KATAPANG / Mbed 2 deprecated pangan

baru

Dependencies:   mbed CMPS03

main.cpp@0:aa2dd4e13c71, 2019-05-14 (annotated)

Committer:
aldo240498
Date:
Tue May 14 05:17:26 2019 +0000
Revision:
0:aa2dd4e13c71
v1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
aldo240498 0:aa2dd4e13c71 1 #include"mbed.h"
aldo240498 0:aa2dd4e13c71 2 #include "stdio.h"
aldo240498 0:aa2dd4e13c71 3 #include "Serial.h"
aldo240498 0:aa2dd4e13c71 4 #include "CMPS03.h"
aldo240498 0:aa2dd4e13c71 5
aldo240498 0:aa2dd4e13c71 6 /////////////////////motor///////////////////////
aldo240498 0:aa2dd4e13c71 7 DigitalOut dir3(PB_9);
aldo240498 0:aa2dd4e13c71 8 DigitalOut dir4(PB_8);
aldo240498 0:aa2dd4e13c71 9 DigitalOut dir5(PC_5);
aldo240498 0:aa2dd4e13c71 10 DigitalOut dir6(PC_8);
aldo240498 0:aa2dd4e13c71 11 DigitalOut dir1(PA_12);
aldo240498 0:aa2dd4e13c71 12 DigitalOut dir2(PB_12);
aldo240498 0:aa2dd4e13c71 13 DigitalOut dir7(PB_14);
aldo240498 0:aa2dd4e13c71 14 DigitalOut dir8(PB_15);
aldo240498 0:aa2dd4e13c71 15 PwmOut pwm4(PB_1);
aldo240498 0:aa2dd4e13c71 16 PwmOut pwm3(PC_9);
aldo240498 0:aa2dd4e13c71 17 PwmOut pwm2(PC_6);
aldo240498 0:aa2dd4e13c71 18 PwmOut pwm1(PA_11);
aldo240498 0:aa2dd4e13c71 19
aldo240498 0:aa2dd4e13c71 20 ////////////////////////////////////////////////
aldo240498 0:aa2dd4e13c71 21
aldo240498 0:aa2dd4e13c71 22
aldo240498 0:aa2dd4e13c71 23
aldo240498 0:aa2dd4e13c71 24
aldo240498 0:aa2dd4e13c71 25
aldo240498 0:aa2dd4e13c71 26 float roda1, roda2, roda3, roda4;
aldo240498 0:aa2dd4e13c71 27 float pw1,pw2,pw3, pw4;
aldo240498 0:aa2dd4e13c71 28 float abs_pwm1, abs_pwm2, abs_pwm3, abs_pwm4;
aldo240498 0:aa2dd4e13c71 29 double dx, dy, dz;
aldo240498 0:aa2dd4e13c71 30
aldo240498 0:aa2dd4e13c71 31 //////////////////////inverse///////////////////////
aldo240498 0:aa2dd4e13c71 32
aldo240498 0:aa2dd4e13c71 33
aldo240498 0:aa2dd4e13c71 34 void atur(float x, float y, float z)
aldo240498 0:aa2dd4e13c71 35 {
aldo240498 0:aa2dd4e13c71 36
aldo240498 0:aa2dd4e13c71 37 roda1 = x - z + y;
aldo240498 0:aa2dd4e13c71 38 roda2 = y - z + x;
aldo240498 0:aa2dd4e13c71 39 roda3 = y + z - x;
aldo240498 0:aa2dd4e13c71 40 roda4 = x + z - y;
aldo240498 0:aa2dd4e13c71 41
aldo240498 0:aa2dd4e13c71 42 if (roda1 < 0) //kiri atas
aldo240498 0:aa2dd4e13c71 43 {
aldo240498 0:aa2dd4e13c71 44 abs_pwm1 = abs(roda1);
aldo240498 0:aa2dd4e13c71 45 pw1=(float) abs_pwm1/255;
aldo240498 0:aa2dd4e13c71 46 dir1 = 1;
aldo240498 0:aa2dd4e13c71 47 dir2 = 0;
aldo240498 0:aa2dd4e13c71 48 }
aldo240498 0:aa2dd4e13c71 49 else
aldo240498 0:aa2dd4e13c71 50 {
aldo240498 0:aa2dd4e13c71 51 abs_pwm1 = roda1;
aldo240498 0:aa2dd4e13c71 52 pw1=(float) abs_pwm1/255;
aldo240498 0:aa2dd4e13c71 53 dir1 = 0;
aldo240498 0:aa2dd4e13c71 54 dir2 = 1;
aldo240498 0:aa2dd4e13c71 55 }
aldo240498 0:aa2dd4e13c71 56 if (roda2 < 0) // kanan atas
aldo240498 0:aa2dd4e13c71 57 {
aldo240498 0:aa2dd4e13c71 58 abs_pwm2 = abs(roda2);
aldo240498 0:aa2dd4e13c71 59 pw2=(float) abs_pwm2/255;
aldo240498 0:aa2dd4e13c71 60 dir3 = 0;
aldo240498 0:aa2dd4e13c71 61 dir4 = 1;
aldo240498 0:aa2dd4e13c71 62 }
aldo240498 0:aa2dd4e13c71 63 else
aldo240498 0:aa2dd4e13c71 64 {
aldo240498 0:aa2dd4e13c71 65 abs_pwm2 = roda2;
aldo240498 0:aa2dd4e13c71 66 pw2=(float) abs_pwm2/255;
aldo240498 0:aa2dd4e13c71 67 dir3 = 1;
aldo240498 0:aa2dd4e13c71 68 dir4 = 0;
aldo240498 0:aa2dd4e13c71 69 }
aldo240498 0:aa2dd4e13c71 70 if (roda3 < 0) // kanan bawah
aldo240498 0:aa2dd4e13c71 71 {
aldo240498 0:aa2dd4e13c71 72 abs_pwm3 = abs(roda3);
aldo240498 0:aa2dd4e13c71 73 pw3=(float) abs_pwm3/255;
aldo240498 0:aa2dd4e13c71 74 dir5 = 1;
aldo240498 0:aa2dd4e13c71 75 dir6 = 0;
aldo240498 0:aa2dd4e13c71 76 }
aldo240498 0:aa2dd4e13c71 77 else
aldo240498 0:aa2dd4e13c71 78 {
aldo240498 0:aa2dd4e13c71 79 abs_pwm3 = roda3;
aldo240498 0:aa2dd4e13c71 80 pw3=(float) abs_pwm3/255;
aldo240498 0:aa2dd4e13c71 81 dir5 = 0;
aldo240498 0:aa2dd4e13c71 82 dir6 = 1;
aldo240498 0:aa2dd4e13c71 83 }
aldo240498 0:aa2dd4e13c71 84 if (roda4 < 0) // kiri bawah
aldo240498 0:aa2dd4e13c71 85 {
aldo240498 0:aa2dd4e13c71 86 abs_pwm4 = abs(roda4);
aldo240498 0:aa2dd4e13c71 87 pw4= ((float) abs_pwm4/255);
aldo240498 0:aa2dd4e13c71 88 dir7 = 1;
aldo240498 0:aa2dd4e13c71 89 dir8 = 0;
aldo240498 0:aa2dd4e13c71 90 }
aldo240498 0:aa2dd4e13c71 91 else
aldo240498 0:aa2dd4e13c71 92 {
aldo240498 0:aa2dd4e13c71 93 abs_pwm4 = roda4;
aldo240498 0:aa2dd4e13c71 94 pw4=((float) abs_pwm4/255);
aldo240498 0:aa2dd4e13c71 95 dir7 = 0;
aldo240498 0:aa2dd4e13c71 96 dir8 = 1;
aldo240498 0:aa2dd4e13c71 97 }
aldo240498 0:aa2dd4e13c71 98 pwm1.write(pw1);
aldo240498 0:aa2dd4e13c71 99 pwm2.write(pw2);
aldo240498 0:aa2dd4e13c71 100 pwm3.write(pw3);
aldo240498 0:aa2dd4e13c71 101 pwm4.write(pw4);
aldo240498 0:aa2dd4e13c71 102 }
aldo240498 0:aa2dd4e13c71 103
aldo240498 0:aa2dd4e13c71 104 ////////////////////////////////////////////////
aldo240498 0:aa2dd4e13c71 105
aldo240498 0:aa2dd4e13c71 106
aldo240498 0:aa2dd4e13c71 107 Serial pc(USBTX, USBRX);
aldo240498 0:aa2dd4e13c71 108 CMPS03 compass(PB_4,PA_8 , CMPS03_DEFAULT_I2C_ADDRESS);
aldo240498 0:aa2dd4e13c71 109 Serial device(PB_6, PB_7);
aldo240498 0:aa2dd4e13c71 110 PinName pin_SERVO0 = PB_0;
aldo240498 0:aa2dd4e13c71 111 PinName pin_SERVO1 = PB_3;
aldo240498 0:aa2dd4e13c71 112 PinName pin_SERVO2 = PA_0;
aldo240498 0:aa2dd4e13c71 113 PinName pin_SERVO3 = PA_10;
aldo240498 0:aa2dd4e13c71 114 PinName pin_SERVO4 = PA_5;
aldo240498 0:aa2dd4e13c71 115 PinName pin_SERVO5 = PA_7;
aldo240498 0:aa2dd4e13c71 116 PinName pin_SERVO6 = PA_1;
aldo240498 0:aa2dd4e13c71 117 PinName pin_SERVO7 = PB_10;
aldo240498 0:aa2dd4e13c71 118 PinName pin_SERVO8 = PB_5;
aldo240498 0:aa2dd4e13c71 119
aldo240498 0:aa2dd4e13c71 120
aldo240498 0:aa2dd4e13c71 121
aldo240498 0:aa2dd4e13c71 122
aldo240498 0:aa2dd4e13c71 123
aldo240498 0:aa2dd4e13c71 124 DigitalOut relay1(PA_13);
aldo240498 0:aa2dd4e13c71 125 PwmOut Servo0(pin_SERVO0);
aldo240498 0:aa2dd4e13c71 126 PwmOut Servo1(pin_SERVO1);
aldo240498 0:aa2dd4e13c71 127 PwmOut Servo2(pin_SERVO2);
aldo240498 0:aa2dd4e13c71 128 PwmOut Servo3(pin_SERVO3);
aldo240498 0:aa2dd4e13c71 129 PwmOut Servo4(pin_SERVO4);
aldo240498 0:aa2dd4e13c71 130 PwmOut Servo5(pin_SERVO5);
aldo240498 0:aa2dd4e13c71 131 PwmOut Servo6(pin_SERVO6);
aldo240498 0:aa2dd4e13c71 132 PwmOut Servo7(pin_SERVO7);
aldo240498 0:aa2dd4e13c71 133 PwmOut Servo8(pin_SERVO8);
aldo240498 0:aa2dd4e13c71 134
aldo240498 0:aa2dd4e13c71 135 void Servo_angle(int16_t angle)
aldo240498 0:aa2dd4e13c71 136 {
aldo240498 0:aa2dd4e13c71 137 int16_t Angle = 600 + (angle * 10);
aldo240498 0:aa2dd4e13c71 138 Servo0.pulsewidth_us(Angle);
aldo240498 0:aa2dd4e13c71 139 Servo1.pulsewidth_us(Angle);
aldo240498 0:aa2dd4e13c71 140 Servo2.pulsewidth_us(Angle);
aldo240498 0:aa2dd4e13c71 141 Servo3.pulsewidth_us(Angle);
aldo240498 0:aa2dd4e13c71 142 Servo4.pulsewidth_us(Angle);
aldo240498 0:aa2dd4e13c71 143 Servo5.pulsewidth_us(Angle);
aldo240498 0:aa2dd4e13c71 144 Servo6.pulsewidth_us(Angle);
aldo240498 0:aa2dd4e13c71 145 Servo7.pulsewidth_us(Angle);
aldo240498 0:aa2dd4e13c71 146 Servo8.pulsewidth_us(Angle);
aldo240498 0:aa2dd4e13c71 147
aldo240498 0:aa2dd4e13c71 148 }
aldo240498 0:aa2dd4e13c71 149
aldo240498 0:aa2dd4e13c71 150
aldo240498 0:aa2dd4e13c71 151
aldo240498 0:aa2dd4e13c71 152 int inputdata;
aldo240498 0:aa2dd4e13c71 153 int data;
aldo240498 0:aa2dd4e13c71 154 int data2;
aldo240498 0:aa2dd4e13c71 155 double posisi;
aldo240498 0:aa2dd4e13c71 156 int main()
aldo240498 0:aa2dd4e13c71 157 {
aldo240498 0:aa2dd4e13c71 158 device.baud(38400);
aldo240498 0:aa2dd4e13c71 159 pc.baud(57600);
aldo240498 0:aa2dd4e13c71 160 Servo0.period_ms(20);
aldo240498 0:aa2dd4e13c71 161 Servo1.period_ms(20);
aldo240498 0:aa2dd4e13c71 162 Servo2.period_ms(20);
aldo240498 0:aa2dd4e13c71 163 Servo3.period_ms(20);
aldo240498 0:aa2dd4e13c71 164 Servo4.period_ms(20);
aldo240498 0:aa2dd4e13c71 165 Servo5.period_ms(20);
aldo240498 0:aa2dd4e13c71 166 Servo6.period_ms(20);
aldo240498 0:aa2dd4e13c71 167 Servo7.period_ms(20);
aldo240498 0:aa2dd4e13c71 168 Servo8.period_ms(20);
aldo240498 0:aa2dd4e13c71 169
aldo240498 0:aa2dd4e13c71 170 while(1) {
aldo240498 0:aa2dd4e13c71 171
aldo240498 0:aa2dd4e13c71 172
aldo240498 0:aa2dd4e13c71 173
aldo240498 0:aa2dd4e13c71 174 if(device.readable()>0)
aldo240498 0:aa2dd4e13c71 175 {
aldo240498 0:aa2dd4e13c71 176 inputdata = device.getc();
aldo240498 0:aa2dd4e13c71 177 data=inputdata;
aldo240498 0:aa2dd4e13c71 178 pc.putc(inputdata);
aldo240498 0:aa2dd4e13c71 179 {
aldo240498 0:aa2dd4e13c71 180
aldo240498 0:aa2dd4e13c71 181
aldo240498 0:aa2dd4e13c71 182
aldo240498 0:aa2dd4e13c71 183
aldo240498 0:aa2dd4e13c71 184 //penanaman
aldo240498 0:aa2dd4e13c71 185 if(data == 'i') //tutup
aldo240498 0:aa2dd4e13c71 186 {
aldo240498 0:aa2dd4e13c71 187
aldo240498 0:aa2dd4e13c71 188 // 180 ~ 0
aldo240498 0:aa2dd4e13c71 189 for(int i=180; i>=0; i--)
aldo240498 0:aa2dd4e13c71 190 {
aldo240498 0:aa2dd4e13c71 191 int16_t Angle = 600 + (i * 10);
aldo240498 0:aa2dd4e13c71 192 Servo2.pulsewidth_us(Angle);
aldo240498 0:aa2dd4e13c71 193 Servo3.pulsewidth_us(Angle);
aldo240498 0:aa2dd4e13c71 194 Servo4.pulsewidth_us(Angle);
aldo240498 0:aa2dd4e13c71 195 Servo7.pulsewidth_us(Angle);
aldo240498 0:aa2dd4e13c71 196
aldo240498 0:aa2dd4e13c71 197 }
aldo240498 0:aa2dd4e13c71 198 }
aldo240498 0:aa2dd4e13c71 199 if(data == 'h') //buka
aldo240498 0:aa2dd4e13c71 200 {
aldo240498 0:aa2dd4e13c71 201
aldo240498 0:aa2dd4e13c71 202 // 180 ~ 0
aldo240498 0:aa2dd4e13c71 203 for(int i=0; i<=110; i++)
aldo240498 0:aa2dd4e13c71 204 {
aldo240498 0:aa2dd4e13c71 205 int16_t Angle = 600 + (i * 10);
aldo240498 0:aa2dd4e13c71 206 Servo2.pulsewidth_us(Angle);
aldo240498 0:aa2dd4e13c71 207 Servo3.pulsewidth_us(Angle);
aldo240498 0:aa2dd4e13c71 208 Servo4.pulsewidth_us(Angle);
aldo240498 0:aa2dd4e13c71 209 Servo7.pulsewidth_us(Angle);
aldo240498 0:aa2dd4e13c71 210
aldo240498 0:aa2dd4e13c71 211 }
aldo240498 0:aa2dd4e13c71 212 }
aldo240498 0:aa2dd4e13c71 213
aldo240498 0:aa2dd4e13c71 214
aldo240498 0:aa2dd4e13c71 215 if(data == 'g') //arm naik
aldo240498 0:aa2dd4e13c71 216 {
aldo240498 0:aa2dd4e13c71 217
aldo240498 0:aa2dd4e13c71 218 // 180 ~ 0
aldo240498 0:aa2dd4e13c71 219 for(int i=180; i>=100; i--)
aldo240498 0:aa2dd4e13c71 220 {
aldo240498 0:aa2dd4e13c71 221 int16_t Angle = 600 + (i * 10);
aldo240498 0:aa2dd4e13c71 222 Servo0.pulsewidth_us(Angle);
aldo240498 0:aa2dd4e13c71 223 Servo1.pulsewidth_us(Angle);
aldo240498 0:aa2dd4e13c71 224 Servo5.pulsewidth_us(Angle);
aldo240498 0:aa2dd4e13c71 225 Servo6.pulsewidth_us(Angle);
aldo240498 0:aa2dd4e13c71 226 Servo8.pulsewidth_us(Angle);
aldo240498 0:aa2dd4e13c71 227
aldo240498 0:aa2dd4e13c71 228 }
aldo240498 0:aa2dd4e13c71 229 }
aldo240498 0:aa2dd4e13c71 230
aldo240498 0:aa2dd4e13c71 231 if(data == 'f') //arm turun
aldo240498 0:aa2dd4e13c71 232 {
aldo240498 0:aa2dd4e13c71 233 // 0 ~ 180
aldo240498 0:aa2dd4e13c71 234 for(int i=100; i<=180; i++)
aldo240498 0:aa2dd4e13c71 235 {
aldo240498 0:aa2dd4e13c71 236 int16_t Angle = 600 + (i * 10);
aldo240498 0:aa2dd4e13c71 237 Servo0.pulsewidth_us(Angle);
aldo240498 0:aa2dd4e13c71 238 Servo1.pulsewidth_us(Angle);
aldo240498 0:aa2dd4e13c71 239 Servo5.pulsewidth_us(Angle);
aldo240498 0:aa2dd4e13c71 240 Servo6.pulsewidth_us(Angle);
aldo240498 0:aa2dd4e13c71 241 Servo8.pulsewidth_us(Angle);
aldo240498 0:aa2dd4e13c71 242
aldo240498 0:aa2dd4e13c71 243
aldo240498 0:aa2dd4e13c71 244 }
aldo240498 0:aa2dd4e13c71 245 }
aldo240498 0:aa2dd4e13c71 246 // penyiangan
aldo240498 0:aa2dd4e13c71 247 if(data == 'b') //arm turun
aldo240498 0:aa2dd4e13c71 248 {
aldo240498 0:aa2dd4e13c71 249 // 0 ~ 180
aldo240498 0:aa2dd4e13c71 250 for(int i=100; i<=180; i++)
aldo240498 0:aa2dd4e13c71 251 {
aldo240498 0:aa2dd4e13c71 252 int16_t Angle = 600 + (i * 10);
aldo240498 0:aa2dd4e13c71 253 Servo0.pulsewidth_us(Angle);
aldo240498 0:aa2dd4e13c71 254 //Servo1.pulsewidth_us(Angle);
aldo240498 0:aa2dd4e13c71 255 Servo5.pulsewidth_us(Angle);
aldo240498 0:aa2dd4e13c71 256
aldo240498 0:aa2dd4e13c71 257 }
aldo240498 0:aa2dd4e13c71 258 }
aldo240498 0:aa2dd4e13c71 259 if(data == 'c') //arm naik
aldo240498 0:aa2dd4e13c71 260 {
aldo240498 0:aa2dd4e13c71 261
aldo240498 0:aa2dd4e13c71 262 // 180 ~ 0
aldo240498 0:aa2dd4e13c71 263 for(int i=180; i>=100; i--)
aldo240498 0:aa2dd4e13c71 264 {
aldo240498 0:aa2dd4e13c71 265 int16_t Angle = 600 + (i * 10);
aldo240498 0:aa2dd4e13c71 266 Servo0.pulsewidth_us(Angle);
aldo240498 0:aa2dd4e13c71 267 //Servo1.pulsewidth_us(Angle);
aldo240498 0:aa2dd4e13c71 268 Servo5.pulsewidth_us(Angle);
aldo240498 0:aa2dd4e13c71 269 }
aldo240498 0:aa2dd4e13c71 270 }
aldo240498 0:aa2dd4e13c71 271 if(data == 'e') //tutup
aldo240498 0:aa2dd4e13c71 272 {
aldo240498 0:aa2dd4e13c71 273
aldo240498 0:aa2dd4e13c71 274 // 180 ~ 0
aldo240498 0:aa2dd4e13c71 275 for(int i=180; i>=0; i--)
aldo240498 0:aa2dd4e13c71 276 {
aldo240498 0:aa2dd4e13c71 277 int16_t Angle = 600 + (i * 10);
aldo240498 0:aa2dd4e13c71 278 Servo2.pulsewidth_us(Angle);
aldo240498 0:aa2dd4e13c71 279 //Servo3.pulsewidth_us(Angle);
aldo240498 0:aa2dd4e13c71 280 Servo4.pulsewidth_us(Angle);
aldo240498 0:aa2dd4e13c71 281
aldo240498 0:aa2dd4e13c71 282 }
aldo240498 0:aa2dd4e13c71 283 }
aldo240498 0:aa2dd4e13c71 284 if(data == 'd') //buka
aldo240498 0:aa2dd4e13c71 285 {
aldo240498 0:aa2dd4e13c71 286
aldo240498 0:aa2dd4e13c71 287 // 180 ~ 0
aldo240498 0:aa2dd4e13c71 288 for(int i=0; i<=110; i++)
aldo240498 0:aa2dd4e13c71 289 {
aldo240498 0:aa2dd4e13c71 290 int16_t Angle = 600 + (i * 10);
aldo240498 0:aa2dd4e13c71 291 Servo2.pulsewidth_us(Angle);
aldo240498 0:aa2dd4e13c71 292 //Servo3.pulsewidth_us(Angle);
aldo240498 0:aa2dd4e13c71 293 Servo4.pulsewidth_us(Angle);
aldo240498 0:aa2dd4e13c71 294
aldo240498 0:aa2dd4e13c71 295 }
aldo240498 0:aa2dd4e13c71 296 }
aldo240498 0:aa2dd4e13c71 297
aldo240498 0:aa2dd4e13c71 298
aldo240498 0:aa2dd4e13c71 299 switch(data){
aldo240498 0:aa2dd4e13c71 300 case'2':
aldo240498 0:aa2dd4e13c71 301 atur(50,0,0); //maju
aldo240498 0:aa2dd4e13c71 302 break;
aldo240498 0:aa2dd4e13c71 303 case'3':
aldo240498 0:aa2dd4e13c71 304 atur(-50,0,0); //mundur
aldo240498 0:aa2dd4e13c71 305 break;
aldo240498 0:aa2dd4e13c71 306 case'7':
aldo240498 0:aa2dd4e13c71 307 atur(0,-50,0); //kanan
aldo240498 0:aa2dd4e13c71 308 break;
aldo240498 0:aa2dd4e13c71 309 case'1':
aldo240498 0:aa2dd4e13c71 310 atur(0,50,0); //kiri
aldo240498 0:aa2dd4e13c71 311 break;
aldo240498 0:aa2dd4e13c71 312 case'5':
aldo240498 0:aa2dd4e13c71 313 atur(0,0,50); //muter kanan
aldo240498 0:aa2dd4e13c71 314 break;
aldo240498 0:aa2dd4e13c71 315 case'8':
aldo240498 0:aa2dd4e13c71 316 atur(0,0,-50); //muter kiri
aldo240498 0:aa2dd4e13c71 317 break;
aldo240498 0:aa2dd4e13c71 318 case'9':
aldo240498 0:aa2dd4e13c71 319 {
aldo240498 0:aa2dd4e13c71 320 for(double posisi=0; posisi<=329.700012; posisi++)
aldo240498 0:aa2dd4e13c71 321 {
aldo240498 0:aa2dd4e13c71 322 posisi=compass.readBearing()/10.0;
aldo240498 0:aa2dd4e13c71 323 printf("Bearing is: %f\n", posisi);
aldo240498 0:aa2dd4e13c71 324 atur(0,0,100);
aldo240498 0:aa2dd4e13c71 325 if(posisi==329.700012);
aldo240498 0:aa2dd4e13c71 326 }
aldo240498 0:aa2dd4e13c71 327 atur(0,0,0);
aldo240498 0:aa2dd4e13c71 328
aldo240498 0:aa2dd4e13c71 329
aldo240498 0:aa2dd4e13c71 330 default:
aldo240498 0:aa2dd4e13c71 331 dir1 = 1;
aldo240498 0:aa2dd4e13c71 332 dir2 = 1;
aldo240498 0:aa2dd4e13c71 333 dir3 = 1;
aldo240498 0:aa2dd4e13c71 334 dir4 = 1;
aldo240498 0:aa2dd4e13c71 335 dir5 = 1;
aldo240498 0:aa2dd4e13c71 336 dir6 = 1;
aldo240498 0:aa2dd4e13c71 337 dir7 = 1;
aldo240498 0:aa2dd4e13c71 338 dir8 = 1;
aldo240498 0:aa2dd4e13c71 339 ;
aldo240498 0:aa2dd4e13c71 340
aldo240498 0:aa2dd4e13c71 341
aldo240498 0:aa2dd4e13c71 342 }
aldo240498 0:aa2dd4e13c71 343 /*
aldo240498 0:aa2dd4e13c71 344 if(data == '3') //mundur
aldo240498 0:aa2dd4e13c71 345 {
aldo240498 0:aa2dd4e13c71 346 atur(100,0,0);
aldo240498 0:aa2dd4e13c71 347 }
aldo240498 0:aa2dd4e13c71 348
aldo240498 0:aa2dd4e13c71 349 if(data == '7') //kanan
aldo240498 0:aa2dd4e13c71 350 {
aldo240498 0:aa2dd4e13c71 351 atur(0,100,0);
aldo240498 0:aa2dd4e13c71 352 }
aldo240498 0:aa2dd4e13c71 353
aldo240498 0:aa2dd4e13c71 354 if(data == '1') //kiri
aldo240498 0:aa2dd4e13c71 355 {
aldo240498 0:aa2dd4e13c71 356 atur(0,-100,0);
aldo240498 0:aa2dd4e13c71 357 }
aldo240498 0:aa2dd4e13c71 358 if(data == '4') //armkanan
aldo240498 0:aa2dd4e13c71 359 {
aldo240498 0:aa2dd4e13c71 360 atur(0,0,150);
aldo240498 0:aa2dd4e13c71 361 }
aldo240498 0:aa2dd4e13c71 362 if(data == '8') //armkanan
aldo240498 0:aa2dd4e13c71 363 {
aldo240498 0:aa2dd4e13c71 364 atur(0,0,-150);
aldo240498 0:aa2dd4e13c71 365 }
aldo240498 0:aa2dd4e13c71 366 if(data == 'r') //armkanan
aldo240498 0:aa2dd4e13c71 367 {
aldo240498 0:aa2dd4e13c71 368 atur(0,0,0);
aldo240498 0:aa2dd4e13c71 369 }
aldo240498 0:aa2dd4e13c71 370 */
aldo240498 0:aa2dd4e13c71 371
aldo240498 0:aa2dd4e13c71 372
aldo240498 0:aa2dd4e13c71 373 // untuk mode pemotong menggunakan relay
aldo240498 0:aa2dd4e13c71 374 if(data == 'a'){
aldo240498 0:aa2dd4e13c71 375 relay1=1;
aldo240498 0:aa2dd4e13c71 376
aldo240498 0:aa2dd4e13c71 377 }
aldo240498 0:aa2dd4e13c71 378 if(data == 'z') {
aldo240498 0:aa2dd4e13c71 379 relay1=0;
aldo240498 0:aa2dd4e13c71 380 }
aldo240498 0:aa2dd4e13c71 381
aldo240498 0:aa2dd4e13c71 382
aldo240498 0:aa2dd4e13c71 383
aldo240498 0:aa2dd4e13c71 384 }
aldo240498 0:aa2dd4e13c71 385
aldo240498 0:aa2dd4e13c71 386
aldo240498 0:aa2dd4e13c71 387
aldo240498 0:aa2dd4e13c71 388 }}}}
aldo240498 0:aa2dd4e13c71 389
aldo240498 0:aa2dd4e13c71 390