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tugas akhir
Dependencies: Motor mbed millis
Fork of DagonFly__RoadToJapan_15Mei_Ultimate by
main.cpp@28:2d0746dc2d7d, 2017-02-10 (annotated)
- Committer:
- be_bryan
- Date:
- Fri Feb 10 19:18:55 2017 +0000
- Revision:
- 28:2d0746dc2d7d
- Parent:
- 27:68efb1622985
- Child:
- 29:7b372b0aaa61
Update 11 Februari 2017 untuk Base Baru
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 | 27:68efb1622985 | 57 | double speed,speed2, maxSpeed = 0.8, minSpeed = 0; |
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 | 27:68efb1622985 | 60 | double p2,i2,d2; |
be_bryan | 26:256160a1a82d | 61 | double last_error = 0, current_error, sum_error = 0; |
be_bryan | 27:68efb1622985 | 62 | double last_error2 = 0, current_error2, sum_error2 = 0; |
be_bryan | 27:68efb1622985 | 63 | float rpm, target_rpm = 2.0; |
be_bryan | 27:68efb1622985 | 64 | float rpm2, target_rpm2 = 4.0; |
be_bryan | 26:256160a1a82d | 65 | |
be_bryan | 26:256160a1a82d | 66 | // Variable Bawah |
Joshua23 | 25:054d3048dd03 | 67 | float Vt; |
calmantara186 | 16:90119f03c5d1 | 68 | float k_enc = PI*D_ENCODER; |
Joshua23 | 25:054d3048dd03 | 69 | float k_robot = PI*D_ROBOT; |
MarchioKevin | 22:4632f58461e0 | 70 | float speedT = 0.2; |
be_bryan | 27:68efb1622985 | 71 | float vpid = 0; |
be_bryan | 27:68efb1622985 | 72 | float pwmP = 0.5; |
be_bryan | 27:68efb1622985 | 73 | float pwmT = -0.8; |
MarchioKevin | 22:4632f58461e0 | 74 | |
calmantara186 | 16:90119f03c5d1 | 75 | |
be_bryan | 26:256160a1a82d | 76 | /* Deklarasi Encoder Base */ |
Joshua23 | 25:054d3048dd03 | 77 | encoderKRAI encoderKiri(PC_4, PB_15, 2000, encoderKRAI::X2_ENCODING); //inA, inB, pin Indeks (NC = tak ada), resolusi, pembacaan |
rahmadirizki18 | 15:98f0d56b14f0 | 78 | |
be_bryan | 26:256160a1a82d | 79 | /* Deklarasi Encoder Launcher */ |
be_bryan | 28:2d0746dc2d7d | 80 | encoderKRAI encoderAtas( PB_13, PB_14, 28, encoderKRAI::X2_ENCODING); |
be_bryan | 28:2d0746dc2d7d | 81 | encoderKRAI encoderAtas2( PB_15, PC_4, 28, encoderKRAI::X2_ENCODING); |
be_bryan | 26:256160a1a82d | 82 | |
calmantara186 | 16:90119f03c5d1 | 83 | /* Deklarasi Motor Base */ |
be_bryan | 26:256160a1a82d | 84 | Motor motor1(PB_9, PC_5, PA_12); // pwm, fwd, rev, Motor Depan |
be_bryan | 26:256160a1a82d | 85 | Motor motor2(PB_6, PB_1, PB_12); // pwm, fwd, rev, Motor Belakang |
fanny868 | 0:9072e932503c | 86 | |
calmantara186 | 16:90119f03c5d1 | 87 | /* Deklarasi Motor Launcher */ |
be_bryan | 27:68efb1622985 | 88 | Motor motorL1(PA_8,PC_1,PC_2); // pwm ,fwd, rev, Motor Launcher1 |
be_bryan | 27:68efb1622985 | 89 | Motor motorL3(PA_10, PC_0, PC_3); // pwm, fwd, rev, Motor Launcher2 |
be_bryan | 27:68efb1622985 | 90 | Motor motorP(PC_7, PC_14, PC_13); // pwm, fwd, rev, Motor Powerscrew |
rahmadirizki18 | 5:3aa203218306 | 91 | |
be_bryan | 26:256160a1a82d | 92 | /* Deklarasi Penumatik Launcher */ |
be_bryan | 26:256160a1a82d | 93 | DigitalOut pneumatik(PB_2, 0); |
be_bryan | 26:256160a1a82d | 94 | |
be_bryan | 27:68efb1622985 | 95 | /*Dekalrasi Limit Switch */ |
be_bryan | 27:68efb1622985 | 96 | DigitalIn limitA (PC_9, PullUp); |
be_bryan | 27:68efb1622985 | 97 | DigitalIn limitT(PB_10, PullUp); |
be_bryan | 27:68efb1622985 | 98 | DigitalIn limitB (PC_8, PullUp); |
be_bryan | 27:68efb1622985 | 99 | |
calmantara186 | 16:90119f03c5d1 | 100 | /** |
calmantara186 | 16:90119f03c5d1 | 101 | * posX dan posY berdasarkan arah robot |
calmantara186 | 16:90119f03c5d1 | 102 | * encoder Depan & Belakang sejajar sumbu Y |
be_bryan | 27:68efb1622985 | 103 | * encoder Kanan & Kirim sejajar sumbu X |
calmantara186 | 16:90119f03c5d1 | 104 | **/ |
rahmadirizki18 | 5:3aa203218306 | 105 | |
calmantara186 | 16:90119f03c5d1 | 106 | /* Variabel Encoder */ |
MarchioKevin | 22:4632f58461e0 | 107 | float errT, Tetha; // Variabel yang didapatkan encoder |
rahmadirizki18 | 5:3aa203218306 | 108 | |
calmantara186 | 16:90119f03c5d1 | 109 | /* Fungsi dan Procedur Encoder */ |
calmantara186 | 16:90119f03c5d1 | 110 | void setCenter(); // Fungsi reset agar robot di tengah |
MarchioKevin | 20:54dc93e7b016 | 111 | float getTetha(); // Fungsi mendapatkan jarak Tetha |
calmantara186 | 16:90119f03c5d1 | 112 | |
calmantara186 | 16:90119f03c5d1 | 113 | /* Inisialisasi Pin TX-RX Joystik dan PC */ |
Joshua23 | 25:054d3048dd03 | 114 | joysticknucleo joystick(PA_0,PA_1); |
rahmadirizki18 | 23:023b522977b2 | 115 | Serial pc(USBTX,USBRX); |
fanny868 | 0:9072e932503c | 116 | |
be_bryan | 26:256160a1a82d | 117 | /* Deklarasi Variable Milis */ |
be_bryan | 26:256160a1a82d | 118 | unsigned long int previousMillis = 0; |
be_bryan | 26:256160a1a82d | 119 | unsigned long int currentMillis; |
be_bryan | 27:68efb1622985 | 120 | unsigned long int previousMillis2 = 0; |
be_bryan | 27:68efb1622985 | 121 | unsigned long int currentMillis2; |
be_bryan | 26:256160a1a82d | 122 | |
calmantara186 | 16:90119f03c5d1 | 123 | /* Variabel Stick */ |
fanny868 | 0:9072e932503c | 124 | char case_ger; |
be_bryan | 26:256160a1a82d | 125 | bool launcher = false; |
be_bryan | 27:68efb1622985 | 126 | bool reload = false; |
fanny868 | 0:9072e932503c | 127 | |
MarchioKevin | 22:4632f58461e0 | 128 | /****************************************************/ |
MarchioKevin | 22:4632f58461e0 | 129 | /* Deklarasi Fungsi dan Procedure */ |
MarchioKevin | 22:4632f58461e0 | 130 | /****************************************************/ |
be_bryan | 26:256160a1a82d | 131 | void init_speed(); |
be_bryan | 26:256160a1a82d | 132 | void speedKalibrasiMotor(); |
be_bryan | 26:256160a1a82d | 133 | float pidBase(float Kp, float Ki, float Kd) |
Joshua23 | 25:054d3048dd03 | 134 | { |
Joshua23 | 25:054d3048dd03 | 135 | int errorP; |
Joshua23 | 25:054d3048dd03 | 136 | errorP = getTetha(); |
Joshua23 | 25:054d3048dd03 | 137 | return (float)Kp*errorP; |
Joshua23 | 25:054d3048dd03 | 138 | } |
Joshua23 | 25:054d3048dd03 | 139 | |
calmantara186 | 16:90119f03c5d1 | 140 | int case_gerak(){ |
rahmadirizki18 | 23:023b522977b2 | 141 | /**************************************************** |
calmantara186 | 16:90119f03c5d1 | 142 | ** Gerak Motor Base |
calmantara186 | 16:90119f03c5d1 | 143 | ** Case 1 : Pivot kanan |
calmantara186 | 16:90119f03c5d1 | 144 | ** Case 2 : Pivot Kiri |
MarchioKevin | 22:4632f58461e0 | 145 | ** Case 3 : Kanan |
MarchioKevin | 22:4632f58461e0 | 146 | ** Case 4 : Kiri |
MarchioKevin | 22:4632f58461e0 | 147 | ** Case 5 : Break |
calmantara186 | 16:90119f03c5d1 | 148 | ****************************************************/ |
MarchioKevin | 22:4632f58461e0 | 149 | |
fanny868 | 0:9072e932503c | 150 | int casegerak; |
calmantara186 | 16:90119f03c5d1 | 151 | if (!joystick.L1 && joystick.R1) { |
fanny868 | 0:9072e932503c | 152 | // Pivot Kanan |
fanny868 | 0:9072e932503c | 153 | casegerak = 1; |
calmantara186 | 16:90119f03c5d1 | 154 | } |
calmantara186 | 16:90119f03c5d1 | 155 | else if (!joystick.R1 && joystick.L1) { |
fanny868 | 0:9072e932503c | 156 | // Pivot Kiri |
fanny868 | 0:9072e932503c | 157 | casegerak = 2; |
calmantara186 | 16:90119f03c5d1 | 158 | } |
calmantara186 | 16:90119f03c5d1 | 159 | else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri)) { |
fanny868 | 0:9072e932503c | 160 | // Kanan |
MarchioKevin | 22:4632f58461e0 | 161 | casegerak = 3; |
be_bryan | 27:68efb1622985 | 162 | // pc.printf("kanan"); |
calmantara186 | 16:90119f03c5d1 | 163 | } |
calmantara186 | 16:90119f03c5d1 | 164 | else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)) { |
fanny868 | 0:9072e932503c | 165 | // Kiri |
rahmadirizki18 | 23:023b522977b2 | 166 | casegerak = 4; |
be_bryan | 27:68efb1622985 | 167 | // pc.printf("kiri"); |
calmantara186 | 16:90119f03c5d1 | 168 | } |
calmantara186 | 16:90119f03c5d1 | 169 | else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) { |
MarchioKevin | 22:4632f58461e0 | 170 | // Break |
MarchioKevin | 22:4632f58461e0 | 171 | casegerak = 5; |
calmantara186 | 16:90119f03c5d1 | 172 | } |
fanny868 | 0:9072e932503c | 173 | return(casegerak); |
fanny868 | 0:9072e932503c | 174 | } |
fanny868 | 0:9072e932503c | 175 | |
calmantara186 | 16:90119f03c5d1 | 176 | void aktuator(){ |
be_bryan | 27:68efb1622985 | 177 | /* Fungsi untuk menggerakkan Motor PowerScrew */ |
be_bryan | 27:68efb1622985 | 178 | // PowerScrew |
be_bryan | 27:68efb1622985 | 179 | if (reload){ |
be_bryan | 27:68efb1622985 | 180 | if (!limitA){ |
be_bryan | 27:68efb1622985 | 181 | motorP.brake (1); |
Joshua23 | 8:0711dea61312 | 182 | } |
be_bryan | 27:68efb1622985 | 183 | else |
be_bryan | 27:68efb1622985 | 184 | { |
be_bryan | 27:68efb1622985 | 185 | motorP.speed(pwmP); |
be_bryan | 27:68efb1622985 | 186 | if (!limitT) |
be_bryan | 27:68efb1622985 | 187 | { |
be_bryan | 27:68efb1622985 | 188 | while (limitB) |
be_bryan | 27:68efb1622985 | 189 | { |
be_bryan | 27:68efb1622985 | 190 | motorP.speed(pwmT); |
be_bryan | 27:68efb1622985 | 191 | } |
be_bryan | 27:68efb1622985 | 192 | motorP.brake(1); |
be_bryan | 27:68efb1622985 | 193 | } |
be_bryan | 27:68efb1622985 | 194 | } |
be_bryan | 27:68efb1622985 | 195 | reload = !reload; |
calmantara186 | 16:90119f03c5d1 | 196 | } |
be_bryan | 28:2d0746dc2d7d | 197 | |
be_bryan | 27:68efb1622985 | 198 | /*Motor Atas*/ |
calmantara186 | 16:90119f03c5d1 | 199 | if (launcher) { |
be_bryan | 26:256160a1a82d | 200 | startMillis(); |
be_bryan | 28:2d0746dc2d7d | 201 | currentMillis = millis(); |
be_bryan | 28:2d0746dc2d7d | 202 | currentMillis2 = millis(); |
be_bryan | 28:2d0746dc2d7d | 203 | |
be_bryan | 28:2d0746dc2d7d | 204 | /*PID Launcher Depan*/ |
be_bryan | 26:256160a1a82d | 205 | if (currentMillis-previousMillis>=10) |
be_bryan | 26:256160a1a82d | 206 | { |
be_bryan | 27:68efb1622985 | 207 | rpm = (float)encoderAtas.getPulses(); |
be_bryan | 26:256160a1a82d | 208 | current_error = target_rpm - rpm; |
be_bryan | 26:256160a1a82d | 209 | sum_error = sum_error + current_error; |
be_bryan | 26:256160a1a82d | 210 | p = current_error*kpA; |
be_bryan | 26:256160a1a82d | 211 | d = (current_error-last_error)*kdA/10.0; |
be_bryan | 26:256160a1a82d | 212 | i = sum_error*kiA*10.0; |
be_bryan | 26:256160a1a82d | 213 | speed = p + d + i; |
be_bryan | 26:256160a1a82d | 214 | init_speed(); |
be_bryan | 27:68efb1622985 | 215 | motorL1.speed(speed); |
be_bryan | 26:256160a1a82d | 216 | last_error = current_error; |
be_bryan | 26:256160a1a82d | 217 | encoderAtas.reset(); |
be_bryan | 26:256160a1a82d | 218 | //pc.printf("%.04lf\n",rpm); |
be_bryan | 26:256160a1a82d | 219 | previousMillis = currentMillis; |
be_bryan | 26:256160a1a82d | 220 | } |
be_bryan | 26:256160a1a82d | 221 | else |
be_bryan | 26:256160a1a82d | 222 | { |
be_bryan | 27:68efb1622985 | 223 | encoderAtas.getPulses(); |
be_bryan | 27:68efb1622985 | 224 | } |
be_bryan | 27:68efb1622985 | 225 | if (currentMillis2-previousMillis2>=10) |
be_bryan | 27:68efb1622985 | 226 | { |
be_bryan | 27:68efb1622985 | 227 | rpm2 = (float)encoderAtas2.getPulses(); |
be_bryan | 27:68efb1622985 | 228 | current_error2 = target_rpm2 - rpm2; |
be_bryan | 27:68efb1622985 | 229 | sum_error2 = sum_error2 + current_error2; |
be_bryan | 27:68efb1622985 | 230 | p2 = current_error2*kpA; |
be_bryan | 27:68efb1622985 | 231 | d2 = (current_error2-last_error2)*kdA/10.0; |
be_bryan | 27:68efb1622985 | 232 | i2 = sum_error2*kiA*10.0; |
be_bryan | 27:68efb1622985 | 233 | speed2 = p2 + d2 + i2; |
be_bryan | 27:68efb1622985 | 234 | init_speed(); |
be_bryan | 27:68efb1622985 | 235 | motorL3.speed(speed2); |
be_bryan | 27:68efb1622985 | 236 | last_error2 = current_error2; |
be_bryan | 27:68efb1622985 | 237 | encoderAtas2.reset(); |
be_bryan | 27:68efb1622985 | 238 | //pc.printf("%.04lf\n",rpm2); |
be_bryan | 27:68efb1622985 | 239 | previousMillis2 = currentMillis2; |
be_bryan | 27:68efb1622985 | 240 | } |
be_bryan | 27:68efb1622985 | 241 | else |
be_bryan | 27:68efb1622985 | 242 | { |
be_bryan | 27:68efb1622985 | 243 | encoderAtas2.getPulses(); |
be_bryan | 26:256160a1a82d | 244 | } |
rahmadirizki18 | 6:68293bed71ea | 245 | } |
be_bryan | 28:2d0746dc2d7d | 246 | |
rahmadirizki18 | 6:68293bed71ea | 247 | // MOTOR Bawah |
MarchioKevin | 22:4632f58461e0 | 248 | switch (case_ger) { |
rahmadirizki18 | 17:e4229d77a5ab | 249 | case (1): { |
rahmadirizki18 | 17:e4229d77a5ab | 250 | // Pivot Kanan |
Joshua23 | 25:054d3048dd03 | 251 | motor1.speed(PIVOT); |
Joshua23 | 25:054d3048dd03 | 252 | motor2.speed(PIVOT); |
Joshua23 | 25:054d3048dd03 | 253 | setCenter(); |
fanny868 | 0:9072e932503c | 254 | break; |
rahmadirizki18 | 17:e4229d77a5ab | 255 | } |
rahmadirizki18 | 17:e4229d77a5ab | 256 | case (2): { |
rahmadirizki18 | 17:e4229d77a5ab | 257 | // Pivot Kiri |
Joshua23 | 25:054d3048dd03 | 258 | motor1.speed(-PIVOT); |
Joshua23 | 25:054d3048dd03 | 259 | motor2.speed(-PIVOT); |
Joshua23 | 25:054d3048dd03 | 260 | setCenter(); |
fanny868 | 0:9072e932503c | 261 | break; |
MarchioKevin | 22:4632f58461e0 | 262 | } |
MarchioKevin | 22:4632f58461e0 | 263 | case (3) : { |
MarchioKevin | 22:4632f58461e0 | 264 | // Kanan |
Joshua23 | 25:054d3048dd03 | 265 | //motor1.speed(-VMAX-vpid); |
Joshua23 | 25:054d3048dd03 | 266 | //motor2.speed(0.2+vpid); |
be_bryan | 26:256160a1a82d | 267 | motor1.speed(-0.365+pidBase(0.09,0,0)); |
be_bryan | 26:256160a1a82d | 268 | motor2.speed(0.46+pidBase(0.09,0,0)); |
rahmadirizki18 | 17:e4229d77a5ab | 269 | break; |
MarchioKevin | 22:4632f58461e0 | 270 | } |
MarchioKevin | 22:4632f58461e0 | 271 | case (4) : { |
rahmadirizki18 | 17:e4229d77a5ab | 272 | // Kiri |
Joshua23 | 25:054d3048dd03 | 273 | //motor1.speed(VMAX-vpid); |
Joshua23 | 25:054d3048dd03 | 274 | //motor2.speed(-0.2+vpid); |
be_bryan | 26:256160a1a82d | 275 | motor1.speed(0.365+pidBase(0.09,0,0));//belakang |
be_bryan | 26:256160a1a82d | 276 | motor2.speed(-0.46+pidBase(0.09,0,0));//depan |
fanny868 | 0:9072e932503c | 277 | break; |
rahmadirizki18 | 17:e4229d77a5ab | 278 | } |
rahmadirizki18 | 17:e4229d77a5ab | 279 | default : { |
MarchioKevin | 22:4632f58461e0 | 280 | motor1.brake(1); |
MarchioKevin | 22:4632f58461e0 | 281 | motor2.brake(1); |
rahmadirizki18 | 17:e4229d77a5ab | 282 | } |
MarchioKevin | 22:4632f58461e0 | 283 | } // End Switch |
rahmadirizki18 | 5:3aa203218306 | 284 | } |
rahmadirizki18 | 5:3aa203218306 | 285 | |
calmantara186 | 16:90119f03c5d1 | 286 | void setCenter(){ |
calmantara186 | 16:90119f03c5d1 | 287 | /* Fungsi untuk menentukan center dari robot */ |
rahmadirizki18 | 5:3aa203218306 | 288 | encoderKiri.reset(); |
rahmadirizki18 | 5:3aa203218306 | 289 | } |
rahmadirizki18 | 5:3aa203218306 | 290 | |
calmantara186 | 16:90119f03c5d1 | 291 | float getTetha(){ |
calmantara186 | 16:90119f03c5d1 | 292 | /* Fungsi untuk mendapatkan nilai tetha */ |
Joshua23 | 25:054d3048dd03 | 293 | float busurKir, tetha; |
MarchioKevin | 22:4632f58461e0 | 294 | busurKir = ((encoderKiri.getPulses())/(float)(2000.0)*k_enc); |
Joshua23 | 25:054d3048dd03 | 295 | tetha = busurKir/k_robot*360; |
calmantara186 | 16:90119f03c5d1 | 296 | |
Joshua23 | 25:054d3048dd03 | 297 | return -(tetha); |
calmantara186 | 16:90119f03c5d1 | 298 | } |
rahmadirizki18 | 5:3aa203218306 | 299 | |
rahmadirizki18 | 24:b3e632cc4533 | 300 | void speedKalibrasiMotor(){ |
calmantara186 | 16:90119f03c5d1 | 301 | /* Fungsi untuk speed launcher */ |
be_bryan | 27:68efb1622985 | 302 | if (joystick.R3_click and target_rpm < 14){ |
be_bryan | 27:68efb1622985 | 303 | target_rpm = target_rpm + 1; // RPM++ Motor Belakang |
calmantara186 | 16:90119f03c5d1 | 304 | } |
be_bryan | 27:68efb1622985 | 305 | if (joystick.L3_click and target_rpm > 1){ |
be_bryan | 27:68efb1622985 | 306 | target_rpm = target_rpm - 1; // RPM-- Motor Belakang |
calmantara186 | 16:90119f03c5d1 | 307 | } |
be_bryan | 27:68efb1622985 | 308 | if (joystick.R2_click and target_rpm2 < 14){ |
be_bryan | 27:68efb1622985 | 309 | target_rpm2 = target_rpm2 + 1; // RPM++ Motor Depan |
calmantara186 | 16:90119f03c5d1 | 310 | } |
be_bryan | 27:68efb1622985 | 311 | if (joystick.L2_click and target_rpm2 > 1 ){ |
be_bryan | 27:68efb1622985 | 312 | target_rpm2 = target_rpm2 - 1; // RPM-- Motor Depan |
rahmadirizki18 | 24:b3e632cc4533 | 313 | } |
be_bryan | 27:68efb1622985 | 314 | // pc.printf("Rpm depan = %.4f\t Rpm belakang = %.4f\n", target_rpm, target_rpm2); |
rahmadirizki18 | 7:d138c56dab20 | 315 | } |
be_bryan | 26:256160a1a82d | 316 | |
be_bryan | 26:256160a1a82d | 317 | void init_speed (){ |
be_bryan | 26:256160a1a82d | 318 | if (speed>maxSpeed){ |
be_bryan | 26:256160a1a82d | 319 | speed = maxSpeed; |
be_bryan | 26:256160a1a82d | 320 | } |
be_bryan | 26:256160a1a82d | 321 | |
be_bryan | 26:256160a1a82d | 322 | if (speed<minSpeed){ |
be_bryan | 26:256160a1a82d | 323 | speed = minSpeed; |
be_bryan | 26:256160a1a82d | 324 | } |
be_bryan | 27:68efb1622985 | 325 | if (speed2>maxSpeed){ |
be_bryan | 27:68efb1622985 | 326 | speed2 = maxSpeed; |
be_bryan | 27:68efb1622985 | 327 | } |
be_bryan | 27:68efb1622985 | 328 | |
be_bryan | 27:68efb1622985 | 329 | if (speed2<minSpeed){ |
be_bryan | 27:68efb1622985 | 330 | speed2 = minSpeed; |
be_bryan | 27:68efb1622985 | 331 | } |
be_bryan | 26:256160a1a82d | 332 | } |
MarchioKevin | 22:4632f58461e0 | 333 | /*********************************************************/ |
MarchioKevin | 22:4632f58461e0 | 334 | /* Main Function */ |
MarchioKevin | 22:4632f58461e0 | 335 | /*********************************************************/ |
calmantara186 | 16:90119f03c5d1 | 336 | |
calmantara186 | 16:90119f03c5d1 | 337 | int main (void){ |
calmantara186 | 16:90119f03c5d1 | 338 | /* Set baud rate - 115200 */ |
fanny868 | 0:9072e932503c | 339 | joystick.setup(); |
rahmadirizki18 | 23:023b522977b2 | 340 | pc.baud(115200); |
rahmadirizki18 | 6:68293bed71ea | 341 | wait_ms(1000); |
rahmadirizki18 | 5:3aa203218306 | 342 | setCenter(); |
rahmadirizki18 | 5:3aa203218306 | 343 | wait_ms(500); |
rahmadirizki18 | 23:023b522977b2 | 344 | pc.printf("ready...."); |
calmantara186 | 16:90119f03c5d1 | 345 | |
calmantara186 | 16:90119f03c5d1 | 346 | /* Untuk mendapatkan serial dari Arduino */ |
fanny868 | 0:9072e932503c | 347 | while(1) |
fanny868 | 0:9072e932503c | 348 | { |
fanny868 | 0:9072e932503c | 349 | // Interrupt Serial |
calmantara186 | 16:90119f03c5d1 | 350 | joystick.idle(); |
Joshua23 | 25:054d3048dd03 | 351 | //pc.printf("enco : %d \n",encoderKiri.getPulses()); |
be_bryan | 26:256160a1a82d | 352 | if(joystick.readable()) { |
fanny868 | 0:9072e932503c | 353 | // Panggil fungsi pembacaan joystik |
fanny868 | 0:9072e932503c | 354 | joystick.baca_data(); |
fanny868 | 0:9072e932503c | 355 | // Panggil fungsi pengolahan data joystik |
fanny868 | 0:9072e932503c | 356 | joystick.olah_data(); |
calmantara186 | 16:90119f03c5d1 | 357 | // Masuk ke case gerak |
fanny868 | 0:9072e932503c | 358 | case_ger = case_gerak(); |
rahmadirizki18 | 3:1287fccc11be | 359 | aktuator(); |
be_bryan | 26:256160a1a82d | 360 | if (joystick.segitiga_click){ |
be_bryan | 26:256160a1a82d | 361 | launcher = !launcher; |
be_bryan | 26:256160a1a82d | 362 | } |
be_bryan | 26:256160a1a82d | 363 | if (joystick.lingkaran_click){ |
be_bryan | 26:256160a1a82d | 364 | pneumatik = 1; |
be_bryan | 26:256160a1a82d | 365 | wait_ms(500); |
be_bryan | 26:256160a1a82d | 366 | pneumatik = 0; |
be_bryan | 26:256160a1a82d | 367 | } |
be_bryan | 27:68efb1622985 | 368 | speedKalibrasiMotor(); |
be_bryan | 28:2d0746dc2d7d | 369 | if (joystick.silang_click){ |
be_bryan | 28:2d0746dc2d7d | 370 | reload = !reload; |
be_bryan | 28:2d0746dc2d7d | 371 | } |
be_bryan | 26:256160a1a82d | 372 | } |
calmantara186 | 16:90119f03c5d1 | 373 | else { |
calmantara186 | 16:90119f03c5d1 | 374 | joystick.idle(); |
be_bryan | 26:256160a1a82d | 375 | motor1.brake(1); |
be_bryan | 26:256160a1a82d | 376 | motor2.brake(1); |
MarchioKevin | 21:da2f3d04468f | 377 | } |
fanny868 | 0:9072e932503c | 378 | } |
be_bryan | 28:2d0746dc2d7d | 379 | } |