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tugas akhir
Dependencies: Motor mbed millis
Fork of DagonFly__RoadToJapan_15Mei_Ultimate by
Diff: main.cpp
- Revision:
- 37:67d54563af90
- Parent:
- 36:5963c9a49485
- Child:
- 38:3ef6754bd8d8
--- a/main.cpp Tue Feb 14 16:20:35 2017 +0000 +++ b/main.cpp Tue Feb 14 17:11:20 2017 +0000 @@ -62,6 +62,7 @@ double last_error2 = 0, current_error2, sum_error2 = 0; float rpm, target_rpm = 8.0; float rpm2, target_rpm2 = 10.0; +float maxRPM = 40, minRPM = 0; float pwmPowerUp = 0.75; float pwmPowerDown = -0.80; bool henti=false, hentis=false; @@ -115,8 +116,8 @@ encoderKRAI encoderBase(PC_4, PB_15, 2000, encoderKRAI::X2_ENCODING); //inA, inB, pin Indeks (NC = tak ada), 2xresolusi, mode pembacaan /* Deklarasi Encoder Launcher */ -encoderKRAI encLauncherBlk( PC_10, PC_11, 28, encoderKRAI::X2_ENCODING); -encoderKRAI encLauncherDpn( PD_2, PC_12, 28, encoderKRAI::X2_ENCODING); +encoderKRAI encLauncherBlk( PC_10, PC_11, 28, encoderKRAI::X4_ENCODING); +encoderKRAI encLauncherDpn( PD_2, PC_12, 28, encoderKRAI::X4_ENCODING); /* Deklarasi Motor Base */ Motor motorDpn(PB_9, PA_12, PC_5); // pwm, fwd, rev @@ -173,7 +174,7 @@ // Motor Launcher caseJoystick = 5; } - else if (joystick.R2_click && (target_rpm2 < 20)){ + else if (joystick.R2_click && (target_rpm2 < 40)){ // Target Pulse PID ++ Motor Depan caseJoystick = 6; } @@ -181,7 +182,7 @@ // Target Pulse PID -- Motor Depan caseJoystick = 7; } - else if (joystick.R3_click && (target_rpm < 20 )){ + else if (joystick.R3_click && (target_rpm < 40 )){ // Target Pulse PID ++ Motor Belakang caseJoystick = 8; } @@ -247,6 +248,21 @@ encoderBase.reset(); } +void init_rpm (){ + if (target_rpm>maxRPM){ + target_rpm = maxRPM; + } + if (target_rpm<minRPM){ + target_rpm = minRPM; + } + if (target_rpm2>maxRPM){ + target_rpm2 = maxRPM; + } + if (target_rpm2<minRPM){ + target_rpm2 = minRPM; + } +} + void aktuator() { switch (case_joy) { @@ -296,24 +312,28 @@ { // Target Pulse PID ++ Motor Depan target_rpm2 = target_rpm2++; + init_rpm(); break; } case (7) : { // Target Pulse PID -- Motor Depan target_rpm2 = target_rpm2--; + init_rpm(); break; } case (8) : { // Target Pulse PID ++ Motor Belakang= target_rpm = target_rpm++; + init_rpm(); break; } case (9) : { // Target Pulse PID -- Motor Belakang target_rpm = target_rpm--; + init_rpm(); break; } case (10) :