KRTMI 2019 / Mbed 2 deprecated KontrolMotorManualJoystick

V1

Dependencies:   mbed

main.cpp@1:ed6ad03b86e4, 2019-04-16 (annotated)

Committer:
bernardusrendy
Date:
Tue Apr 16 12:54:03 2019 +0000
Revision:
1:ed6ad03b86e4
Parent:
0:96a0fbdff740 
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
bernardusrendy 0:96a0fbdff740 1 #include "JoystickPS3.h"
bernardusrendy 0:96a0fbdff740 2 #include "Motor.h"
bernardusrendy 0:96a0fbdff740 3 #include "mbed.h"
bernardusrendy 0:96a0fbdff740 4 /* Inisialisasi Pin TX-RX Joystik dan PC */
bernardusrendy 0:96a0fbdff740 5 joysticknucleo joystick(PA_0,PA_1);
bernardusrendy 0:96a0fbdff740 6 Serial pc(USBTX,USBRX);
bernardusrendy 0:96a0fbdff740 7 /* Deklarasi Motor Base */
bernardusrendy 1:ed6ad03b86e4 8 Motor motorDepan(PB_8, PC_6, PC_5); //(PB_9, PA_12, PC_5);
bernardusrendy 1:ed6ad03b86e4 9 Motor motorBelakang(PB_9, PA_12, PA_6);
bernardusrendy 1:ed6ad03b86e4 10 //Motor motorKiri (PB_9, PA_6, PA_12);
bernardusrendy 1:ed6ad03b86e4 11
bernardusrendy 0:96a0fbdff740 12 /****************************************************/
bernardusrendy 0:96a0fbdff740 13 /* Deklarasi Fungsi dan Procedure */
bernardusrendy 0:96a0fbdff740 14 /****************************************************/
bernardusrendy 0:96a0fbdff740 15 int case_joystick()
bernardusrendy 0:96a0fbdff740 16 {
bernardusrendy 0:96a0fbdff740 17 //---------------------------------------------------//
bernardusrendy 0:96a0fbdff740 18 // Gerak Motor Base //
bernardusrendy 0:96a0fbdff740 19 // Case 1 : Pivot kanan //
bernardusrendy 0:96a0fbdff740 20 // Case 2 : Pivot Kiri //
bernardusrendy 0:96a0fbdff740 21 // Case 3 : Maju //
bernardusrendy 0:96a0fbdff740 22 // Case 4 : Kiri //
bernardusrendy 0:96a0fbdff740 23 // Case 5 : Bawah //
bernardusrendy 0:96a0fbdff740 24 // Case 6 : Kanan //
bernardusrendy 0:96a0fbdff740 25 //---------------------------------------------------//
bernardusrendy 0:96a0fbdff740 26
bernardusrendy 0:96a0fbdff740 27 int caseJoystick;
bernardusrendy 0:96a0fbdff740 28 if ((joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) {
bernardusrendy 0:96a0fbdff740 29 // Pivot Kanan
bernardusrendy 0:96a0fbdff740 30 caseJoystick = 1;
bernardusrendy 0:96a0fbdff740 31 }
bernardusrendy 0:96a0fbdff740 32 else if ((!joystick.R1)&&(joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) {
bernardusrendy 0:96a0fbdff740 33 // Pivot Kiri
bernardusrendy 0:96a0fbdff740 34 caseJoystick = 2;
bernardusrendy 0:96a0fbdff740 35 }
bernardusrendy 0:96a0fbdff740 36 else if ((!joystick.R1)&&(!joystick.L1)&&(joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) {
bernardusrendy 0:96a0fbdff740 37 // Pivot Kiri
bernardusrendy 0:96a0fbdff740 38 caseJoystick = 3;
bernardusrendy 0:96a0fbdff740 39 }
bernardusrendy 0:96a0fbdff740 40 else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)) {
bernardusrendy 1:ed6ad03b86e4 41 // Pivot
bernardusrendy 0:96a0fbdff740 42 caseJoystick = 4;
bernardusrendy 0:96a0fbdff740 43 }
bernardusrendy 1:ed6ad03b86e4 44 else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) {
bernardusrendy 0:96a0fbdff740 45 // Pivot Kiri
bernardusrendy 0:96a0fbdff740 46 caseJoystick = 5;
bernardusrendy 0:96a0fbdff740 47 }
bernardusrendy 0:96a0fbdff740 48 else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri)) {
bernardusrendy 0:96a0fbdff740 49 // Pivot Kiri
bernardusrendy 0:96a0fbdff740 50 caseJoystick = 6;
bernardusrendy 0:96a0fbdff740 51 }
bernardusrendy 0:96a0fbdff740 52 return(caseJoystick);
bernardusrendy 0:96a0fbdff740 53 }
bernardusrendy 0:96a0fbdff740 54
bernardusrendy 1:ed6ad03b86e4 55 void aktuator(int case_joy)
bernardusrendy 0:96a0fbdff740 56 {
bernardusrendy 0:96a0fbdff740 57 switch (case_joy) {
bernardusrendy 0:96a0fbdff740 58 case (1):
bernardusrendy 0:96a0fbdff740 59 {
bernardusrendy 0:96a0fbdff740 60 // Pivot Kanan
bernardusrendy 1:ed6ad03b86e4 61 motorDepan.speed(0.2);
bernardusrendy 1:ed6ad03b86e4 62 motorBelakang.speed(-0.2);
bernardusrendy 0:96a0fbdff740 63 break;
bernardusrendy 0:96a0fbdff740 64 }
bernardusrendy 0:96a0fbdff740 65 case (2):
bernardusrendy 0:96a0fbdff740 66 {
bernardusrendy 0:96a0fbdff740 67 // Pivot Kiri
bernardusrendy 1:ed6ad03b86e4 68 motorDepan.speed(-0.2);
bernardusrendy 1:ed6ad03b86e4 69 motorBelakang.speed(0.2);
bernardusrendy 0:96a0fbdff740 70 break;
bernardusrendy 0:96a0fbdff740 71 }
bernardusrendy 0:96a0fbdff740 72 case (3):
bernardusrendy 0:96a0fbdff740 73 {
bernardusrendy 0:96a0fbdff740 74 // Maju
bernardusrendy 1:ed6ad03b86e4 75 motorDepan.speed(0.2);
bernardusrendy 1:ed6ad03b86e4 76 motorBelakang.speed(0.2);
bernardusrendy 0:96a0fbdff740 77 break;
bernardusrendy 0:96a0fbdff740 78 }
bernardusrendy 0:96a0fbdff740 79 case (4):
bernardusrendy 0:96a0fbdff740 80 {
bernardusrendy 1:ed6ad03b86e4 81 // Mundur
bernardusrendy 1:ed6ad03b86e4 82 motorDepan.speed(-0.2);
bernardusrendy 1:ed6ad03b86e4 83 motorBelakang.speed(-0.2);
bernardusrendy 0:96a0fbdff740 84 break;
bernardusrendy 0:96a0fbdff740 85 }
bernardusrendy 0:96a0fbdff740 86 default :
bernardusrendy 0:96a0fbdff740 87 {
bernardusrendy 1:ed6ad03b86e4 88 break;
bernardusrendy 0:96a0fbdff740 89 }
bernardusrendy 0:96a0fbdff740 90 }
bernardusrendy 1:ed6ad03b86e4 91 }
bernardusrendy 0:96a0fbdff740 92 /*********************************************************/
bernardusrendy 0:96a0fbdff740 93 /* Main Function */
bernardusrendy 0:96a0fbdff740 94 /*********************************************************/
bernardusrendy 0:96a0fbdff740 95
bernardusrendy 0:96a0fbdff740 96 int main (void)
bernardusrendy 0:96a0fbdff740 97 {
bernardusrendy 0:96a0fbdff740 98 // Set baud rate - 115200
bernardusrendy 0:96a0fbdff740 99 joystick.setup();
bernardusrendy 0:96a0fbdff740 100 pc.baud(115200);
bernardusrendy 0:96a0fbdff740 101 wait_ms(1000);
bernardusrendy 1:ed6ad03b86e4 102 int case_joy;
bernardusrendy 0:96a0fbdff740 103 // startMillis();
bernardusrendy 0:96a0fbdff740 104 while(1)
bernardusrendy 0:96a0fbdff740 105 {
bernardusrendy 0:96a0fbdff740 106 // Interrupt Serial
bernardusrendy 0:96a0fbdff740 107 joystick.idle();
bernardusrendy 0:96a0fbdff740 108 if(joystick.readable())
bernardusrendy 0:96a0fbdff740 109 {
bernardusrendy 0:96a0fbdff740 110 // Panggil fungsi pembacaan joystik
bernardusrendy 0:96a0fbdff740 111 joystick.baca_data();
bernardusrendy 0:96a0fbdff740 112 // Panggil fungsi pengolahan data joystik
bernardusrendy 0:96a0fbdff740 113 joystick.olah_data();
bernardusrendy 0:96a0fbdff740 114 // Masuk ke case joystick
bernardusrendy 0:96a0fbdff740 115 case_joy = case_joystick();
bernardusrendy 0:96a0fbdff740 116 //pc.printf("%d\n",case_joy);
bernardusrendy 1:ed6ad03b86e4 117 aktuator(case_joy);
bernardusrendy 0:96a0fbdff740 118 }
bernardusrendy 0:96a0fbdff740 119 else
bernardusrendy 0:96a0fbdff740 120 {
bernardusrendy 0:96a0fbdff740 121 joystick.idle();
bernardusrendy 0:96a0fbdff740 122 }
bernardusrendy 0:96a0fbdff740 123
bernardusrendy 0:96a0fbdff740 124 // if(millis() - previousMillis5 >= 400)
bernardusrendy 0:96a0fbdff740 125 // {
bernardusrendy 0:96a0fbdff740 126 // display.write(0,((int) rpm2) / 10);
bernardusrendy 0:96a0fbdff740 127 // display.write(1,((int)rpm2) % 10);
bernardusrendy 0:96a0fbdff740 128 // display.write(2, (int)target_rpm2 / 10);
bernardusrendy 0:96a0fbdff740 129 // display.write(3, (int)target_rpm2 % 10);
bernardusrendy 0:96a0fbdff740 130 // display.setColon(true);
bernardusrendy 0:96a0fbdff740 131 //
bernardusrendy 0:96a0fbdff740 132 // previousMillis5 = millis();
bernardusrendy 0:96a0fbdff740 133 // }
bernardusrendy 0:96a0fbdff740 134
bernardusrendy 0:96a0fbdff740 135 }
bernardusrendy 0:96a0fbdff740 136
bernardusrendy 0:96a0fbdff740 137 }