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tugas akhir
Dependencies: Motor mbed millis
Fork of DagonFly__RoadToJapan_15Mei_Ultimate by
Diff: main.cpp
- Revision:
- 33:69d266bc3fe9
- Parent:
- 32:581d4a2373f0
- Child:
- 34:1cfd9b1c7d27
--- a/main.cpp Mon Feb 13 13:49:50 2017 +0000 +++ b/main.cpp Tue Feb 14 10:34:39 2017 +0000 @@ -1,7 +1,7 @@ /****************************************************************************/ /* PROGRAM UNTUK PID CLOSED LOOP */ /* */ -/* Last Update : 13 Februari 2017 */ +/* Last Update : 14 Februari 2017 */ /* */ /* - Digunakan encoder autonics */ /* - Konfigurasi Motor dan Encoder sbb : */ @@ -62,8 +62,8 @@ double last_error2 = 0, current_error2, sum_error2 = 0; float rpm, target_rpm = 8.0; float rpm2, target_rpm2 = 8.0; -float pwmPowerUp = 0.5; -float pwmPowerDown = -0.5; +float pwmPowerUp = 0.70; +float pwmPowerDown = -0.80; bool henti=false, hentis=false; // Variable Bawah @@ -72,19 +72,19 @@ float keliling_robot = PI*D_ROBOT; float speedT = 0.2; float vpid = 0; -float PIVOT = 0.4; // PWM Pivot Kanan, Pivot Kiri -float tuneDpn = 0.365; // Tunning PWM motor Depan -float tuneBlk = 0.46; // Tunning PWM motor belakang +float PIVOT = 0.27; // PWM Pivot Kanan, Pivot Kiri +float tuneDpn = 0.35; // Tunning PWM motor Depan +float tuneBlk = 0.3; // Tunning PWM motor belakang /* Variabel Encoder Bawah */ float errTetha, Tetha; // Variabel yang didapatkan encoder /* Deklarasi Variable Millis */ -unsigned long int previousMillis = 0; +unsigned long int previousMillis = 0; // PID launcher unsigned long int currentMillis; -unsigned long int previousMillis2 = 0; +unsigned long int previousMillis2 = 0; // PID launcher unsigned long int currentMillis2; -unsigned long int previousMillis3 = 0; +unsigned long int previousMillis3 = 0; // Pneumatik /* Variabel Stick */ //Logic untuk masuk aktuator @@ -102,7 +102,7 @@ void init_speed(); // void aktuator(); // Pergerakan aktuator berdasarkan case joystick int case_joystick(); // Mendapatkan case dari joystick -//void speedKalibrasiMotor(); // Pertambahan target RPM motor atas melalui joystick +//void speedKalibrasiMotor(); // Pertambahan target RPM motor atas melalui joystick void setCenter(); // Prosedur reset encoder, posisi saat itu diset jadi titik (0,0) float getTetha(); // Fungsi mendapatkan error Tetha @@ -161,12 +161,12 @@ else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri)) { // Kanan caseJoystick = 3; - pc.printf("kanan"); + //pc.printf("kanan"); } else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)) { // Kiri caseJoystick = 4; - pc.printf("kiri"); + //pc.printf("kiri"); } else if (joystick.segitiga_click && flagLauncher){ // Motor Launcher @@ -221,6 +221,8 @@ { int errorP; errorP = getTetha(); + if (errorP<3.5 && errorP>(-3.5)) + errorP = 0; return (float)Kp*errorP; } @@ -266,15 +268,21 @@ case (3) : { // Kanan - motorDpn.speed(-(tuneDpn) + pidBase(0.09,0,0)); - motorBlk.speed((tuneBlk) + pidBase(0.09,0,0)); + motorDpn.speed(-tuneDpn + pidBase(0.009,0,0)); + motorBlk.speed(tuneBlk + pidBase(0.009,0,0)); + //speedDpn = tuneDpn + pidBase(0.009,0,0) + //speedBlk = tuneBlk + pidBase(0.009,0,0) + //motorDpn.speed(-tuneDpn); + //motorBlk.speed(tuneBlk); break; } case (4) : { // Kiri - motorDpn.speed(tuneDpn + pidBase(0.09,0,0)); - motorBlk.speed(-tuneBlk + pidBase(0.09,0,0)); + motorDpn.speed(tuneDpn + pidBase(0.009,0,0)); + motorBlk.speed(-tuneBlk + pidBase(0.009,0,0)); + //motorDpn.speed(tuneDpn); + //motorBlk.speed(-tuneBlk); break; } case (5) :