File content as of revision 9:cc9c6244cb76:

#include "mbed.h"
#include "Servo.h"

//Programmed and formulated by Andre
/* Nama servo
       4
       3
  1(L3)   2
       0
*/
    
Servo SL3_1(PC_8);      //lengan3-ser1
Servo SL3_2(PC_6);      //lengan3-ser2
Servo SL3_3(PA_11);     //lengan3-ser3
Servo SL3_base(PB_2);   //lengan3-servo base

Serial pc(USBTX,USBRX);

//rumus mencari sudut phi
double phi(float x, float y){
    return atan(y/x);
}

//rumus mencari x yg dipengaruhi phi
double x_phi(float x, float y){
    return x/cos(phi(x,y));
}

//rumus teta2+teta1
double rum_tet(float sdt, float x, float y, float r1, float r2){
    double tet_dou = asin((x_phi(x,y)-r1*sin(sdt))/r2);
    float tet = (float) tet_dou;
    return tet;
}

//rumus untuk menentukan sudut teta1 terbaik (harus mendekati 0)
//didapat dari substitusi dua rumus diatas
double diffe(float sdt,float x, float y, float z, float r1, float r2){
    double dif_dou = -z+r1*cos(sdt)+r2*cos(rum_tet(sdt,x,y,r1,r2));
    float dif = (float) dif_dou;
    return dif;
}

//--------------------------------------------------------------------
//--------------------------------------------------------------------

int main() {
    float xt=0.00; float yt=0.00; float zt=0.00;    //x, y, dan z tujuan
    float r1=10.00; float r2=18.00;     //panjang potongan lengan dalam cm
    //------batas servo------
    float R1=-50.00; float T1=110;  //R : sudut terendah
    float R2=-40.00; float T2=T1;   //T : sudut tertinggi
    float R3=R1; float T3=140.00;
    float deg=0.00; float rad=0.00;
    //------batas servo------
    float pi = 3.14159265359;
    float kons = 0.01;  //konstanta efektif inverse (dari percobaan)
    float awal = 0.00;  //sudut awal servo (0)
    float teta1=0.00;   //sudut servo 1 dan 2 (dlm derajat)
    float teta2=0.00;   //sudut servo 3 (dlm derajat)
    float phis=0.00;    //sudut servo 0 (dlm derajat)
    
    pc.baud(9600);
    SL3_1.calibrate(0.001,120);    //harus kalibrasi (0.001,120)
    SL3_2.calibrate(0.001,120);
    SL3_3.calibrate(0.001,120);
    SL3_base.calibrate(0.001,120);
    
    while(1){
        SL3_1.position(((-1)*awal+51)*1.10);    //semua ke sudut 0
        SL3_2.position((awal-75)*1.05);
        SL3_3.position((awal-51)*1.14);
        SL3_base.position(awal);     // B E L U M   D I K A L I B R A S I
        
        pc.printf("Masukkan koordinat x,y dan z berurutan : ");
        pc.scanf("%f",&xt);     //input komponen x
        pc.scanf("%f",&yt);     //input komponen y (rotasi base)
        pc.scanf("%f",&zt);     //input komponen z (tinggi)
        
        //Command dibawah dilakukan untuk mencegah pembagian 0 dan 0
        //karena bisa math.error
        if(xt=0.00){
            xt+=0.1;        
        }else if(xt=r1+r2){
            xt-=0.1;
        }
        if(yt=0.00){
            yt+=0.1;        
        }else if(yt=r1+r2){
            yt-=0.1;
        }
        if(zt=0.00){
            zt+=0.1;        
        }else if(zt=r1+r2){
            zt-=0.1;
        }
        
        //-------mulai proses teta1--------
        deg = R1;   //mulai tes looping dari sudut terendah (R1)
        while (deg<T1) {
            deg+=0.1;
            rad=deg*pi/180;
            if(kons>diffe(rad,xt,yt,zt,r1,r2)){     //jika diffe mendekati 0 (<0.01) dan bukan nan, 
                break;                              //maka sudut tersebut memenuhi
            }
        }
        float teta1_rad = rad;          //dalam radian
        teta1 = teta1_rad*180/pi;       //dalam derajat
        //--------mulai proses teta2--------
        float teta2_rad = rum_tet(teta1_rad,xt,yt,r1,r2)-teta1_rad;
        teta2 = teta2_rad*180/pi;
        //--------mulai proses phi----------
        phis = phi(xt,yt)*180/pi;

        wait_ms(20);        //perlu kah??
        
        //----Eksekusi gerakan servo-----
        SL3_base.position(phis);       // B E L U M   D I K A L I B R A S I
        SL3_1.position(((-1)*teta1+51)*1.10);   
        SL3_2.position((teta1-75)*1.05);
        SL3_3.position((teta2-51)*1.14);
    }
}