KRTMI 2019
Kodingan KRAI 2017
Dependencies: mbed DigitDisplay PID Motor Ping millis
Diff: main.cpp
- Revision:
- 0:dd4c20b9a83e
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Sun Feb 24 10:39:24 2019 +0000
@@ -0,0 +1,848 @@
+/*tuning motor baru untuk konstanta pid baru */
+/****************************************************************************/
+/* PROGRAM UNTUK PID CLOSED LOOP */
+/* */
+/* Last Update : 16 April 2017 */
+/* */
+/* - Digunakan encoder autonics */
+/* - Konfigurasi Motor dan Encoder sbb : */
+/* ______________________ */
+/* / \ Rode Depan Belakang: */
+/* / 2 (Belakang)//kanan \ Omniwheel */
+/* | | */
+/* | 3 (kiri)//depan 4 (kanan) | Roda Kiri Kanan: */
+/* | | Omniwheel */
+/* \ 1 (Depan)//kiri / */
+/* \______________________/ Putaran berlawanan arah */
+/* jarum jam positif */
+/* SETTINGS (WAJIB!) : */
+/* 1. Settings Pin Encoder, Resolusi, dan Tipe encoding di omniPos.h */
+/* 2. Deklarasi penggunaan library omniPos pada bagian deklarasi encoder */
+/* */
+/****************************************************************************/
+/* */
+/* Joystick */
+/* Kanan => */
+/* Kiri => */
+/* */
+/* Tombol silang => Pneumatik aktif */
+/* Tombol segitiga => Aktif motor Launcher */
+/* Tombol lingkaran => Reloader naik */
+/* Tombol kotak => Reloader turun */
+/* Tombol L1 => Pivot Kiri */
+/* Tombol R1 => Pivot Kanan */
+/* Tombol L2 => Kurang PWM Motor Launcher */
+/* Tombol R2 => Tambah PWM Motor Launcher */
+/* */
+/* Bismillahirahmanirrahim */
+/* Jagalah Kebersihan Kodingan */
+/****************************************************************************/
+
+#include "mbed.h"
+#include "JoystickPS3.h"
+#include "Motor.h"
+#include "encoderKRAI.h"
+#include "millis.h"
+#include "Ping.h"
+#include "DigitDisplay.h"
+
+/***********************************************/
+/* Konstanta dan Variabel */
+/***********************************************/
+#define PI 3.14159265
+#define D_ENCODER 10 // Diameter Roda Encoder
+#define D_ROBOT 80 // Diameter Roda Robot
+
+// Variable Atas
+// indek 2 untuk motor depan, 1 untuk motor belakang
+double speed, speed2;
+const double maxSpeed = 0.95, minSpeed = -0.95, Ts = 12.5;
+const double kpA1=0.1478, kdA1=0.9295, kiA1=0.0004226;
+const double kpA2=0.1293, kdA2=1.0070, kiA2=0.0002986;
+double a1,b1,c1;
+double a2,b2,c2;
+double current_error1, previous_error1_1 = 0, previous_error1_2 = 0;
+double current_error2, previous_error2_1 = 0, previous_error2_2 = 0;
+double previous_speed1 = 0;
+double previous_speed2 = 0;
+
+float rpm, rpm2;
+double target_rpm = 17.0, target_rpm2 = 17.0; // selisih 4 bagus, sama bagus
+const float maxRPM = 35, minRPM = 0; // Limit 25 atau 27
+
+const float pwmPowerUp = 1.0;
+const float pwmPowerDown = -1.0;
+
+double jarak_ping=0;
+//double ping_target = 15; // ping lama
+double ping_target = 14; // ping baru
+double ping_current_error, ping_previous_error1 = 0, ping_sum_error=0;
+double ping_Kp = -0.3747, ping_Kd = -0.049, ping_Ts=10;
+double ping_pwm, ping_previous_pwm = 0;
+
+// Variable Bawah
+float PIVOT = 0.5; //0.17 // PWM Pivot Kanan, Pivot Kiri
+float tuneDpn = 1.0; //1.0 // Tunning PWM motor Depan
+float tuneBlk = 1.0; //1.0 // Tunning PWM motor belakang
+float tuneAksel = 0.6;
+int aksel = 0;
+float tuneAkselBlk = 0.4;
+//float tuneR = 1.0;
+float tuneL = 1.0;
+float serong = 0.4;
+float rasio = 1.4545;
+float t_new = 0.1;
+
+/* variable tunning */
+float tunning_L;
+//float tunning_R;
+float tunning_Dpn;
+float tunning_Blk;
+
+/* Deklarasi Variable Millis */
+static volatile uint32_t previousMillis = 0; // PID launcher
+static volatile uint32_t currentMillis;
+static volatile uint32_t previousMillis2 = 0; // PID launcher
+static volatile uint32_t currentMillis2;
+static volatile uint32_t previousMillis3 = 0; // Pneumatik
+static volatile uint32_t previousMillis4 = 0; // Ping
+static volatile uint32_t previousMillis5 = 0; // Display
+static volatile uint32_t previousMillis6 = 0; // pneu
+
+/* Variabel Stick */
+//Logic untuk masuk aktuator
+int case_joy;
+bool isLauncher = false;
+bool isReload = false;
+bool ReloadOn = false;
+bool flag_Pneu = false;
+bool flag_paku = false;
+
+bool ready = false;
+
+/*****************************************************/
+/* Definisi Prosedur, Fungsi dan Setting Pinout */
+/*****************************************************/
+
+/* Fungsi dan Procedur Encoder */
+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
+
+/* Inisialisasi Pin TX-RX Joystik dan PC */
+joysticknucleo joystick(PA_0,PA_1);
+Serial pc(USBTX,USBRX,115200);
+
+/* Deklarasi Encoder Launcher */
+encoderKRAI encLauncherDpn( PC_10, PC_11, 28, encoderKRAI::X4_ENCODING);
+encoderKRAI encLauncherBlk( PC_12, PD_2, 28, encoderKRAI::X4_ENCODING);
+
+/* Deklarasi Motor Base */
+Motor motorDpn(PB_7, PC_3, PC_0); //(PB_9, PA_12, PC_5);
+//Motor motorBlk(PB_6, PC_14, PC_13); //(PB_6, PB_1, PB_12); (PC_7, PC_14, PC_13);
+Motor motorBlk(PB_6, PC_14, PC_13);
+Motor motorL (PB_9, PA_12, PA_6);
+//Motor //////////MotorR (PB_8, PC_6, PC_5); //(PC_6, PB_4, PB_5);
+
+/* Deklarasi Motor Launcher */
+//Motor launcherDpn(PA_5,PA_11,PB_12); // pwm ,fwd, rev
+//Motor launcherBlk(PB_3, PC_4, PA_10); // pwm, fwd, rev
+//Motor powerScrew(PB_10, PB_14, PB_13); // pwm, fwd, rev
+
+/* Deklarasi Penumatik Launcher */
+DigitalOut pneumatik(PA_4, PullUp);
+DigitalOut pneu_paku(PC_2, PullUp);
+
+/*Dekalrasi Limit Switch */
+//DigitalIn infraAtas(PC_9, PullUp);
+DigitalIn limitTengah(PA_9, PullUp);
+DigitalIn limitBawah(PC_7, PullUp);
+DigitalIn limitBawah1(PA_7, PullUp);
+
+/*deklarasi PING ultrasonic*/
+Ping pingAtas(PC_15);
+
+/*Deklarasi Display*/
+DigitDisplay display (PA_8, PC_8);
+
+/****************************************************/
+/* Deklarasi Fungsi dan Procedure */
+/****************************************************/
+int case_joystick()
+{
+//---------------------------------------------------//
+// Gerak Motor Base //
+// Case 1 : Pivot kanan //
+// Case 2 : Pivot Kiri //
+// Case 3 : Kanan //
+// Case 4 : Kiri //
+// Case 5 : Break //
+//---------------------------------------------------//
+
+ int caseJoystick;
+ if ((joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) {
+ // Pivot Kanan
+ caseJoystick = 1;
+ }
+ else if ((!joystick.R1)&&(joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) {
+ // Pivot Kiri
+ caseJoystick = 2;
+ }
+ else if ((joystick.START_click)&&(!joystick.SELECT_click)&&(!joystick.R3_click)) {
+ // tambah rpm dengan nilai tertentu
+ caseJoystick = 31;
+ }
+ else if ((!joystick.START_click)&&(joystick.SELECT_click)&&(!joystick.R3_click)) {
+ // kurangi rpm dengan nilai tertentu
+ caseJoystick = 32;
+ }
+ else if ((!joystick.START_click)&&(!joystick.SELECT_click)&&(joystick.R3_click)) {
+ // kurangi rpm dengan nilai tertentu
+ caseJoystick = 33;
+ }
+ else if ((joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri)) {
+ // Kanan + Rotasi kanan
+ caseJoystick = 17;
+ }
+ else if ((!joystick.R1)&&(joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri)) {
+ // Kanan + Rotasi kiri
+ caseJoystick = 18;
+ }
+ else if ((joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)) {
+ // Kiri + Rotasi kanan
+ caseJoystick = 19;
+ }
+ else if ((!joystick.R1)&&(joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)) {
+ // Kanan + Rotasi kiri
+ caseJoystick = 20;
+ }
+ else if ((joystick.R1)&&(!joystick.L1)&&(joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) {
+ // Maju + Rotasi kanan
+ caseJoystick = 21;
+ }
+ else if ((!joystick.R1)&&(joystick.L1)&&(joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) {
+ // Maju + Rotasi kiri
+ caseJoystick = 22;
+ }
+ else if ((joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) {
+ // Mundur + Rotasi kanan
+ caseJoystick = 23;
+ }
+ else if ((!joystick.R1)&&(joystick.L1)&&(!joystick.atas)&&(joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) {
+ // Mundur + Rotasi kiri
+ caseJoystick = 24;
+ }
+ else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri)&&(joystick.segitiga_click)) {
+ // Kanan + segitiga
+ caseJoystick = 25;
+ }
+ else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)&&(joystick.segitiga_click)) {
+ // Kiri + segitiga
+ caseJoystick = 26;
+ }
+ else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri)&&(joystick.lingkaran_click)) {
+ // Kanan + lingkaran
+ caseJoystick = 27;
+ }
+ else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)&&(joystick.lingkaran_click)) {
+ // Kiri + lingkaran
+ caseJoystick = 28;
+ }
+ else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri)&&(joystick.kotak_click)) {
+ // Kanan + kotak
+ caseJoystick = 29;
+ }
+ else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)&&(joystick.kotak_click)) {
+ // Kiri + kotak
+ caseJoystick = 30;
+ }
+ else if ((!joystick.R1)&&(!joystick.L1)&&(joystick.atas)&&(!joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri)) {
+ // Serong kanan maju
+ caseJoystick = 13;
+ }
+ else if ((!joystick.R1)&&(!joystick.L1)&&(joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)) {
+ // Serong kiri maju
+ caseJoystick = 14;
+ }
+ else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri)) {
+ // Serong kanan mundur
+ caseJoystick = 15;
+ }
+ else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)) {
+ // Serong kiri mundur
+ caseJoystick = 16;
+ }
+ else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri)) {
+ // Kanan
+ caseJoystick = 3;
+ }
+ else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)) {
+ // Kiri
+ caseJoystick = 4;
+ }
+ else if ((!joystick.R1)&&(!joystick.L1)&&(joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) {
+ // Atas -- Maju
+ caseJoystick = 8;
+ }
+ else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) {
+ // Bawah -- Mundur
+ caseJoystick = 9;
+ }
+ else if (joystick.segitiga_click){
+ // Motor Launcher
+ caseJoystick = 5;
+ }
+ else if (joystick.R2_click){
+ // Target Pulse PID ++ Motor Depan
+ caseJoystick = 6;
+ }
+ else if (joystick.L2_click){
+ // Target Pulse PID -- Motor
+ caseJoystick = 7;
+ }
+ else if (joystick.silang_click){
+ // Pnemuatik ON
+ caseJoystick = 10;
+ }
+ else if ((joystick.lingkaran_click)&&(!joystick.kotak_click)) {
+ // Power Screw Up
+ caseJoystick = 11;
+ }
+ else if ((joystick.kotak_click)&&(!joystick.lingkaran_click)) {
+ // Power Screw Down
+ caseJoystick = 12;
+ }
+ else if (joystick.L3){
+ // Paku Bumi ON/OFF
+ caseJoystick = 34;
+ }
+ else
+ {
+ tuneAksel = 0.6;
+ aksel = 0;
+ }
+
+ return(caseJoystick);
+}
+
+
+void init_rpm (){
+ if (target_rpm>maxRPM-2){
+ target_rpm = maxRPM-2;
+ }
+ if (target_rpm<minRPM){
+ target_rpm = minRPM;
+ }
+ if (target_rpm2>maxRPM){
+ target_rpm2 = maxRPM;
+ }
+ if (target_rpm2<minRPM+2){
+ target_rpm2 = minRPM+2;
+ }
+}
+
+void aktuator()
+{
+ switch (case_joy) {
+ case (1):
+ {
+ // Pivot Kanan
+ motorDpn.speed(-rasio*PIVOT-t_new);
+ motorBlk.speed(-rasio*PIVOT-t_new);
+ ////////////////MotorR.speed(-rasio*PIVOT-t_new);
+ motorL.speed(-PIVOT);
+ break;
+ }
+ case (2):
+ {
+ // Pivot Kiri
+ motorDpn.speed(rasio*PIVOT+t_new);
+ motorBlk.speed(rasio*PIVOT+t_new);
+ ////////////////MotorR.speed(rasio*PIVOT+t_new);
+ motorL.speed(PIVOT);
+ break;
+ }
+ case (17):
+ {
+ // Kanan + Rotasi Kanan
+ motorDpn.speed(-PIVOT);
+ motorBlk.speed(-rasio*PIVOT-t_new);
+ ////////////////MotorR.speed(-rasio*PIVOT-t_new);
+ motorL.speed(-rasio*PIVOT-t_new);
+ break;
+ }
+ case (18):
+ {
+ // Kanan + Rotasi Kiri
+ motorDpn.speed(PIVOT);
+ motorBlk.speed(rasio*PIVOT+t_new);
+ ////////////////MotorR.speed(rasio*PIVOT+t_new);
+ motorL.speed(rasio*PIVOT+t_new);
+ break;
+ }
+ case (19):
+ {
+ // Kiri + Rotasi Kanan
+ motorDpn.speed(-PIVOT);
+ motorBlk.speed(-PIVOT);
+ ////////////////MotorR.speed(-rasio*PIVOT-t_new);
+ motorL.speed(-rasio*PIVOT-t_new);
+ break;
+ }
+ case (20):
+ {
+ // Kiri + Rotasi Kiri
+ motorDpn.speed(PIVOT);
+ motorBlk.speed(PIVOT);
+ //MotorR.speed(rasio*PIVOT+t_new);
+ motorL.speed(rasio*PIVOT+t_new);
+ break;
+ }
+ case (21):
+ {
+ // Maju + Rotasi Kanan
+ motorDpn.speed(-PIVOT);
+ motorBlk.speed(-PIVOT);
+ //MotorR.speed(-rasio*PIVOT-t_new);
+ motorL.speed(-rasio*PIVOT-t_new);
+ break;
+ }
+ case (22):
+ {
+ // Maju + Rotasi Kiri
+ motorDpn.speed(PIVOT);
+ motorBlk.speed(PIVOT);
+ //////////////MotorR.speed(rasio*PIVOT+t_new);
+ motorL.speed(rasio*PIVOT+t_new);
+ break;
+ }
+ case (23):
+ {
+ // Mundur + Rotasi Kanan
+ motorDpn.speed(-PIVOT);
+ motorBlk.speed(-PIVOT);
+ //////////////MotorR.speed(-rasio*PIVOT-t_new);
+ motorL.speed(-rasio*PIVOT-t_new);
+ break;
+ }
+ case (24):
+ {
+ // Mundur + Rotasi Kiri
+ motorDpn.speed(PIVOT);
+ motorBlk.speed(PIVOT);
+ //////////////MotorR.speed(rasio*PIVOT+t_new);
+ motorL.speed(rasio*PIVOT+t_new);
+ break;
+ }
+ case (25):
+ {
+ // Kanan + segitiga
+ isLauncher = !isLauncher;
+ break;
+ }
+ case (26):
+ {
+ // Kiri + segitiga
+ isLauncher = !isLauncher;
+ break;
+ }
+ case (27):
+ {
+ // Kanan + lingkaran
+ ReloadOn = !ReloadOn;
+ isReload = false;
+ break;
+ }
+ case (28):
+ {
+ // Kiri + lingkaran
+ ReloadOn = !ReloadOn;
+ isReload = false;
+ break;
+ }
+ case (29):
+ {
+ // Kanan + kotak
+ ReloadOn = !ReloadOn;
+ isReload = true;
+ break;
+ }
+ case (30):
+ {
+ // Kiri + kotak
+ ReloadOn = !ReloadOn;
+ isReload = true;
+ break;
+ }
+ case (13) :
+ {
+ // Serong kanan maju
+ motorDpn.speed(-serong);
+ motorL.speed(-serong-t_new);
+ motorBlk.speed(serong);
+ //////////////MotorR.speed(serong+t_new);
+ break;
+ }
+ case (14) :
+ {
+ // Serong kiri maju
+ motorDpn.speed(serong);
+ //////////////MotorR.speed(serong+t_new);
+ motorBlk.speed(-serong);
+ motorL.speed(-serong-t_new);
+ break;
+ }
+ case (15) :
+ {
+ // Serong kanan mundur
+ motorDpn.speed(-serong);
+ //////////////MotorR.speed(-serong-t_new);
+ motorBlk.speed(serong);
+ motorL.speed(serong+t_new);
+ break;
+ }
+ case (16) :
+ {
+ // Serong kiri mundur
+ motorDpn.speed(serong);
+ motorL.speed(serong+t_new);
+ motorBlk.speed(-serong);
+ //////////////MotorR.speed(-serong-t_new);
+ break;
+ }
+ case (3) :
+ {
+ // Kanan
+ aksel++;
+ if (aksel>300)
+ tuneAksel = 0.9;
+
+ motorDpn.speed(-tuneAksel);
+ motorBlk.speed(tuneAksel);
+ //////////////MotorR.brake(1);
+ motorL.brake(1);
+ break;
+ }
+ case (4) :
+ {
+ // Kiri
+ aksel++;
+ if (aksel>300)
+ tuneAksel = 0.9;
+
+ motorDpn.speed(tuneAksel);
+ motorBlk.speed(-tuneAksel);
+ //////////////MotorR.brake(1);
+ motorL.brake(1);
+ break;
+ }
+ case (8) :
+ {
+ // Maju
+ aksel++;
+ if (aksel>300)
+ tuneAksel = 0.9;
+
+ ////////////////MotorR.speed(tuneAksel);
+ motorL.speed(1);
+ motorDpn.brake(-tuneAksel);
+ motorBlk.speed(tuneAksel);
+ break;
+ }
+ case (9) :
+ {
+ // Mundur
+ aksel++;
+ if (aksel>300)
+ tuneAksel = 0.9;
+
+ ////////////////MotorR.speed(-tuneAksel);
+ motorL.speed(1);
+ motorDpn.brake(tuneAksel);
+ motorBlk.brake(-tuneAksel);
+ break;
+ }
+ case (5) :
+ {
+ // Aktifkan motor atas
+ isLauncher = !isLauncher;
+ break;
+ }
+ case (6) :
+ {
+ // Target Pulse PID ++ Motor Depan
+ target_rpm2 = target_rpm2+1.0;
+ target_rpm = target_rpm+1.0;
+ init_rpm();
+ break;
+ }
+ case (7) :
+ {
+ // Target Pulse PID -- Motor Depan
+ target_rpm2 = target_rpm2-1.0;
+ target_rpm = target_rpm-1.0;
+ init_rpm();
+ break;
+ }
+ case (10) :
+ {
+ // Pneumatik
+ if (ready)
+ {
+ pneumatik = 0;
+ previousMillis3 = millis();
+ flag_Pneu = true;
+ ready = false;
+ previousMillis6 = millis();
+
+ }
+ break;
+ }
+ case (11) :
+ {
+ // Power Screw Up
+ ReloadOn = !ReloadOn;
+ isReload = false;
+ break;
+ }
+ case (31) :
+ {
+ // start
+ target_rpm2 = 24;
+ target_rpm = 24;
+ init_rpm();
+ break;
+ }
+ case (32) :
+ {
+ // select
+ target_rpm2 = 11;
+ target_rpm = 11;
+ init_rpm();
+ break;
+ }
+ case (33) :
+ {
+ // R3
+ target_rpm2 = 17;
+ target_rpm = 17;
+ init_rpm();
+ break;
+ }
+ case (12) :
+ {
+ // Power Screw Down
+ ReloadOn = !ReloadOn;
+ isReload = true;
+ break;
+ }
+ case (34) :{
+ pneu_paku = !pneu_paku;
+ wait_ms(50);
+ if (pneu_paku == 1){
+ PIVOT = 0.17;
+ }else{
+ PIVOT = 0.8;
+ }
+ }
+ default :
+ {
+ tuneAksel = 0.6;
+ aksel = 0;
+ motorDpn.brake(1);
+ motorBlk.brake(1);
+ //////////////MotorR.brake(1);
+ motorL.brake(1);
+ }
+ } // End Switch
+ }
+
+/*void reloader()
+{
+ if(ReloadOn){
+ if(isReload){
+ powerScrew.speed(pwmPowerDown);
+ pc.printf("%.2f\n", jarak_ping);
+ if((!limitBawah)||(!limitBawah1)){
+ isReload = false;
+ ReloadOn = false;
+ }
+ }
+ else if(!limitTengah){
+ isReload = true;
+ }
+ else if(!flag_Pneu){
+ //pc.printf("%.2f\n", ping_pwm);
+ if (millis()-previousMillis6>700)
+ {
+ ping_current_error = (double) (ping_target-jarak_ping);
+
+ ping_sum_error += ping_current_error*ping_Ts;
+ ping_pwm = (double) ping_Kp*ping_current_error + ping_Kd*(ping_current_error-ping_previous_error1)/ping_Ts;
+
+ if (ping_pwm>1) ping_pwm=1;
+ if (ping_pwm>0.049 && ping_pwm<0.5) ping_pwm = 0.5;
+ if (ping_pwm<-0.049 && ping_pwm>-0.3) ping_pwm = -0.3;
+ if (ping_pwm<-1) ping_pwm=-1;
+
+ powerScrew.speed(ping_pwm);
+
+ ping_previous_error1 = ping_current_error;
+ }
+
+ }
+ if ((jarak_ping>(ping_target-2))&&(jarak_ping<(ping_target+2))){
+ ready = true;
+ }else{
+ ready = false;
+ }
+ }
+ else{
+ powerScrew.brake(1);
+ }
+}
+
+
+void launcher()
+{
+ if (isLauncher)
+ {
+ currentMillis = millis();
+ currentMillis2 = millis();
+
+ // PID Launcher Belakang
+ if (currentMillis-previousMillis>=Ts)
+ {
+ rpm = (float)encLauncherBlk.getPulses();
+ current_error1 = target_rpm - rpm;
+ a1 = kpA1 + kiA1*Ts/2 + kdA1/Ts;
+ b1 = -kpA1 + kiA1*Ts/2 - 2*kdA1/Ts;
+ c1 = kdA1/Ts;
+ speed = previous_speed1 + a1*current_error1 + b1*previous_error1_1 + c1*previous_error1_2;
+ //init_speed();
+ if(speed > maxSpeed){
+ launcherBlk.speed(maxSpeed);
+ }
+ else if ( speed < minSpeed){
+ launcherBlk.speed(minSpeed);
+ }
+ else {
+ launcherBlk.speed(speed);
+ }
+ previous_speed1 = speed;
+ previous_error1_2 = previous_error1_1;
+ previous_error1_1 = current_error1;
+ encLauncherBlk.reset();
+ previousMillis = currentMillis;
+
+ }
+ // PID Launcher Depan
+ if (currentMillis2-previousMillis2>=Ts)
+ {
+ rpm2 = (float)encLauncherDpn.getPulses();
+ current_error2 = target_rpm2 - rpm2;
+ a2 = kpA2 + kiA2*Ts/2 + kdA2/Ts;
+ b2 = -kpA2 + kiA2*Ts/2 - 2*kdA2/Ts;
+ c2 = kdA2/Ts;
+ speed2 = previous_speed2 + a2*current_error2 + b2*previous_error2_1 + c2*previous_error2_2;
+ //init_speed();
+ if (speed2 > maxSpeed){
+ launcherDpn.speed(maxSpeed);
+ }
+ else if ( speed2 < minSpeed){
+ launcherDpn.speed(minSpeed);
+ }
+ else{
+ launcherDpn.speed(speed2);
+ }
+ previous_speed2 = speed2;
+ previous_error2_2 = previous_error2_1;
+ previous_error2_1 = current_error2;
+ encLauncherDpn.reset();
+ previousMillis2 = currentMillis2;
+ }
+ //pc.printf("%.2f\t%.2f\n",rpm,rpm2);
+ }
+ else
+ {
+ launcherDpn.brake(1);
+ launcherBlk.brake(1);
+
+ previous_error1_1 = 0;
+ previous_error1_2 = 0;
+ previous_error2_1 = 0;
+ previous_error2_2 = 0;
+ previous_speed1 = 0;
+ previous_speed2 = 0;
+ }
+}
+*/
+/*********************************************************/
+/* Main Function */
+/*********************************************************/
+
+int main (void)
+{
+ // Set baud rate - 115200
+ joystick.setup();
+ pc.baud(115200);
+ wait_ms(1000);
+
+ // initializing encoder
+ pneumatik =1;
+
+ wait_ms(500);
+
+ //initializing PING
+ pingAtas.Send();
+
+ pc.printf("ready....");
+ startMillis();
+ while(1)
+ {
+ // interupsi pembacaan PING setiap 30 ms
+ if(millis() - previousMillis4 >= 10){ //30
+ jarak_ping = (float)pingAtas.Read_cm();
+
+ pingAtas.Send();
+ previousMillis4 = millis();
+ }
+
+ // Interrupt Serial
+ joystick.idle();
+ if(joystick.readable())
+ {
+ // Panggil fungsi pembacaan joystik
+ joystick.baca_data();
+ // Panggil fungsi pengolahan data joystik
+ joystick.olah_data();
+ // Masuk ke case joystick
+ case_joy = case_joystick();
+ //pc.printf("%d\n",case_joy);
+ aktuator();
+ //launcher();
+ //reloader();
+ if ((millis()-previousMillis3 >= 230)&&(flag_Pneu)){
+ pneumatik = 1;
+ flag_Pneu = false;
+ //wait_ms(1000);
+ }
+ }
+ else
+ {
+ joystick.idle();
+ }
+
+ if(millis() - previousMillis5 >= 400)
+ {
+ display.write(0,((int) rpm2) / 10);
+ display.write(1,((int)rpm2) % 10);
+ display.write(2, (int)target_rpm2 / 10);
+ display.write(3, (int)target_rpm2 % 10);
+ display.setColon(true);
+
+ previousMillis5 = millis();
+ }
+ }
+}
\ No newline at end of file