | 169 | void aktuator(){ |
be_bryan | 26:256160a1a82d | 170 | /* Fungsi untuk menggerakkan Penumatik */ |
be_bryan | 26:256160a1a82d | 171 | // Pneumatik |
be_bryan | 26:256160a1a82d | 172 | /* if (pneumatikGo){ |
franshendri | 12:e07c59c28c29 | 173 | servoS.position(20); |
franshendri | 10:f0f0dc3904e0 | 174 | wait_ms(500); |
franshendri | 12:e07c59c28c29 | 175 | servoS.position(-28); |
Joshua23 | 8:0711dea61312 | 176 | wait_ms(500); |
franshendri | 12:e07c59c28c29 | 177 | servoS.position(20); |
Joshua23 | 8:0711dea61312 | 178 | wait_ms(500); |
franshendri | 12:e07c59c28c29 | 179 | for (int i = -0; i<=70; i++){ |
Joshua23 | 8:0711dea61312 | 180 | servoB.position(i); |
Joshua23 | 8:0711dea61312 | 181 | wait_ms(10); |
Joshua23 | 8:0711dea61312 | 182 | } |
Joshua23 | 8:0711dea61312 | 183 | wait_ms(500); |
Joshua23 | 8:0711dea61312 | 184 | servoB.position(0); |
calmantara186 | 16:90119f03c5d1 | 185 | servoGo = false; |
calmantara186 | 16:90119f03c5d1 | 186 | } |
calmantara186 | 16:90119f03c5d1 | 187 | else{ |
franshendri | 12:e07c59c28c29 | 188 | servoS.position(20); |
rahmadirizki18 | 6:68293bed71ea | 189 | servoB.position(0); |
rahmadirizki18 | 7:d138c56dab20 | 190 | } |
be_bryan | 26:256160a1a82d | 191 | */ |
be_bryan | 26:256160a1a82d | 192 | //Motor Atas |
calmantara186 | 16:90119f03c5d1 | 193 | if (launcher) { |
be_bryan | 26:256160a1a82d | 194 | startMillis(); |
be_bryan | 26:256160a1a82d | 195 | currentMillis = millis(); |
be_bryan | 26:256160a1a82d | 196 | if (currentMillis-previousMillis>=10) |
be_bryan | 26:256160a1a82d | 197 | { |
be_bryan | 26:256160a1a82d | 198 | rpm = (double)encoderAtas.getPulses(); |
be_bryan | 26:256160a1a82d | 199 | current_error = target_rpm - rpm; |
be_bryan | 26:256160a1a82d | 200 | sum_error = sum_error + current_error; |
be_bryan | 26:256160a1a82d | 201 | p = current_error*kpA; |
be_bryan | 26:256160a1a82d | 202 | d = (current_error-last_error)*kdA/10.0; |
be_bryan | 26:256160a1a82d | 203 | i = sum_error*kiA*10.0; |
be_bryan | 26:256160a1a82d | 204 | speed = p + d + i; |
be_bryan | 26:256160a1a82d | 205 | init_speed(); |
be_bryan | 26:256160a1a82d | 206 | motor3.speed(speed); |
be_bryan | 26:256160a1a82d | 207 | last_error = current_error; |
be_bryan | 26:256160a1a82d | 208 | encoderAtas.reset(); |
be_bryan | 26:256160a1a82d | 209 | //pc.printf("%.04lf\n",rpm); |
be_bryan | 26:256160a1a82d | 210 | previousMillis = currentMillis; |
be_bryan | 26:256160a1a82d | 211 | } |
be_bryan | 26:256160a1a82d | 212 | else |
be_bryan | 26:256160a1a82d | 213 | { |
be_bryan | 26:256160a1a82d | 214 | motor3.speed(0); |
be_bryan | 26:256160a1a82d | 215 | } |
rahmadirizki18 | 6:68293bed71ea | 216 | } |
rahmadirizki18 | 6:68293bed71ea | 217 | // MOTOR Bawah |
MarchioKevin | 22:4632f58461e0 | 218 | switch (case_ger) { |
rahmadirizki18 | 17:e4229d77a5ab | 219 | case (1): { |
rahmadirizki18 | 17:e4229d77a5ab | 220 | // Pivot Kanan |
Joshua23 | 25:054d3048dd03 | 221 | motor1.speed(PIVOT); |
Joshua23 | 25:054d3048dd03 | 222 | motor2.speed(PIVOT); |
Joshua23 | 25:054d3048dd03 | 223 | setCenter(); |
fanny868 | 0:9072e932503c | 224 | break; |
rahmadirizki18 | 17:e4229d77a5ab | 225 | } |
rahmadirizki18 | 17:e4229d77a5ab | 226 | case (2): { |
rahmadirizki18 | 17:e4229d77a5ab | 227 | // Pivot Kiri |
Joshua23 | 25:054d3048dd03 | 228 | motor1.speed(-PIVOT); |
Joshua23 | 25:054d3048dd03 | 229 | motor2.speed(-PIVOT); |
Joshua23 | 25:054d3048dd03 | 230 | setCenter(); |
fanny868 | 0:9072e932503c | 231 | break; |
MarchioKevin | 22:4632f58461e0 | 232 | } |
MarchioKevin | 22:4632f58461e0 | 233 | case (3) : { |
MarchioKevin | 22:4632f58461e0 | 234 | // Kanan |
Joshua23 | 25:054d3048dd03 | 235 | //motor1.speed(-VMAX-vpid); |
Joshua23 | 25:054d3048dd03 | 236 | //motor2.speed(0.2+vpid); |
be_bryan | 26:256160a1a82d | 237 | motor1.speed(-0.365+pidBase(0.09,0,0)); |
be_bryan | 26:256160a1a82d | 238 | motor2.speed(0.46+pidBase(0.09,0,0)); |
rahmadirizki18 | 17:e4229d77a5ab | 239 | break; |
MarchioKevin | 22:4632f58461e0 | 240 | } |
MarchioKevin | 22:4632f58461e0 | 241 | case (4) : { |
rahmadirizki18 | 17:e4229d77a5ab | 242 | // Kiri |
Joshua23 | 25:054d3048dd03 | 243 | //motor1.speed(VMAX-vpid); |
Joshua23 | 25:054d3048dd03 | 244 | //motor2.speed(-0.2+vpid); |
be_bryan | 26:256160a1a82d | 245 | motor1.speed(0.365+pidBase(0.09,0,0));//belakang |
be_bryan | 26:256160a1a82d | 246 | motor2.speed(-0.46+pidBase(0.09,0,0));//depan |
fanny868 | 0:9072e932503c | 247 | break; |
rahmadirizki18 | 17:e4229d77a5ab | 248 | } |
rahmadirizki18 | 17:e4229d77a5ab | 249 | default : { |
MarchioKevin | 22:4632f58461e0 | 250 | motor1.brake(1); |
MarchioKevin | 22:4632f58461e0 | 251 | motor2.brake(1); |
be_bryan | 26:256160a1a82d | 252 | break; |
rahmadirizki18 | 17:e4229d77a5ab | 253 | } |
MarchioKevin | 22:4632f58461e0 | 254 | } // End Switch |
rahmadirizki18 | 5:3aa203218306 | 255 | } |
rahmadirizki18 | 5:3aa203218306 | 256 | |
calmantara186 | 16:90119f03c5d1 | 257 | void setCenter(){ |
calmantara186 | 16:90119f03c5d1 | 258 | /* Fungsi untuk menentukan center dari robot */ |
rahmadirizki18 | 5:3aa203218306 | 259 | encoderKiri.reset(); |
rahmadirizki18 | 5:3aa203218306 | 260 | } |
rahmadirizki18 | 5:3aa203218306 | 261 | |
calmantara186 | 16:90119f03c5d1 | 262 | float getTetha(){ |
calmantara186 | 16:90119f03c5d1 | 263 | /* Fungsi untuk mendapatkan nilai tetha */ |
Joshua23 | 25:054d3048dd03 | 264 | float busurKir, tetha; |
MarchioKevin | 22:4632f58461e0 | 265 | busurKir = ((encoderKiri.getPulses())/(float)(2000.0)*k_enc); |
Joshua23 | 25:054d3048dd03 | 266 | tetha = busurKir/k_robot*360; |
calmantara186 | 16:90119f03c5d1 | 267 | |
Joshua23 | 25:054d3048dd03 | 268 | return -(tetha); |
calmantara186 | 16:90119f03c5d1 | 269 | } |
rahmadirizki18 | 5:3aa203218306 | 270 | |
rahmadirizki18 | 24:b3e632cc4533 | 271 | void speedKalibrasiMotor(){ |
calmantara186 | 16:90119f03c5d1 | 272 | /* Fungsi untuk speed launcher */ |
franshendri | 12:e07c59c28c29 | 273 | if (joystick.R3_click and speedL < 0.8){ |
MarchioKevin | 22:4632f58461e0 | 274 | speedL = speedL + 0.01; // PWM++ Motor Belakang |
calmantara186 | 16:90119f03c5d1 | 275 | } |
rahmadirizki18 | 7:d138c56dab20 | 276 | if (joystick.L3_click and speedL > 0.1){ |
MarchioKevin | 22:4632f58461e0 | 277 | speedL = speedL - 0.01; // PWM-- Motor Belakang |
calmantara186 | 16:90119f03c5d1 | 278 | } |
rahmadirizki18 | 13:8ab42383a2ca | 279 | if (joystick.R2_click and speedB < 0.8 ){ |
MarchioKevin | 22:4632f58461e0 | 280 | speedB = speedB + 0.01; // PWM++ Motor Depan |
calmantara186 | 16:90119f03c5d1 | 281 | } |
rahmadirizki18 | 13:8ab42383a2ca | 282 | if (joystick.L2_click and speedB > 0.1 ){ |
MarchioKevin | 22:4632f58461e0 | 283 | speedB = speedB - 0.01; // PWM-- Motor Depan |
rahmadirizki18 | 24:b3e632cc4533 | 284 | } |
rahmadirizki18 | 24:b3e632cc4533 | 285 | // pc.printf("Pwm depan = %.3f\t Pwm belakang = %.3f\n", speedL, speedB); |
rahmadirizki18 | 7:d138c56dab20 | 286 | } |
be_bryan | 26:256160a1a82d | 287 | |
be_bryan | 26:256160a1a82d | 288 | void init_speed (){ |
be_bryan | 26:256160a1a82d | 289 | if (speed>maxSpeed){ |
be_bryan | 26:256160a1a82d | 290 | speed = maxSpeed; |
be_bryan | 26:256160a1a82d | 291 | } |
be_bryan | 26:256160a1a82d | 292 | |
be_bryan | 26:256160a1a82d | 293 | if (speed<minSpeed){ |
be_bryan | 26:256160a1a82d | 294 | speed = minSpeed; |
be_bryan | 26:256160a1a82d | 295 | } |
be_bryan | 26:256160a1a82d | 296 | } |
MarchioKevin | 22:4632f58461e0 | 297 | /*********************************************************/ |
MarchioKevin | 22:4632f58461e0 | 298 | /* Main Function */ |
MarchioKevin | 22:4632f58461e0 | 299 | /*********************************************************/ |
calmantara186 | 16:90119f03c5d1 | 300 | |
calmantara186 | 16:90119f03c5d1 | 301 | int main (void){ |
calmantara186 | 16:90119f03c5d1 | 302 | /* Set baud rate - 115200 */ |
fanny868 | 0:9072e932503c | 303 | joystick.setup(); |
rahmadirizki18 | 23:023b522977b2 | 304 | pc.baud(115200); |
rahmadirizki18 | 6:68293bed71ea | 305 | wait_ms(1000); |
rahmadirizki18 | 5:3aa203218306 | 306 | setCenter(); |
rahmadirizki18 | 5:3aa203218306 | 307 | wait_ms(500); |
rahmadirizki18 | 23:023b522977b2 | 308 | pc.printf("ready...."); |
calmantara186 | 16:90119f03c5d1 | 309 | |
calmantara186 | 16:90119f03c5d1 | 310 | /* Untuk mendapatkan serial dari Arduino */ |
fanny868 | 0:9072e932503c | 311 | while(1) |
fanny868 | 0:9072e932503c | 312 | { |
fanny868 | 0:9072e932503c | 313 | // Interrupt Serial |
calmantara186 | 16:90119f03c5d1 | 314 | joystick.idle(); |
Joshua23 | 25:054d3048dd03 | 315 | //pc.printf("enco : %d \n",encoderKiri.getPulses()); |
be_bryan | 26:256160a1a82d | 316 | if(joystick.readable()) { |
fanny868 | 0:9072e932503c | 317 | // Panggil fungsi pembacaan joystik |
fanny868 | 0:9072e932503c | 318 | joystick.baca_data(); |
fanny868 | 0:9072e932503c | 319 | // Panggil fungsi pengolahan data joystik |
fanny868 | 0:9072e932503c | 320 | joystick.olah_data(); |
calmantara186 | 16:90119f03c5d1 | 321 | // Masuk ke case gerak |
fanny868 | 0:9072e932503c | 322 | case_ger = case_gerak(); |
rahmadirizki18 | 3:1287fccc11be | 323 | aktuator(); |
be_bryan | 26:256160a1a82d | 324 | if (joystick.segitiga_click){ |
be_bryan | 26:256160a1a82d | 325 | launcher = !launcher; |
be_bryan | 26:256160a1a82d | 326 | } |
be_bryan | 26:256160a1a82d | 327 | if (joystick.lingkaran_click){ |
be_bryan | 26:256160a1a82d | 328 | pneumatik = 1; |
be_bryan | 26:256160a1a82d | 329 | wait_ms(500); |
be_bryan | 26:256160a1a82d | 330 | pneumatik = 0; |
be_bryan | 26:256160a1a82d | 331 | } |
be_bryan | 26:256160a1a82d | 332 | speedKalibrasiMotor(); |
be_bryan | 26:256160a1a82d | 333 | } |
calmantara186 | 16:90119f03c5d1 | 334 | else { |
calmantara186 | 16:90119f03c5d1 | 335 | joystick.idle(); |
be_bryan | 26:256160a1a82d | 336 | motor1.brake(1); |
be_bryan | 26:256160a1a82d | 337 | motor2.brake(1); |
MarchioKevin | 21:da2f3d04468f | 338 | } |
fanny868 | 0:9072e932503c | 339 | } |
fanny868 | 0:9072e932503c | 340 | } |