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tugas akhir
Dependencies: Motor mbed millis
Fork of DagonFly__RoadToJapan_15Mei_Ultimate by
main.cpp@4:483c07cc22e1, 2016-10-25 (annotated)
- Committer:
- rahmadirizki18
- Date:
- Tue Oct 25 13:21:57 2016 +0000
- Revision:
- 4:483c07cc22e1
- Parent:
- 3:1287fccc11be
- Child:
- 5:3aa203218306
fixed error analog
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
fanny868 | 0:9072e932503c | 1 | /** |
fanny868 | 0:9072e932503c | 2 | Case Gerak |
rahmadirizki18 | 3:1287fccc11be | 3 | 1. cw |
rahmadirizki18 | 3:1287fccc11be | 4 | 2. ccw |
fanny868 | 0:9072e932503c | 5 | 3. Maju |
fanny868 | 0:9072e932503c | 6 | 4. Mundur |
fanny868 | 0:9072e932503c | 7 | 5. Serong Atas Kanan |
fanny868 | 0:9072e932503c | 8 | 6. Serong Bawah Kanan |
fanny868 | 0:9072e932503c | 9 | 7. Serong Atas Kiri |
fanny868 | 0:9072e932503c | 10 | 8. Serong Bawah Kiri |
fanny868 | 0:9072e932503c | 11 | 9. Kanan |
fanny868 | 0:9072e932503c | 12 | 10. Kiri |
rahmadirizki18 | 3:1287fccc11be | 13 | 11. Analog kiri base |
rahmadirizki18 | 3:1287fccc11be | 14 | 12. stop |
fanny868 | 0:9072e932503c | 15 | |
rahmadirizki18 | 3:1287fccc11be | 16 | Urutan motor 1234 searah jarum jam |
fanny868 | 0:9072e932503c | 17 | |
rahmadirizki18 | 3:1287fccc11be | 18 | Source Code dari |
fanny868 | 0:9072e932503c | 19 | Bima Sahbani EL'12 |
fanny868 | 0:9072e932503c | 20 | Fanny Achmad Hindrarta EL'12 |
fanny868 | 0:9072e932503c | 21 | **/ |
fanny868 | 0:9072e932503c | 22 | #include "mbed.h" |
fanny868 | 0:9072e932503c | 23 | #include "JoystickPS3.h" |
fanny868 | 0:9072e932503c | 24 | #include "Motor.h" |
fanny868 | 0:9072e932503c | 25 | |
fanny868 | 0:9072e932503c | 26 | #define vmax 1 |
fanny868 | 0:9072e932503c | 27 | #define vmaxserong 0.9 |
fanny868 | 0:9072e932503c | 28 | #define vmaxpivot 0.7 |
rahmadirizki18 | 4:483c07cc22e1 | 29 | #define vmaxanalog 0.9 |
fanny868 | 0:9072e932503c | 30 | #define ax 0.005 |
fanny868 | 0:9072e932503c | 31 | //#define koefperlambatan 0.8 |
fanny868 | 0:9072e932503c | 32 | |
fanny868 | 0:9072e932503c | 33 | // Deklarasi variabel motor |
rahmadirizki18 | 4:483c07cc22e1 | 34 | Motor motor1(PB_6, PB_4 , PB_5); // pwm, fwd, rev |
rahmadirizki18 | 4:483c07cc22e1 | 35 | Motor motor2(PB_7, PA_4, PC_1); // pwm, fwd, rev |
rahmadirizki18 | 4:483c07cc22e1 | 36 | Motor motor3(PB_8, PC_12, PD_2); // pwm, fwd, rev |
rahmadirizki18 | 4:483c07cc22e1 | 37 | Motor motor4(PB_9, PC_10 , PC_11); // pwm, fwd, rev |
fanny868 | 0:9072e932503c | 38 | |
fanny868 | 0:9072e932503c | 39 | // Inisialisasi Pin TX-RX Joystik dan PC |
rahmadirizki18 | 3:1287fccc11be | 40 | joysticknucleo joystick(PA_0,PA_1); |
rahmadirizki18 | 3:1287fccc11be | 41 | Serial pc(USBTX,USBRX); |
fanny868 | 0:9072e932503c | 42 | |
fanny868 | 0:9072e932503c | 43 | //bool perlambatan=0; |
fanny868 | 0:9072e932503c | 44 | char case_ger; |
rahmadirizki18 | 3:1287fccc11be | 45 | bool maju=false,mundur=false,pivka=false,pivki=false,kiri=false,kanan=false,saka=false,saki=false,sbka=false,sbki=false,cw1=false,ccw1=false,cw2=false,ccw2=false,cw3=false,ccw3=false,analog=false; |
fanny868 | 0:9072e932503c | 46 | bool stop = true; |
rahmadirizki18 | 4:483c07cc22e1 | 47 | float jLX,jLY; |
rahmadirizki18 | 3:1287fccc11be | 48 | double vcurr=0; |
rahmadirizki18 | 4:483c07cc22e1 | 49 | float x,y; // untuk analoghat kiri |
rahmadirizki18 | 3:1287fccc11be | 50 | float errorx=0,errory=0; |
rahmadirizki18 | 3:1287fccc11be | 51 | |
rahmadirizki18 | 4:483c07cc22e1 | 52 | // Fungsi mapping 0-255 ke -128 sampai 127 |
rahmadirizki18 | 4:483c07cc22e1 | 53 | float mapping(float a,float error) |
rahmadirizki18 | 3:1287fccc11be | 54 | { |
rahmadirizki18 | 4:483c07cc22e1 | 55 | float hasil,b; |
rahmadirizki18 | 4:483c07cc22e1 | 56 | b = (float)((a-128)/128); |
rahmadirizki18 | 4:483c07cc22e1 | 57 | if (b>(error - 0.2) && b<(error + 0.2)) |
rahmadirizki18 | 4:483c07cc22e1 | 58 | { |
rahmadirizki18 | 4:483c07cc22e1 | 59 | hasil = 0; |
rahmadirizki18 | 4:483c07cc22e1 | 60 | } else { |
rahmadirizki18 | 4:483c07cc22e1 | 61 | hasil = b; |
rahmadirizki18 | 4:483c07cc22e1 | 62 | } |
rahmadirizki18 | 3:1287fccc11be | 63 | return (hasil); |
rahmadirizki18 | 3:1287fccc11be | 64 | } |
fanny868 | 0:9072e932503c | 65 | |
rahmadirizki18 | 4:483c07cc22e1 | 66 | // Kalibrasi tombol analog kiri |
rahmadirizki18 | 4:483c07cc22e1 | 67 | void kalibrasi() |
rahmadirizki18 | 4:483c07cc22e1 | 68 | { |
rahmadirizki18 | 4:483c07cc22e1 | 69 | errorx = (jLX - 128)/128; |
rahmadirizki18 | 4:483c07cc22e1 | 70 | errory = (jLY - 128)/128; |
rahmadirizki18 | 4:483c07cc22e1 | 71 | |
rahmadirizki18 | 4:483c07cc22e1 | 72 | } |
rahmadirizki18 | 4:483c07cc22e1 | 73 | |
rahmadirizki18 | 3:1287fccc11be | 74 | // simpan data analog |
rahmadirizki18 | 3:1287fccc11be | 75 | void baca_analog() |
rahmadirizki18 | 3:1287fccc11be | 76 | { |
rahmadirizki18 | 3:1287fccc11be | 77 | jLX = joystick.LX; |
rahmadirizki18 | 3:1287fccc11be | 78 | jLY = joystick.LY; |
rahmadirizki18 | 3:1287fccc11be | 79 | |
rahmadirizki18 | 3:1287fccc11be | 80 | // Pembacaan nilai Y terbalik |
rahmadirizki18 | 4:483c07cc22e1 | 81 | x = mapping(jLX,errorx); |
rahmadirizki18 | 4:483c07cc22e1 | 82 | y = -mapping(jLY,errory); |
rahmadirizki18 | 3:1287fccc11be | 83 | } |
fanny868 | 0:9072e932503c | 84 | |
rahmadirizki18 | 3:1287fccc11be | 85 | // Gerak dari Motor base |
fanny868 | 0:9072e932503c | 86 | int case_gerak() |
fanny868 | 0:9072e932503c | 87 | { |
fanny868 | 0:9072e932503c | 88 | int casegerak; |
rahmadirizki18 | 3:1287fccc11be | 89 | baca_analog(); |
rahmadirizki18 | 3:1287fccc11be | 90 | if (!joystick.L1 && joystick.R1) { |
fanny868 | 0:9072e932503c | 91 | // Pivot Kanan |
fanny868 | 0:9072e932503c | 92 | casegerak = 1; |
fanny868 | 0:9072e932503c | 93 | } else if (!joystick.R1 && joystick.L1) { |
fanny868 | 0:9072e932503c | 94 | // Pivot Kiri |
fanny868 | 0:9072e932503c | 95 | casegerak = 2; |
rahmadirizki18 | 3:1287fccc11be | 96 | } else if ((!joystick.R1)&&(!joystick.L1)&&(joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) { |
fanny868 | 0:9072e932503c | 97 | // Maju |
rahmadirizki18 | 3:1287fccc11be | 98 | casegerak = 3; |
rahmadirizki18 | 3:1287fccc11be | 99 | } else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) { |
fanny868 | 0:9072e932503c | 100 | // Mundur |
fanny868 | 0:9072e932503c | 101 | casegerak = 4; |
rahmadirizki18 | 3:1287fccc11be | 102 | } else if ((!joystick.R1)&&(!joystick.L1)&&(joystick.atas)&&(!joystick.bawah)&&(!joystick.kiri)&&(joystick.kanan)) { |
fanny868 | 0:9072e932503c | 103 | // Serong Atas Kanan |
fanny868 | 0:9072e932503c | 104 | casegerak = 5; |
rahmadirizki18 | 3:1287fccc11be | 105 | } else if((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(joystick.bawah)&&(!joystick.kiri)&&(joystick.kanan)) { |
fanny868 | 0:9072e932503c | 106 | // Serong Bawah Kanan |
fanny868 | 0:9072e932503c | 107 | casegerak = 6; |
rahmadirizki18 | 3:1287fccc11be | 108 | } else if ((!joystick.R1)&&(!joystick.L1)&&(joystick.atas)&&(!joystick.bawah)&&(joystick.kiri)&&(!joystick.kanan)) { |
fanny868 | 0:9072e932503c | 109 | // Serong Atas Kiri |
fanny868 | 0:9072e932503c | 110 | casegerak = 7; |
rahmadirizki18 | 3:1287fccc11be | 111 | } else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(joystick.bawah)&&(joystick.kiri)&&(!joystick.kanan)) { |
fanny868 | 0:9072e932503c | 112 | // Serong Bawah Kiri |
fanny868 | 0:9072e932503c | 113 | casegerak = 8; |
rahmadirizki18 | 3:1287fccc11be | 114 | } else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri)) { |
fanny868 | 0:9072e932503c | 115 | // Kanan |
fanny868 | 0:9072e932503c | 116 | casegerak = 9; |
rahmadirizki18 | 3:1287fccc11be | 117 | } else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)) { |
fanny868 | 0:9072e932503c | 118 | // Kiri |
rahmadirizki18 | 3:1287fccc11be | 119 | casegerak = 10; |
rahmadirizki18 | 3:1287fccc11be | 120 | } else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) { |
rahmadirizki18 | 3:1287fccc11be | 121 | // case gerak analog on off |
rahmadirizki18 | 3:1287fccc11be | 122 | if (analog){ |
rahmadirizki18 | 3:1287fccc11be | 123 | casegerak = 11; |
rahmadirizki18 | 3:1287fccc11be | 124 | } else { |
rahmadirizki18 | 3:1287fccc11be | 125 | casegerak = 12; |
rahmadirizki18 | 3:1287fccc11be | 126 | } |
rahmadirizki18 | 3:1287fccc11be | 127 | } |
fanny868 | 0:9072e932503c | 128 | return(casegerak); |
fanny868 | 0:9072e932503c | 129 | } |
fanny868 | 0:9072e932503c | 130 | |
fanny868 | 0:9072e932503c | 131 | |
fanny868 | 0:9072e932503c | 132 | |
fanny868 | 0:9072e932503c | 133 | /** |
fanny868 | 0:9072e932503c | 134 | |
rahmadirizki18 | 3:1287fccc11be | 135 | ** Case 1 : Pivot kanan |
fanny868 | 0:9072e932503c | 136 | ** Case 2 : Pivot Kiri |
fanny868 | 0:9072e932503c | 137 | ** Case 3 : Maju |
fanny868 | 0:9072e932503c | 138 | ** Case 4 : Mundur |
fanny868 | 0:9072e932503c | 139 | ** Case 5 : Serong Atas Kanan |
fanny868 | 0:9072e932503c | 140 | ** Case 6 : Serong Bawah Kanan |
fanny868 | 0:9072e932503c | 141 | ** Case 7 : Serong Atas Kiri |
fanny868 | 0:9072e932503c | 142 | ** Case 8 : Serong Bawah Kiri |
fanny868 | 0:9072e932503c | 143 | ** Case 9 : Kanan |
fanny868 | 0:9072e932503c | 144 | ** Case 10 : Kiri |
rahmadirizki18 | 3:1287fccc11be | 145 | ** Case 11 : Analog |
rahmadirizki18 | 3:1287fccc11be | 146 | ** Case 11 : break |
fanny868 | 0:9072e932503c | 147 | |
fanny868 | 0:9072e932503c | 148 | **/ |
rahmadirizki18 | 3:1287fccc11be | 149 | |
rahmadirizki18 | 3:1287fccc11be | 150 | // Pergerakan dari base |
fanny868 | 0:9072e932503c | 151 | void aktuator() |
fanny868 | 0:9072e932503c | 152 | { |
fanny868 | 0:9072e932503c | 153 | double koef; |
rahmadirizki18 | 4:483c07cc22e1 | 154 | double s1=0,s2=0,s3=0,s4=0,s1t=0,s2t=0,s3t=0,s4t=0; |
fanny868 | 0:9072e932503c | 155 | |
fanny868 | 0:9072e932503c | 156 | // MOTOR |
fanny868 | 0:9072e932503c | 157 | switch (case_ger) |
fanny868 | 0:9072e932503c | 158 | { |
rahmadirizki18 | 3:1287fccc11be | 159 | case (1): |
fanny868 | 0:9072e932503c | 160 | { |
fanny868 | 0:9072e932503c | 161 | if (pivka) { |
fanny868 | 0:9072e932503c | 162 | if(vcurr<0.1) { |
fanny868 | 0:9072e932503c | 163 | vcurr=0.1; |
fanny868 | 0:9072e932503c | 164 | } else { |
fanny868 | 0:9072e932503c | 165 | vcurr+=ax; |
fanny868 | 0:9072e932503c | 166 | } |
fanny868 | 0:9072e932503c | 167 | //perlambatan=0; |
fanny868 | 0:9072e932503c | 168 | } else { |
fanny868 | 0:9072e932503c | 169 | //perlambatan=1; |
fanny868 | 0:9072e932503c | 170 | } |
fanny868 | 0:9072e932503c | 171 | |
fanny868 | 0:9072e932503c | 172 | if (vcurr>=vmaxpivot) { |
fanny868 | 0:9072e932503c | 173 | vcurr=vmaxpivot; |
fanny868 | 0:9072e932503c | 174 | } |
fanny868 | 0:9072e932503c | 175 | |
fanny868 | 0:9072e932503c | 176 | if(joystick.R2==255 && joystick.L2==0) { |
fanny868 | 0:9072e932503c | 177 | koef=2; |
fanny868 | 0:9072e932503c | 178 | } else if (joystick.L2==255 && joystick.R2==0) { |
fanny868 | 0:9072e932503c | 179 | koef=0.5; |
fanny868 | 0:9072e932503c | 180 | } |
fanny868 | 0:9072e932503c | 181 | else { |
fanny868 | 0:9072e932503c | 182 | koef=1; |
fanny868 | 0:9072e932503c | 183 | } |
fanny868 | 0:9072e932503c | 184 | |
fanny868 | 0:9072e932503c | 185 | s1 = (float)(-0.5*koef*vcurr); |
rahmadirizki18 | 3:1287fccc11be | 186 | s2 = (float)(-0.5*koef*vcurr); |
fanny868 | 0:9072e932503c | 187 | s3 = (float)(-0.5*koef*vcurr); |
rahmadirizki18 | 3:1287fccc11be | 188 | s4 = (float)(-0.5*koef*vcurr); |
fanny868 | 0:9072e932503c | 189 | |
fanny868 | 0:9072e932503c | 190 | pivka=true; |
rahmadirizki18 | 3:1287fccc11be | 191 | maju=mundur=analog=kiri=kanan=saka=saki=sbka=sbki=pivki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false; |
fanny868 | 0:9072e932503c | 192 | |
rahmadirizki18 | 3:1287fccc11be | 193 | pc.printf("pivKa\n"); |
fanny868 | 0:9072e932503c | 194 | |
fanny868 | 0:9072e932503c | 195 | motor1.speed(s1); |
fanny868 | 0:9072e932503c | 196 | motor2.speed(s2); |
fanny868 | 0:9072e932503c | 197 | motor3.speed(s3); |
fanny868 | 0:9072e932503c | 198 | motor4.speed(s4); |
fanny868 | 0:9072e932503c | 199 | |
fanny868 | 0:9072e932503c | 200 | break; |
fanny868 | 0:9072e932503c | 201 | } |
fanny868 | 0:9072e932503c | 202 | case (2): |
fanny868 | 0:9072e932503c | 203 | { |
fanny868 | 0:9072e932503c | 204 | if (pivki){ |
fanny868 | 0:9072e932503c | 205 | if(vcurr<0.1) { |
fanny868 | 0:9072e932503c | 206 | vcurr=0.1; |
fanny868 | 0:9072e932503c | 207 | } else { |
fanny868 | 0:9072e932503c | 208 | vcurr+=ax; |
fanny868 | 0:9072e932503c | 209 | } |
fanny868 | 0:9072e932503c | 210 | //perlambatan=0; |
fanny868 | 0:9072e932503c | 211 | } else { |
fanny868 | 0:9072e932503c | 212 | //perlambatan=1; |
fanny868 | 0:9072e932503c | 213 | } |
fanny868 | 0:9072e932503c | 214 | |
fanny868 | 0:9072e932503c | 215 | if (vcurr>=vmaxpivot) { |
fanny868 | 0:9072e932503c | 216 | vcurr=vmaxpivot; |
fanny868 | 0:9072e932503c | 217 | } |
fanny868 | 0:9072e932503c | 218 | |
fanny868 | 0:9072e932503c | 219 | if(joystick.R2==255 && joystick.L2==0) { |
fanny868 | 0:9072e932503c | 220 | koef=2; |
fanny868 | 0:9072e932503c | 221 | } else if (joystick.L2==255 && joystick.R2==0) { |
fanny868 | 0:9072e932503c | 222 | koef=0.5; |
fanny868 | 0:9072e932503c | 223 | } else { |
fanny868 | 0:9072e932503c | 224 | koef=1; |
fanny868 | 0:9072e932503c | 225 | } |
fanny868 | 0:9072e932503c | 226 | |
fanny868 | 0:9072e932503c | 227 | s1 = (float)(0.5*koef*vcurr); |
rahmadirizki18 | 3:1287fccc11be | 228 | s2 = (float)(0.5*koef*vcurr); |
fanny868 | 0:9072e932503c | 229 | s3 = (float)(0.5*koef*vcurr); |
rahmadirizki18 | 3:1287fccc11be | 230 | s4 = (float)(0.5*koef*vcurr); |
fanny868 | 0:9072e932503c | 231 | |
fanny868 | 0:9072e932503c | 232 | pivki=true; |
rahmadirizki18 | 3:1287fccc11be | 233 | maju=mundur=kiri=analog=kanan=saka=saki=sbka=sbki=pivka=cw1=ccw1=cw2=ccw2=cw3=ccw3=false; |
fanny868 | 0:9072e932503c | 234 | |
rahmadirizki18 | 3:1287fccc11be | 235 | pc.printf("pivKi\n"); |
fanny868 | 0:9072e932503c | 236 | |
fanny868 | 0:9072e932503c | 237 | motor1.speed(s1); |
fanny868 | 0:9072e932503c | 238 | motor2.speed(s2); |
fanny868 | 0:9072e932503c | 239 | motor3.speed(s3); |
fanny868 | 0:9072e932503c | 240 | motor4.speed(s4); |
fanny868 | 0:9072e932503c | 241 | |
fanny868 | 0:9072e932503c | 242 | break; |
fanny868 | 0:9072e932503c | 243 | } |
fanny868 | 0:9072e932503c | 244 | case (3): |
fanny868 | 0:9072e932503c | 245 | { |
rahmadirizki18 | 4:483c07cc22e1 | 246 | if (maju) { |
fanny868 | 0:9072e932503c | 247 | if(vcurr<0.1) { |
fanny868 | 0:9072e932503c | 248 | vcurr=0.1; |
fanny868 | 0:9072e932503c | 249 | } else { |
fanny868 | 0:9072e932503c | 250 | vcurr+=ax; |
fanny868 | 0:9072e932503c | 251 | } |
fanny868 | 0:9072e932503c | 252 | //perlambatan=0; |
fanny868 | 0:9072e932503c | 253 | } else { |
fanny868 | 0:9072e932503c | 254 | //perlambatan=1; |
fanny868 | 0:9072e932503c | 255 | } |
fanny868 | 0:9072e932503c | 256 | |
fanny868 | 0:9072e932503c | 257 | if (vcurr>=vmax) { |
fanny868 | 0:9072e932503c | 258 | vcurr=vmax; |
fanny868 | 0:9072e932503c | 259 | } |
fanny868 | 0:9072e932503c | 260 | |
fanny868 | 0:9072e932503c | 261 | if(joystick.R2==255 && joystick.L2==0) { |
fanny868 | 0:9072e932503c | 262 | koef=2; |
fanny868 | 0:9072e932503c | 263 | } else if (joystick.L2==255 && joystick.R2==0) { koef=0.5;} |
fanny868 | 0:9072e932503c | 264 | else { |
fanny868 | 0:9072e932503c | 265 | koef=1; |
fanny868 | 0:9072e932503c | 266 | } |
fanny868 | 0:9072e932503c | 267 | |
fadhilginting | 1:56bd3e8f38c5 | 268 | //Case s1 untuk mode L2 lebih lambat |
fadhilginting | 1:56bd3e8f38c5 | 269 | s1 = (float)(-1*koef*(vcurr+0.005)); |
fadhilginting | 1:56bd3e8f38c5 | 270 | |
fanny868 | 0:9072e932503c | 271 | s2 = (float)(1.0*koef*vcurr); |
fanny868 | 0:9072e932503c | 272 | s3 = (float)(1.0*koef*vcurr); |
fanny868 | 0:9072e932503c | 273 | s4 = (float)(-1*koef*vcurr); |
fanny868 | 0:9072e932503c | 274 | |
fanny868 | 0:9072e932503c | 275 | //s1 =-0.8*koef*vcurr; |
fanny868 | 0:9072e932503c | 276 | //s2 =koef*vcurr; |
fanny868 | 0:9072e932503c | 277 | //s3 =-koef*vcurr; |
fanny868 | 0:9072e932503c | 278 | //s4 =koef*vcurr; |
fanny868 | 0:9072e932503c | 279 | |
fanny868 | 0:9072e932503c | 280 | maju=true; |
rahmadirizki18 | 3:1287fccc11be | 281 | mundur=kiri=kanan=saka=saki=sbka=sbki=analog=pivka=pivki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false; |
fanny868 | 0:9072e932503c | 282 | |
rahmadirizki18 | 3:1287fccc11be | 283 | pc.printf("maju\n"); |
fanny868 | 0:9072e932503c | 284 | |
fanny868 | 0:9072e932503c | 285 | motor1.speed(s1); |
fanny868 | 0:9072e932503c | 286 | motor2.speed(s2); |
fanny868 | 0:9072e932503c | 287 | motor3.speed(s3); |
fanny868 | 0:9072e932503c | 288 | motor4.speed(s4); |
fanny868 | 0:9072e932503c | 289 | |
fanny868 | 0:9072e932503c | 290 | break; |
fanny868 | 0:9072e932503c | 291 | } |
fanny868 | 0:9072e932503c | 292 | case (4): |
fanny868 | 0:9072e932503c | 293 | { |
fanny868 | 0:9072e932503c | 294 | if (mundur) { |
fanny868 | 0:9072e932503c | 295 | if(vcurr<0.1) { |
fanny868 | 0:9072e932503c | 296 | vcurr=0.1; |
fanny868 | 0:9072e932503c | 297 | } else { |
fanny868 | 0:9072e932503c | 298 | vcurr+=ax; |
fanny868 | 0:9072e932503c | 299 | } |
fanny868 | 0:9072e932503c | 300 | //perlambatan=0; |
fanny868 | 0:9072e932503c | 301 | } else { |
fanny868 | 0:9072e932503c | 302 | //perlambatan=1; |
fanny868 | 0:9072e932503c | 303 | } |
fanny868 | 0:9072e932503c | 304 | |
fanny868 | 0:9072e932503c | 305 | if (vcurr>=vmax) { |
fanny868 | 0:9072e932503c | 306 | vcurr=vmax; |
fanny868 | 0:9072e932503c | 307 | } |
fanny868 | 0:9072e932503c | 308 | |
fanny868 | 0:9072e932503c | 309 | if(joystick.R2==255 && joystick.L2==0) { |
fanny868 | 0:9072e932503c | 310 | koef=2; |
fanny868 | 0:9072e932503c | 311 | } else if (joystick.L2==255 && joystick.R2==0) { |
fanny868 | 0:9072e932503c | 312 | koef=0.5; |
fanny868 | 0:9072e932503c | 313 | } else { |
fanny868 | 0:9072e932503c | 314 | koef=1; |
fanny868 | 0:9072e932503c | 315 | } |
fadhilginting | 1:56bd3e8f38c5 | 316 | //Motor 4 telat mulai |
fadhilginting | 1:56bd3e8f38c5 | 317 | s1 = (float)(1*koef*(vcurr-0.008)); |
fadhilginting | 1:56bd3e8f38c5 | 318 | s2 = (float)(-1*koef*(vcurr-0.005)); |
fadhilginting | 1:56bd3e8f38c5 | 319 | s3 = (float)(-1*koef*(vcurr-0.005)); |
fadhilginting | 1:56bd3e8f38c5 | 320 | s4 = (float)(1*koef*(vcurr+0.005)); |
fanny868 | 0:9072e932503c | 321 | |
fanny868 | 0:9072e932503c | 322 | mundur=true; |
rahmadirizki18 | 3:1287fccc11be | 323 | maju=kiri=kanan=saka=saki=sbka=sbki=analog=pivka=pivki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false; |
fanny868 | 0:9072e932503c | 324 | |
rahmadirizki18 | 3:1287fccc11be | 325 | pc.printf("mundur\n"); |
fanny868 | 0:9072e932503c | 326 | |
fanny868 | 0:9072e932503c | 327 | motor1.speed(s1); |
fanny868 | 0:9072e932503c | 328 | motor2.speed(s2); |
fanny868 | 0:9072e932503c | 329 | motor3.speed(s3); |
fanny868 | 0:9072e932503c | 330 | motor4.speed(s4); |
fanny868 | 0:9072e932503c | 331 | |
fanny868 | 0:9072e932503c | 332 | break; |
fanny868 | 0:9072e932503c | 333 | } |
fanny868 | 0:9072e932503c | 334 | case (5) : |
fanny868 | 0:9072e932503c | 335 | { |
fanny868 | 0:9072e932503c | 336 | if (saka) { |
fanny868 | 0:9072e932503c | 337 | if(vcurr<0.1) { |
fanny868 | 0:9072e932503c | 338 | vcurr=0.1; |
fanny868 | 0:9072e932503c | 339 | } else { |
fanny868 | 0:9072e932503c | 340 | vcurr+=ax; |
fanny868 | 0:9072e932503c | 341 | } |
fanny868 | 0:9072e932503c | 342 | //perlambatan=0; |
fanny868 | 0:9072e932503c | 343 | } else { |
fanny868 | 0:9072e932503c | 344 | //perlambatan=1; |
fanny868 | 0:9072e932503c | 345 | } |
fanny868 | 0:9072e932503c | 346 | |
fanny868 | 0:9072e932503c | 347 | if (vcurr>=vmax) { |
fanny868 | 0:9072e932503c | 348 | vcurr=vmax; |
fanny868 | 0:9072e932503c | 349 | } if(joystick.R2==255 && joystick.L2==0) { |
fanny868 | 0:9072e932503c | 350 | koef=2; |
fanny868 | 0:9072e932503c | 351 | } else if (joystick.L2==255 && joystick.R2==0) { |
fanny868 | 0:9072e932503c | 352 | koef=0.5; |
fanny868 | 0:9072e932503c | 353 | } else { |
fanny868 | 0:9072e932503c | 354 | koef=1; |
fanny868 | 0:9072e932503c | 355 | } |
fanny868 | 0:9072e932503c | 356 | |
fanny868 | 0:9072e932503c | 357 | s1 = (float)(-koef*vcurr); |
fanny868 | 0:9072e932503c | 358 | s2 = (float)(0); //koef*0.1*vcurr; |
fanny868 | 0:9072e932503c | 359 | s3 = (float)(koef*vcurr); |
fanny868 | 0:9072e932503c | 360 | s4 = (float)(0); //-koef*0.1*vcurr; |
fanny868 | 0:9072e932503c | 361 | |
fanny868 | 0:9072e932503c | 362 | saka=true; |
rahmadirizki18 | 3:1287fccc11be | 363 | maju=mundur=kiri=kanan=sbka=saki=sbki=analog=pivka=pivki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false; |
fanny868 | 0:9072e932503c | 364 | |
rahmadirizki18 | 3:1287fccc11be | 365 | pc.printf("saka\n"); |
fanny868 | 0:9072e932503c | 366 | |
fanny868 | 0:9072e932503c | 367 | motor1.speed(s1); |
fanny868 | 0:9072e932503c | 368 | motor2.brake(1); |
fanny868 | 0:9072e932503c | 369 | //motor2.speed(s2); |
fanny868 | 0:9072e932503c | 370 | motor3.speed(s3); |
fanny868 | 0:9072e932503c | 371 | motor4.brake(1); |
fanny868 | 0:9072e932503c | 372 | //motor4.speed(s4); |
fanny868 | 0:9072e932503c | 373 | |
fanny868 | 0:9072e932503c | 374 | break; |
fanny868 | 0:9072e932503c | 375 | } |
fanny868 | 0:9072e932503c | 376 | case (6) : |
fanny868 | 0:9072e932503c | 377 | { |
fanny868 | 0:9072e932503c | 378 | if (sbka){ |
fanny868 | 0:9072e932503c | 379 | if(vcurr<0.1) { |
fanny868 | 0:9072e932503c | 380 | vcurr=0.1; |
fanny868 | 0:9072e932503c | 381 | } else { |
fanny868 | 0:9072e932503c | 382 | vcurr+=ax; |
fanny868 | 0:9072e932503c | 383 | } |
fanny868 | 0:9072e932503c | 384 | //perlambatan=0; |
fanny868 | 0:9072e932503c | 385 | } else { |
fanny868 | 0:9072e932503c | 386 | //perlambatan=1; |
fanny868 | 0:9072e932503c | 387 | } |
fanny868 | 0:9072e932503c | 388 | |
fanny868 | 0:9072e932503c | 389 | if (vcurr>=vmaxserong) { |
fanny868 | 0:9072e932503c | 390 | vcurr=vmaxserong; |
fanny868 | 0:9072e932503c | 391 | } |
fanny868 | 0:9072e932503c | 392 | |
fanny868 | 0:9072e932503c | 393 | if(joystick.R2==255 && joystick.L2==0) { |
fanny868 | 0:9072e932503c | 394 | koef=2; |
fanny868 | 0:9072e932503c | 395 | } else if (joystick.L2==255 && joystick.R2==0) { |
fanny868 | 0:9072e932503c | 396 | koef=0.5; |
fanny868 | 0:9072e932503c | 397 | } else { |
fanny868 | 0:9072e932503c | 398 | koef=1; |
fanny868 | 0:9072e932503c | 399 | } |
fanny868 | 0:9072e932503c | 400 | |
fanny868 | 0:9072e932503c | 401 | s1 = (float)(0); //koef*0.1*vcurr; |
fanny868 | 0:9072e932503c | 402 | s2 = (float)(-koef*vcurr); |
fanny868 | 0:9072e932503c | 403 | s3 = (float)(0); //-koef*0.1*vcurr; |
fanny868 | 0:9072e932503c | 404 | s4 = (float)(koef*vcurr); |
fanny868 | 0:9072e932503c | 405 | |
fanny868 | 0:9072e932503c | 406 | sbka=true; |
rahmadirizki18 | 3:1287fccc11be | 407 | maju=mundur=kiri=kanan=saka=saki=sbki=analog=pivka=pivki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false; |
fanny868 | 0:9072e932503c | 408 | |
rahmadirizki18 | 3:1287fccc11be | 409 | pc.printf("sbka\n"); |
fanny868 | 0:9072e932503c | 410 | |
fanny868 | 0:9072e932503c | 411 | //motor1.speed(s1); |
fanny868 | 0:9072e932503c | 412 | motor1.brake(1); |
fanny868 | 0:9072e932503c | 413 | motor2.speed(s2); |
fanny868 | 0:9072e932503c | 414 | //motor3.speed(s3); |
fanny868 | 0:9072e932503c | 415 | motor3.brake(1); |
fanny868 | 0:9072e932503c | 416 | motor4.speed(s4); |
fanny868 | 0:9072e932503c | 417 | |
fanny868 | 0:9072e932503c | 418 | break; |
fanny868 | 0:9072e932503c | 419 | } |
fanny868 | 0:9072e932503c | 420 | case (7) : |
fanny868 | 0:9072e932503c | 421 | { |
fanny868 | 0:9072e932503c | 422 | if (saki) { |
fanny868 | 0:9072e932503c | 423 | if(vcurr<0.1) { |
fanny868 | 0:9072e932503c | 424 | vcurr=0.1; |
fanny868 | 0:9072e932503c | 425 | } else { |
fanny868 | 0:9072e932503c | 426 | vcurr+=ax; |
fanny868 | 0:9072e932503c | 427 | } |
fanny868 | 0:9072e932503c | 428 | //perlambatan=0; |
fanny868 | 0:9072e932503c | 429 | } else { |
fanny868 | 0:9072e932503c | 430 | //perlambatan=1; |
fanny868 | 0:9072e932503c | 431 | } |
fanny868 | 0:9072e932503c | 432 | |
fanny868 | 0:9072e932503c | 433 | if (vcurr>=vmaxserong) { |
fanny868 | 0:9072e932503c | 434 | vcurr=vmaxserong; |
fanny868 | 0:9072e932503c | 435 | } |
fanny868 | 0:9072e932503c | 436 | |
fanny868 | 0:9072e932503c | 437 | if(joystick.R2==255 && joystick.L2==0) { |
fanny868 | 0:9072e932503c | 438 | koef=2; |
fanny868 | 0:9072e932503c | 439 | } else if (joystick.L2==255 && joystick.R2==0) { |
fanny868 | 0:9072e932503c | 440 | koef=0.5; |
fanny868 | 0:9072e932503c | 441 | } else { |
fanny868 | 0:9072e932503c | 442 | koef=1; |
fanny868 | 0:9072e932503c | 443 | } |
fanny868 | 0:9072e932503c | 444 | |
fanny868 | 0:9072e932503c | 445 | s1 = (float)(0); //-koef*0.1*vcurr; |
fanny868 | 0:9072e932503c | 446 | s2 = (float)(koef*vcurr); |
fanny868 | 0:9072e932503c | 447 | s3 = (float)(0); //koef*0.1*vcurr; |
fanny868 | 0:9072e932503c | 448 | s4 = (float)(-koef*vcurr); |
fanny868 | 0:9072e932503c | 449 | |
fanny868 | 0:9072e932503c | 450 | saki=true; |
rahmadirizki18 | 3:1287fccc11be | 451 | maju=kiri=kanan=saka=mundur=sbka=sbki=analog=pivka=pivki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false; |
fanny868 | 0:9072e932503c | 452 | |
rahmadirizki18 | 3:1287fccc11be | 453 | pc.printf("saki\n"); |
fanny868 | 0:9072e932503c | 454 | |
fanny868 | 0:9072e932503c | 455 | //motor1.speed(s1); |
fanny868 | 0:9072e932503c | 456 | motor1.brake(1); |
fanny868 | 0:9072e932503c | 457 | motor2.speed(s2); |
fanny868 | 0:9072e932503c | 458 | //motor3.speed(s3); |
fanny868 | 0:9072e932503c | 459 | motor3.brake(1); |
fanny868 | 0:9072e932503c | 460 | motor4.speed(s4); |
fanny868 | 0:9072e932503c | 461 | |
fanny868 | 0:9072e932503c | 462 | break; |
fanny868 | 0:9072e932503c | 463 | } |
fanny868 | 0:9072e932503c | 464 | case (8) : |
fanny868 | 0:9072e932503c | 465 | { |
fanny868 | 0:9072e932503c | 466 | if (sbki) { |
fanny868 | 0:9072e932503c | 467 | if(vcurr<0.1) { |
fanny868 | 0:9072e932503c | 468 | vcurr=0.1; |
fanny868 | 0:9072e932503c | 469 | } else { |
fanny868 | 0:9072e932503c | 470 | vcurr+=ax; |
fanny868 | 0:9072e932503c | 471 | } |
fanny868 | 0:9072e932503c | 472 | //perlambatan=0; |
fanny868 | 0:9072e932503c | 473 | } else { |
fanny868 | 0:9072e932503c | 474 | //perlambatan=1; |
fanny868 | 0:9072e932503c | 475 | } |
fanny868 | 0:9072e932503c | 476 | |
fanny868 | 0:9072e932503c | 477 | if (vcurr>=vmaxserong) { |
fanny868 | 0:9072e932503c | 478 | vcurr=vmaxserong; |
fanny868 | 0:9072e932503c | 479 | } |
fanny868 | 0:9072e932503c | 480 | |
fanny868 | 0:9072e932503c | 481 | if(joystick.R2==255 && joystick.L2==0) { |
fanny868 | 0:9072e932503c | 482 | koef=2; |
fanny868 | 0:9072e932503c | 483 | } else if (joystick.L2==255 && joystick.R2==0) { |
fanny868 | 0:9072e932503c | 484 | koef=0.5; |
fanny868 | 0:9072e932503c | 485 | } else { |
fanny868 | 0:9072e932503c | 486 | koef=1; |
fanny868 | 0:9072e932503c | 487 | } |
fanny868 | 0:9072e932503c | 488 | |
fanny868 | 0:9072e932503c | 489 | s1 = (float)(koef*vcurr); |
fanny868 | 0:9072e932503c | 490 | s2 = (float)(0); //-koef*0.1*vcurr; |
fanny868 | 0:9072e932503c | 491 | s3 = (float)(-koef*vcurr); |
fanny868 | 0:9072e932503c | 492 | s4 = (float)(0); //koef*0.1*vcurr; |
fanny868 | 0:9072e932503c | 493 | |
fanny868 | 0:9072e932503c | 494 | sbki=true; |
rahmadirizki18 | 3:1287fccc11be | 495 | maju=kiri=kanan=saka=saki=sbka=mundur=analog=pivka=pivki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false; |
fanny868 | 0:9072e932503c | 496 | |
rahmadirizki18 | 3:1287fccc11be | 497 | pc.printf("sbki\n"); |
fanny868 | 0:9072e932503c | 498 | |
fanny868 | 0:9072e932503c | 499 | motor1.speed(s1); |
fanny868 | 0:9072e932503c | 500 | //motor2.speed(s2); |
fanny868 | 0:9072e932503c | 501 | motor2.brake(1); |
fanny868 | 0:9072e932503c | 502 | motor3.speed(s3); |
fanny868 | 0:9072e932503c | 503 | //motor4.speed(s4); |
fanny868 | 0:9072e932503c | 504 | motor4.brake(1); |
fanny868 | 0:9072e932503c | 505 | |
fanny868 | 0:9072e932503c | 506 | break; |
fanny868 | 0:9072e932503c | 507 | } |
fanny868 | 0:9072e932503c | 508 | case (9) : |
fanny868 | 0:9072e932503c | 509 | { |
fanny868 | 0:9072e932503c | 510 | if (kanan) { |
fanny868 | 0:9072e932503c | 511 | if(vcurr<0.1) { |
fanny868 | 0:9072e932503c | 512 | vcurr=0.1; |
fanny868 | 0:9072e932503c | 513 | } else { |
fanny868 | 0:9072e932503c | 514 | vcurr+=ax; |
fanny868 | 0:9072e932503c | 515 | } |
fanny868 | 0:9072e932503c | 516 | //perlambatan=0; |
fanny868 | 0:9072e932503c | 517 | } else { |
fanny868 | 0:9072e932503c | 518 | //perlambatan=1; |
fanny868 | 0:9072e932503c | 519 | } |
fanny868 | 0:9072e932503c | 520 | |
fanny868 | 0:9072e932503c | 521 | if (vcurr>=vmax) { |
fanny868 | 0:9072e932503c | 522 | vcurr=vmax; |
fanny868 | 0:9072e932503c | 523 | } |
fanny868 | 0:9072e932503c | 524 | |
fanny868 | 0:9072e932503c | 525 | if(joystick.R2==255 && joystick.L2==0) { |
fanny868 | 0:9072e932503c | 526 | koef=2; |
fanny868 | 0:9072e932503c | 527 | } else if (joystick.L2==255 && joystick.R2==0) { |
fanny868 | 0:9072e932503c | 528 | koef=0.5; |
fanny868 | 0:9072e932503c | 529 | } else { |
fanny868 | 0:9072e932503c | 530 | koef=1; |
fanny868 | 0:9072e932503c | 531 | } |
fanny868 | 0:9072e932503c | 532 | |
fanny868 | 0:9072e932503c | 533 | s1 =(float)(-1*koef*vcurr); |
fanny868 | 0:9072e932503c | 534 | s2 =(float)(-1.0*koef*vcurr); |
fanny868 | 0:9072e932503c | 535 | s3 =(float)(1*koef*vcurr); |
fanny868 | 0:9072e932503c | 536 | s4 =(float)(1.0*koef*vcurr); |
fanny868 | 0:9072e932503c | 537 | |
fanny868 | 0:9072e932503c | 538 | kanan=true; |
rahmadirizki18 | 3:1287fccc11be | 539 | maju=kiri=mundur=saka=saki=sbka=sbki=analog=pivka=pivki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false; |
fanny868 | 0:9072e932503c | 540 | |
rahmadirizki18 | 3:1287fccc11be | 541 | pc.printf("Kanan\n"); |
fanny868 | 0:9072e932503c | 542 | |
fanny868 | 0:9072e932503c | 543 | motor1.speed(s1); |
fanny868 | 0:9072e932503c | 544 | motor2.speed(s2); |
fanny868 | 0:9072e932503c | 545 | motor3.speed(s3); |
fanny868 | 0:9072e932503c | 546 | motor4.speed(s4); |
fanny868 | 0:9072e932503c | 547 | break; |
fanny868 | 0:9072e932503c | 548 | } |
fanny868 | 0:9072e932503c | 549 | case (10) : |
fanny868 | 0:9072e932503c | 550 | { |
fanny868 | 0:9072e932503c | 551 | if (kiri) { |
fanny868 | 0:9072e932503c | 552 | if(vcurr<0.1) { |
fanny868 | 0:9072e932503c | 553 | vcurr=0.1; |
fanny868 | 0:9072e932503c | 554 | } else { |
fanny868 | 0:9072e932503c | 555 | vcurr+=ax; |
fanny868 | 0:9072e932503c | 556 | } |
fanny868 | 0:9072e932503c | 557 | //perlambatan=1; |
fanny868 | 0:9072e932503c | 558 | } else { |
fanny868 | 0:9072e932503c | 559 | //perlambatan=1; |
fanny868 | 0:9072e932503c | 560 | } |
fanny868 | 0:9072e932503c | 561 | |
fanny868 | 0:9072e932503c | 562 | if (vcurr>=vmax) { |
fanny868 | 0:9072e932503c | 563 | vcurr=vmax; |
fanny868 | 0:9072e932503c | 564 | } |
fanny868 | 0:9072e932503c | 565 | |
fanny868 | 0:9072e932503c | 566 | if(joystick.R2==255 && joystick.L2==0) { |
fanny868 | 0:9072e932503c | 567 | koef=2; |
fanny868 | 0:9072e932503c | 568 | } else if (joystick.L2==255 && joystick.R2==0) { |
fanny868 | 0:9072e932503c | 569 | koef=0.5; |
fanny868 | 0:9072e932503c | 570 | } else { |
fanny868 | 0:9072e932503c | 571 | koef=1; |
fanny868 | 0:9072e932503c | 572 | } |
fanny868 | 0:9072e932503c | 573 | |
fanny868 | 0:9072e932503c | 574 | s1 =(float)(1*koef*vcurr); |
fanny868 | 0:9072e932503c | 575 | s2 =(float)(1*koef*vcurr); |
fanny868 | 0:9072e932503c | 576 | s3 =(float)(-1*koef*vcurr); |
fanny868 | 0:9072e932503c | 577 | s4 =(float)(-1.0*koef*vcurr); |
fanny868 | 0:9072e932503c | 578 | |
fanny868 | 0:9072e932503c | 579 | kiri=true; |
rahmadirizki18 | 3:1287fccc11be | 580 | maju=kanan=mundur=saka=saki=sbka=sbki=analog=pivka=pivki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false; |
fanny868 | 0:9072e932503c | 581 | |
rahmadirizki18 | 3:1287fccc11be | 582 | pc.printf("Kiri\n"); |
fanny868 | 0:9072e932503c | 583 | |
fanny868 | 0:9072e932503c | 584 | motor1.speed(s1); |
fanny868 | 0:9072e932503c | 585 | motor2.speed(s2); |
fanny868 | 0:9072e932503c | 586 | motor3.speed(s3); |
fanny868 | 0:9072e932503c | 587 | motor4.speed(s4); |
fanny868 | 0:9072e932503c | 588 | |
fanny868 | 0:9072e932503c | 589 | break; |
fanny868 | 0:9072e932503c | 590 | } |
rahmadirizki18 | 3:1287fccc11be | 591 | case (11): |
rahmadirizki18 | 3:1287fccc11be | 592 | { |
rahmadirizki18 | 4:483c07cc22e1 | 593 | |
rahmadirizki18 | 3:1287fccc11be | 594 | if(joystick.R2==255 && joystick.L2==0) { |
rahmadirizki18 | 3:1287fccc11be | 595 | koef=2; |
rahmadirizki18 | 3:1287fccc11be | 596 | } else if (joystick.L2==255 && joystick.R2==0) { |
rahmadirizki18 | 3:1287fccc11be | 597 | koef=0.5; |
rahmadirizki18 | 3:1287fccc11be | 598 | } |
rahmadirizki18 | 3:1287fccc11be | 599 | else { |
rahmadirizki18 | 3:1287fccc11be | 600 | koef=1; |
rahmadirizki18 | 3:1287fccc11be | 601 | } |
rahmadirizki18 | 3:1287fccc11be | 602 | |
rahmadirizki18 | 4:483c07cc22e1 | 603 | s1t = (vmaxanalog*(-x+y)); |
rahmadirizki18 | 4:483c07cc22e1 | 604 | s2t = (vmaxanalog*(-x-y)); |
rahmadirizki18 | 4:483c07cc22e1 | 605 | s3t = (vmaxanalog*(x-y)); |
rahmadirizki18 | 4:483c07cc22e1 | 606 | s4t = (vmaxanalog*(x+y)); |
rahmadirizki18 | 4:483c07cc22e1 | 607 | |
rahmadirizki18 | 4:483c07cc22e1 | 608 | s1 = (float)(0.5*koef*s1t); |
rahmadirizki18 | 4:483c07cc22e1 | 609 | s2 = (float)(0.5*koef*s2t); |
rahmadirizki18 | 4:483c07cc22e1 | 610 | s3 = (float)(0.5*koef*s3t); |
rahmadirizki18 | 4:483c07cc22e1 | 611 | s4 = (float)(0.5*koef*s4t); |
rahmadirizki18 | 3:1287fccc11be | 612 | |
rahmadirizki18 | 3:1287fccc11be | 613 | |
rahmadirizki18 | 3:1287fccc11be | 614 | |
rahmadirizki18 | 3:1287fccc11be | 615 | analog=true; |
rahmadirizki18 | 3:1287fccc11be | 616 | maju=mundur=kiri=kanan=saka=saki=sbka=sbki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false; |
rahmadirizki18 | 3:1287fccc11be | 617 | |
rahmadirizki18 | 4:483c07cc22e1 | 618 | pc.printf("analog X =%.2f Y =%.2f \n ",x,y); |
rahmadirizki18 | 3:1287fccc11be | 619 | |
rahmadirizki18 | 3:1287fccc11be | 620 | |
rahmadirizki18 | 3:1287fccc11be | 621 | motor1.speed(s1); |
rahmadirizki18 | 3:1287fccc11be | 622 | motor2.speed(s2); |
rahmadirizki18 | 3:1287fccc11be | 623 | motor3.speed(s3); |
rahmadirizki18 | 3:1287fccc11be | 624 | motor4.speed(s4); |
rahmadirizki18 | 3:1287fccc11be | 625 | break; |
rahmadirizki18 | 3:1287fccc11be | 626 | } |
rahmadirizki18 | 3:1287fccc11be | 627 | default : |
fanny868 | 0:9072e932503c | 628 | { |
fanny868 | 0:9072e932503c | 629 | //if (mundur||kiri||kanan||saka||saki||sbka||sbki||pivki||pivka||cw1||ccw1||cw2||ccw2||cw3||ccw3) wait_ms(100); |
fanny868 | 0:9072e932503c | 630 | //if (maju && (vcurr>=0.5)) wait_ms(100); |
fanny868 | 0:9072e932503c | 631 | //else if (maju && (vcurr<0.5)) wait_ms(50); |
fanny868 | 0:9072e932503c | 632 | /* |
fanny868 | 0:9072e932503c | 633 | if(s1>0.2 || s1<-0.2 || s2>0.2 || s2<-0.2) { |
fanny868 | 0:9072e932503c | 634 | s1 = koefperlambatan * s1; |
fanny868 | 0:9072e932503c | 635 | s2 = koefperlambatan * s2; |
fanny868 | 0:9072e932503c | 636 | s3 = koefperlambatan * s3; |
fanny868 | 0:9072e932503c | 637 | s4 = koefperlambatan * s4; |
fanny868 | 0:9072e932503c | 638 | |
fanny868 | 0:9072e932503c | 639 | motor1.speed(s1); |
fanny868 | 0:9072e932503c | 640 | motor2.speed(s2); |
fanny868 | 0:9072e932503c | 641 | motor3.speed(s3); |
fanny868 | 0:9072e932503c | 642 | motor4.speed(s4); |
fanny868 | 0:9072e932503c | 643 | |
fanny868 | 0:9072e932503c | 644 | |
fanny868 | 0:9072e932503c | 645 | } else { |
fanny868 | 0:9072e932503c | 646 | */ |
fanny868 | 0:9072e932503c | 647 | motor1.brake(1); |
fanny868 | 0:9072e932503c | 648 | motor2.brake(1); |
fanny868 | 0:9072e932503c | 649 | motor3.brake(1); |
fanny868 | 0:9072e932503c | 650 | motor4.brake(1); |
fanny868 | 0:9072e932503c | 651 | //} |
fanny868 | 0:9072e932503c | 652 | |
rahmadirizki18 | 3:1287fccc11be | 653 | maju=mundur=kiri=kanan=saka=saki=sbka=sbki=analog=cw1=ccw1=cw2=ccw2=cw3=ccw3=false; |
fanny868 | 0:9072e932503c | 654 | stop = true; |
fanny868 | 0:9072e932503c | 655 | |
fanny868 | 0:9072e932503c | 656 | //s1 = 0;s2 =0; s3 =0; s4 =0; |
fanny868 | 0:9072e932503c | 657 | |
rahmadirizki18 | 3:1287fccc11be | 658 | pc.printf("Stop\n"); |
rahmadirizki18 | 3:1287fccc11be | 659 | } |
fanny868 | 0:9072e932503c | 660 | } |
fanny868 | 0:9072e932503c | 661 | } |
fanny868 | 0:9072e932503c | 662 | |
fanny868 | 0:9072e932503c | 663 | |
fanny868 | 0:9072e932503c | 664 | int main (void) |
fanny868 | 0:9072e932503c | 665 | { |
fanny868 | 0:9072e932503c | 666 | // Set baud rate - 115200 |
fanny868 | 0:9072e932503c | 667 | joystick.setup(); |
rahmadirizki18 | 3:1287fccc11be | 668 | pc.baud(115200); |
rahmadirizki18 | 3:1287fccc11be | 669 | pc.printf("Ready...\n"); |
rahmadirizki18 | 4:483c07cc22e1 | 670 | kalibrasi(); |
rahmadirizki18 | 3:1287fccc11be | 671 | |
fanny868 | 0:9072e932503c | 672 | while(1) |
fanny868 | 0:9072e932503c | 673 | { |
fanny868 | 0:9072e932503c | 674 | // Interrupt Serial |
fanny868 | 0:9072e932503c | 675 | joystick.idle(); |
fanny868 | 0:9072e932503c | 676 | if(joystick.readable() ) { |
fanny868 | 0:9072e932503c | 677 | // Panggil fungsi pembacaan joystik |
fanny868 | 0:9072e932503c | 678 | joystick.baca_data(); |
fanny868 | 0:9072e932503c | 679 | // Panggil fungsi pengolahan data joystik |
fanny868 | 0:9072e932503c | 680 | joystick.olah_data(); |
fanny868 | 0:9072e932503c | 681 | //pc.printf("%2x %2x %2x %2x %3d %3d %3d %3d %3d %3d\n\r",joystick.button, joystick.RL, joystick.button_click, joystick.RL_click, joystick.R2, joystick.L2, joystick.RX, joystick.RY, joystick.LX, joystick.LY); |
fanny868 | 0:9072e932503c | 682 | case_ger = case_gerak(); |
rahmadirizki18 | 3:1287fccc11be | 683 | aktuator(); |
rahmadirizki18 | 3:1287fccc11be | 684 | //kalibrasi |
rahmadirizki18 | 4:483c07cc22e1 | 685 | if (joystick.START){ |
rahmadirizki18 | 4:483c07cc22e1 | 686 | kalibrasi();} |
rahmadirizki18 | 4:483c07cc22e1 | 687 | // analog switch mode |
rahmadirizki18 | 4:483c07cc22e1 | 688 | if (joystick.SELECT_click) {analog=!analog;} |
rahmadirizki18 | 4:483c07cc22e1 | 689 | //pc.printf(" X =%.2f Y =%.2f \n ",x,y); |
fanny868 | 0:9072e932503c | 690 | } else { |
fanny868 | 0:9072e932503c | 691 | joystick.idle(); |
fanny868 | 0:9072e932503c | 692 | |
fanny868 | 0:9072e932503c | 693 | } |
fanny868 | 0:9072e932503c | 694 | } |
fanny868 | 0:9072e932503c | 695 | } |