KRTMI 2019 / Mbed 2 deprecated KRTMI_v1

code asli

Dependencies:   mbed Servo encoderKRTMI Motornew Lengan3 millis

JoystickPS3.h@3:6d469c371f49, 2019-05-19 (annotated)

Committer:
harrymunli
Date:
Sun May 19 15:59:31 2019 +0000
Revision:
3:6d469c371f49
Parent:
0:96a0fbdff740 
code KRTMI v3

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bernardusrendy 0:96a0fbdff740 1 #ifndef MBED_H
bernardusrendy 0:96a0fbdff740 2 #include "mbed.h"
bernardusrendy 0:96a0fbdff740 3 #endif
bernardusrendy 0:96a0fbdff740 4
bernardusrendy 0:96a0fbdff740 5 #ifndef JoystickPS3__serialDEFAULT_BAUD
bernardusrendy 0:96a0fbdff740 6 #define JoystickPS3__serialDEFAULT_BAUD 115200
bernardusrendy 0:96a0fbdff740 7 #endif
bernardusrendy 0:96a0fbdff740 8
bernardusrendy 0:96a0fbdff740 9 //Serial debug(USBTX,USBRX);
bernardusrendy 0:96a0fbdff740 10
bernardusrendy 0:96a0fbdff740 11 namespace JoystickPS3 {
bernardusrendy 0:96a0fbdff740 12
bernardusrendy 0:96a0fbdff740 13 class joysticknucleo {
bernardusrendy 0:96a0fbdff740 14 public:
bernardusrendy 0:96a0fbdff740 15 joysticknucleo(PinName tx, PinName rx) : _serial(tx, rx)
bernardusrendy 0:96a0fbdff740 16 {
bernardusrendy 0:96a0fbdff740 17
bernardusrendy 0:96a0fbdff740 18 }
bernardusrendy 0:96a0fbdff740 19
bernardusrendy 0:96a0fbdff740 20 // Deklarasi variabel tombol analog
bernardusrendy 0:96a0fbdff740 21 unsigned char LX, LY, RX, RY, R2, L2;
bernardusrendy 0:96a0fbdff740 22
bernardusrendy 0:96a0fbdff740 23 unsigned char button;
bernardusrendy 0:96a0fbdff740 24 unsigned char RL;
bernardusrendy 0:96a0fbdff740 25 unsigned char button_click;
bernardusrendy 0:96a0fbdff740 26 unsigned char RL_click;
bernardusrendy 0:96a0fbdff740 27
bernardusrendy 0:96a0fbdff740 28 void setup(){
bernardusrendy 0:96a0fbdff740 29 _serial.baud(JoystickPS3__serialDEFAULT_BAUD);
bernardusrendy 0:96a0fbdff740 30 // debug.baud(9600);
bernardusrendy 0:96a0fbdff740 31 }
bernardusrendy 0:96a0fbdff740 32
bernardusrendy 0:96a0fbdff740 33 /*********************************************************************************************/
bernardusrendy 0:96a0fbdff740 34 /** **/
bernardusrendy 0:96a0fbdff740 35 /** FUNGSI PEMBACAAN DATA **/
bernardusrendy 0:96a0fbdff740 36 /** - Data yang diterima dari Serial Arduino berbentuk 8-bit **/
bernardusrendy 0:96a0fbdff740 37 /** - Data yang diterima diolah menjadi boolean / 1-bit untuk data tombol button dan RL **/
bernardusrendy 0:96a0fbdff740 38 /** karena data yang digunakan adalah 1-bit (true/false) **/
bernardusrendy 0:96a0fbdff740 39 /** - Untuk analog data yang diterima tidak diolah karena rentang data yang dikirimkan **/
bernardusrendy 0:96a0fbdff740 40 /** memiliki rentang 0-255 / 8-bit, dan data yang akan digunakan adalah data 8-bit **/
bernardusrendy 0:96a0fbdff740 41 /** **/
bernardusrendy 0:96a0fbdff740 42 /** |------|-------|-------|------|-------|--------|-----------|----------| **/
bernardusrendy 0:96a0fbdff740 43 /** Bit Ke | 7 | 6 | 5 | 4 | 3 | 2 | 1 | 0 | **/
bernardusrendy 0:96a0fbdff740 44 /** |------|-------|-------|------|-------|--------|-----------|----------| **/
bernardusrendy 0:96a0fbdff740 45 /** Data | kiri | bawah | kanan | atas | kotak | silang | lingkaran | segitiga | **/
bernardusrendy 0:96a0fbdff740 46 /** |------|-------|-------|------|-------|--------|-----------|----------| **/
bernardusrendy 0:96a0fbdff740 47 /** **/
bernardusrendy 0:96a0fbdff740 48 /** - Penggabungan data R1, R2, L1, L2, R3, L3, START, dan SELECT disimpan dalam **/
bernardusrendy 0:96a0fbdff740 49 /** variabel "RL" **/
bernardusrendy 0:96a0fbdff740 50 /** - Urutan data pada variabel "RL" dan "RL_click" adalah **/
bernardusrendy 0:96a0fbdff740 51 /** sebagai berikut **/
bernardusrendy 0:96a0fbdff740 52 /** **/
bernardusrendy 0:96a0fbdff740 53 /** |----|--------|-------|----|----|----|----| **/
bernardusrendy 0:96a0fbdff740 54 /** Bit Ke | 6 | 5 | 4 | 3 | 2 | 1 | 0 | **/
bernardusrendy 0:96a0fbdff740 55 /** |----|--------|-------|----|----|----|----| **/
bernardusrendy 0:96a0fbdff740 56 /** Data | PS | SELECT | START | L3 | L1 | R3 | R1 | **/
bernardusrendy 0:96a0fbdff740 57 /** |----|--------|-------|----|----|----|----| **/
bernardusrendy 0:96a0fbdff740 58 /** **/
bernardusrendy 0:96a0fbdff740 59 /*********************************************************************************************/
bernardusrendy 0:96a0fbdff740 60
bernardusrendy 0:96a0fbdff740 61 void olah_data()
bernardusrendy 0:96a0fbdff740 62 {
bernardusrendy 0:96a0fbdff740 63 // Pengolahan data dari data "button"
bernardusrendy 0:96a0fbdff740 64 segitiga = (bool)((button >> 0) & 0x1);
bernardusrendy 0:96a0fbdff740 65 lingkaran = (bool)((button >> 1) & 0x1);
bernardusrendy 0:96a0fbdff740 66 silang = (bool)((button >> 2) & 0x1);
bernardusrendy 0:96a0fbdff740 67 kotak = (bool)((button >> 3) & 0x1);
bernardusrendy 0:96a0fbdff740 68 atas = (bool)((button >> 4) & 0x1);
bernardusrendy 0:96a0fbdff740 69 kanan = (bool)((button >> 5) & 0x1);
bernardusrendy 0:96a0fbdff740 70 bawah = (bool)((button >> 6) & 0x1);
bernardusrendy 0:96a0fbdff740 71 kiri = (bool)((button >> 7) & 0x1);
bernardusrendy 0:96a0fbdff740 72
bernardusrendy 0:96a0fbdff740 73 // Pengolahan data dari data "RL"
bernardusrendy 0:96a0fbdff740 74 R1 = (bool)((RL >> 0) & 0x1);
bernardusrendy 0:96a0fbdff740 75 R3 = (bool)((RL >> 1) & 0x1);
bernardusrendy 0:96a0fbdff740 76 L1 = (bool)((RL >> 2) & 0x1);
bernardusrendy 0:96a0fbdff740 77 L3 = (bool)((RL >> 3) & 0x1);
bernardusrendy 0:96a0fbdff740 78 START = (bool)((RL >> 4) & 0x1);
bernardusrendy 0:96a0fbdff740 79 SELECT = (bool)((RL >> 5) & 0x1);
bernardusrendy 0:96a0fbdff740 80 PS = (bool)((RL >> 6) & 0x1);
bernardusrendy 0:96a0fbdff740 81
bernardusrendy 0:96a0fbdff740 82 // R2 click dan L2 click
bernardusrendy 0:96a0fbdff740 83 if (R2 > 100) {
bernardusrendy 0:96a0fbdff740 84 if ( R2sebelum) { R2_click = false;
bernardusrendy 0:96a0fbdff740 85 } else { R2_click = true;}
bernardusrendy 0:96a0fbdff740 86 R2sebelum = true;
bernardusrendy 0:96a0fbdff740 87 }else {
bernardusrendy 0:96a0fbdff740 88 R2sebelum = false;
bernardusrendy 0:96a0fbdff740 89 R2_click = false;
bernardusrendy 0:96a0fbdff740 90 }
bernardusrendy 0:96a0fbdff740 91 if (L2 > 100) {
bernardusrendy 0:96a0fbdff740 92 if ( L2sebelum) { L2_click = false;
bernardusrendy 0:96a0fbdff740 93 } else { L2_click = true;}
bernardusrendy 0:96a0fbdff740 94 L2sebelum = true;
bernardusrendy 0:96a0fbdff740 95 }else { L2sebelum = false;
bernardusrendy 0:96a0fbdff740 96 L2_click = false;
bernardusrendy 0:96a0fbdff740 97 }
bernardusrendy 0:96a0fbdff740 98
bernardusrendy 0:96a0fbdff740 99 segitiga_click = (bool)((button_click >> 0) & 0x1);
bernardusrendy 0:96a0fbdff740 100 lingkaran_click = (bool)((button_click >> 1) & 0x1);
bernardusrendy 0:96a0fbdff740 101 silang_click = (bool)((button_click >> 2) & 0x1);
bernardusrendy 0:96a0fbdff740 102 kotak_click = (bool)((button_click >> 3) & 0x1);
bernardusrendy 0:96a0fbdff740 103 atas_click = (bool)((button_click >> 4) & 0x1);
bernardusrendy 0:96a0fbdff740 104 kanan_click = (bool)((button_click >> 5) & 0x1);
bernardusrendy 0:96a0fbdff740 105 bawah_click = (bool)((button_click >> 6) & 0x1);
bernardusrendy 0:96a0fbdff740 106 kiri_click = (bool)((button_click >> 7) & 0x1);
bernardusrendy 0:96a0fbdff740 107
bernardusrendy 0:96a0fbdff740 108 // Pengolahan data dari data "RL"
bernardusrendy 0:96a0fbdff740 109 R1_click = (bool)((RL_click >> 0) & 0x1);
bernardusrendy 0:96a0fbdff740 110 R3_click = (bool)((RL_click >> 1) & 0x1);
bernardusrendy 0:96a0fbdff740 111 L1_click = (bool)((RL_click >> 2) & 0x1);
bernardusrendy 0:96a0fbdff740 112 L3_click = (bool)((RL_click >> 3) & 0x1);
bernardusrendy 0:96a0fbdff740 113 START_click = (bool)((RL_click >> 4) & 0x1);
bernardusrendy 0:96a0fbdff740 114 SELECT_click = (bool)((RL_click >> 5) & 0x1);
bernardusrendy 0:96a0fbdff740 115 PS_click = (bool)((RL_click >> 6) & 0x1);
bernardusrendy 0:96a0fbdff740 116 }
bernardusrendy 0:96a0fbdff740 117
bernardusrendy 0:96a0fbdff740 118 /*********************************************************************************************/
bernardusrendy 0:96a0fbdff740 119 /** **/
bernardusrendy 0:96a0fbdff740 120 /** FUNGSI IDLE **/
bernardusrendy 0:96a0fbdff740 121 /** - Fungsi dijalankan saat Arduino mengirimkan data yang merupakan **/
bernardusrendy 0:96a0fbdff740 122 /** kondisi PS3 Disconnected **/
bernardusrendy 0:96a0fbdff740 123 /** - Fungsi membuat semua data joystik bernilai 0 **/
bernardusrendy 0:96a0fbdff740 124 /** **/
bernardusrendy 0:96a0fbdff740 125 /*********************************************************************************************/
bernardusrendy 0:96a0fbdff740 126
bernardusrendy 0:96a0fbdff740 127 void idle(){
bernardusrendy 0:96a0fbdff740 128 // Set 0
bernardusrendy 0:96a0fbdff740 129 button = 0;
bernardusrendy 0:96a0fbdff740 130 RL = 0;
bernardusrendy 0:96a0fbdff740 131 button_click = 0;
bernardusrendy 0:96a0fbdff740 132 RL_click = 0;
bernardusrendy 0:96a0fbdff740 133 R2_click =0;
bernardusrendy 0:96a0fbdff740 134 L2_click =0;
bernardusrendy 0:96a0fbdff740 135 R2 = 0;
bernardusrendy 0:96a0fbdff740 136 L2 = 0;
bernardusrendy 0:96a0fbdff740 137 RX = 0;
bernardusrendy 0:96a0fbdff740 138 RY = 0;
bernardusrendy 0:96a0fbdff740 139 LX = 0;
bernardusrendy 0:96a0fbdff740 140 LY = 0;
bernardusrendy 0:96a0fbdff740 141
bernardusrendy 0:96a0fbdff740 142 }
bernardusrendy 0:96a0fbdff740 143
bernardusrendy 0:96a0fbdff740 144 /*********************************************************************************************/
bernardusrendy 0:96a0fbdff740 145 /** **/
bernardusrendy 0:96a0fbdff740 146 /** FUNGSI PEMBACAAN DATA **/
bernardusrendy 0:96a0fbdff740 147 /** - Fungsi pembacaan data yang dikirim dari arduino **/
bernardusrendy 0:96a0fbdff740 148 /** - Data yang dikirim dari arduino merupakan paket data dengan format pengiriman **/
bernardusrendy 0:96a0fbdff740 149 /** **/
bernardusrendy 0:96a0fbdff740 150 /** |------|------|--------|----|--------------|----------|----|----|----|----|----|----| **/
bernardusrendy 0:96a0fbdff740 151 /** | 0x88 | 0x08 | button | RL | button_click | RL_click | R2 | L2 | RX | RY | LX | LY | **/
bernardusrendy 0:96a0fbdff740 152 /** |------|------|--------|----|--------------|----------|----|----|----|----|----|----| **/
bernardusrendy 0:96a0fbdff740 153 /** **/
bernardusrendy 0:96a0fbdff740 154 /** |------|------| **/
bernardusrendy 0:96a0fbdff740 155 /** | 0x88 | 0x09 | **/
bernardusrendy 0:96a0fbdff740 156 /** |------|------| **/
bernardusrendy 0:96a0fbdff740 157 /** **/
bernardusrendy 0:96a0fbdff740 158 /** - Jika urutan data yang diterima seperti tabel diatas, maka data tersebut akan **/
bernardusrendy 0:96a0fbdff740 159 /** diolah untuk input ke aktuator **/
bernardusrendy 0:96a0fbdff740 160 /** **/
bernardusrendy 0:96a0fbdff740 161 /*********************************************************************************************/
bernardusrendy 0:96a0fbdff740 162
bernardusrendy 0:96a0fbdff740 163 void baca_data()
bernardusrendy 0:96a0fbdff740 164 {
bernardusrendy 0:96a0fbdff740 165 // Interrupt Serial
bernardusrendy 0:96a0fbdff740 166 if(_serial.readable()&&(_serial.getc()==0x88)) {
bernardusrendy 0:96a0fbdff740 167 // Pembacaan data dilakukan jika data awal yang diterima adalah 0x88 kemudian 0x08
bernardusrendy 0:96a0fbdff740 168 if(_serial.getc()==0x08){
bernardusrendy 0:96a0fbdff740 169 // Proses Pembacaan Data
bernardusrendy 0:96a0fbdff740 170 button = _serial.getc();
bernardusrendy 0:96a0fbdff740 171 RL = _serial.getc();
bernardusrendy 0:96a0fbdff740 172 button_click = _serial.getc();
bernardusrendy 0:96a0fbdff740 173 RL_click = _serial.getc();
bernardusrendy 0:96a0fbdff740 174 R2 = _serial.getc();
bernardusrendy 0:96a0fbdff740 175 L2 = _serial.getc();
bernardusrendy 0:96a0fbdff740 176 RX = _serial.getc();
bernardusrendy 0:96a0fbdff740 177 RY = _serial.getc();
bernardusrendy 0:96a0fbdff740 178 LX = _serial.getc();
bernardusrendy 0:96a0fbdff740 179 LY = _serial.getc();
bernardusrendy 0:96a0fbdff740 180 } else if(_serial.getc()==0x09) {
bernardusrendy 0:96a0fbdff740 181 // PS3 Disconnected
bernardusrendy 0:96a0fbdff740 182 idle();
bernardusrendy 0:96a0fbdff740 183 } else {
bernardusrendy 0:96a0fbdff740 184 idle(); }
bernardusrendy 0:96a0fbdff740 185 // Indikator - Print data pada monitor PC
bernardusrendy 0:96a0fbdff740 186 // debug.printf("%2x %2x %2x %2x %3d %3d %3d %3d %3d %3d\n\r",button, RL, button_click, RL_click, R2, L2, RX, RY, LX, LY);
bernardusrendy 0:96a0fbdff740 187 }
bernardusrendy 0:96a0fbdff740 188 }
bernardusrendy 0:96a0fbdff740 189
bernardusrendy 0:96a0fbdff740 190
bernardusrendy 0:96a0fbdff740 191 int readable(){
bernardusrendy 0:96a0fbdff740 192 return _serial.readable();
bernardusrendy 0:96a0fbdff740 193 }
bernardusrendy 0:96a0fbdff740 194
bernardusrendy 0:96a0fbdff740 195 public:
bernardusrendy 0:96a0fbdff740 196 // Deklarasi variabel tombol joystik
bernardusrendy 0:96a0fbdff740 197 bool kiri, kanan, atas, bawah;
bernardusrendy 0:96a0fbdff740 198 bool segitiga, lingkaran, kotak, silang;
bernardusrendy 0:96a0fbdff740 199 bool L1, R1, L3, R3, START, SELECT, PS;
bernardusrendy 0:96a0fbdff740 200
bernardusrendy 0:96a0fbdff740 201 bool kiri_click, kanan_click, atas_click, bawah_click;
bernardusrendy 0:96a0fbdff740 202 bool segitiga_click, lingkaran_click, kotak_click, silang_click;
bernardusrendy 0:96a0fbdff740 203 bool L1_click, R1_click, L3_click, R3_click, R2_click, L2_click;
bernardusrendy 0:96a0fbdff740 204 bool R2sebelum,L2sebelum;
bernardusrendy 0:96a0fbdff740 205 bool START_click, SELECT_click, PS_click;
bernardusrendy 0:96a0fbdff740 206
bernardusrendy 0:96a0fbdff740 207 protected:
bernardusrendy 0:96a0fbdff740 208 virtual int _getc(){return _serial.getc();}
bernardusrendy 0:96a0fbdff740 209 Serial _serial;
bernardusrendy 0:96a0fbdff740 210 };
bernardusrendy 0:96a0fbdff740 211
bernardusrendy 0:96a0fbdff740 212 };
bernardusrendy 0:96a0fbdff740 213
bernardusrendy 0:96a0fbdff740 214 using namespace JoystickPS3;