Rahmadi S. Pandia / Mbed 2 deprecated MainProgram_BaseBaru_fix_omni_boardbaru

board baru, pin baru

Dependencies:   DigitDisplay Motor PID Ping mbed millis

Fork of MainProgram_BaseBaru_fix_omni_25Mar by KRAI 2017

main.cpp@44:e23f6d8586c6, 2017-03-26 (annotated)

Committer:
Najib_irvani
Date:
Sun Mar 26 03:32:56 2017 +0000
Revision:
44:e23f6d8586c6
Parent:
43:3807a95aa284
Child:
45:8af41da7fcd6
okeeh;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Najib_irvani 43:3807a95aa284 1
rahmadirizki18 5:3aa203218306 2 /****************************************************************************/
rahmadirizki18 5:3aa203218306 3 /* PROGRAM UNTUK PID CLOSED LOOP */
rahmadirizki18 5:3aa203218306 4 /* */
Najib_irvani 43:3807a95aa284 5 /* Last Update : 11 Maret 2017 */
gustavaditya 31:d5cbda07fd95 6 /* */
rahmadirizki18 5:3aa203218306 7 /* - Digunakan encoder autonics */
rahmadirizki18 5:3aa203218306 8 /* - Konfigurasi Motor dan Encoder sbb : */
MarchioKevin 22:4632f58461e0 9 /* ______________________ */
MarchioKevin 22:4632f58461e0 10 /* / \ Rode Depan Belakang: */
MarchioKevin 22:4632f58461e0 11 /* / 2 (Belakang) \ Omniwheel */
MarchioKevin 22:4632f58461e0 12 /* | | */
Najib_irvani 43:3807a95aa284 13 /* | 3 (kiri) 4 (kanan) | Roda Kiri Kanan: */
Najib_irvani 43:3807a95aa284 14 /* | | Omniwheel */
MarchioKevin 22:4632f58461e0 15 /* \ 1 (Depan) / */
MarchioKevin 22:4632f58461e0 16 /* \______________________/ Putaran berlawanan arah */
MarchioKevin 22:4632f58461e0 17 /* jarum jam positif */
rahmadirizki18 5:3aa203218306 18 /* SETTINGS (WAJIB!) : */
rahmadirizki18 5:3aa203218306 19 /* 1. Settings Pin Encoder, Resolusi, dan Tipe encoding di omniPos.h */
rahmadirizki18 5:3aa203218306 20 /* 2. Deklarasi penggunaan library omniPos pada bagian deklarasi encoder */
rahmadirizki18 5:3aa203218306 21 /* */
rahmadirizki18 5:3aa203218306 22 /****************************************************************************/
rahmadirizki18 6:68293bed71ea 23 /* */
MarchioKevin 20:54dc93e7b016 24 /* Joystick */
Sufa 30:d69cc27ac644 25 /* Kanan => */
Sufa 30:d69cc27ac644 26 /* Kiri => */
rahmadirizki18 6:68293bed71ea 27 /* */
Najib_irvani 44:e23f6d8586c6 28 /* Tombol silang => Pneumatik aktif */
Sufa 30:d69cc27ac644 29 /* Tombol segitiga => Aktif motor Launcher */
Najib_irvani 44:e23f6d8586c6 30 /* Tombol lingkaran => Reloader naik */
Najib_irvani 44:e23f6d8586c6 31 /* Tombol kotak => Reloader turun */
Sufa 30:d69cc27ac644 32 /* Tombol L1 => Pivot Kiri */
Sufa 30:d69cc27ac644 33 /* Tombol R1 => Pivot Kanan */
Najib_irvani 44:e23f6d8586c6 34 /* Tombol L2 => Kurang PWM Motor Launcher */
Najib_irvani 44:e23f6d8586c6 35 /* Tombol R2 => Tambah PWM Motor Launcher */
rahmadirizki18 13:8ab42383a2ca 36 /* */
calmantara186 16:90119f03c5d1 37 /* Bismillahirahmanirrahim */
MarchioKevin 20:54dc93e7b016 38 /* Jagalah Kebersihan Kodingan */
rahmadirizki18 6:68293bed71ea 39 /****************************************************************************/
rahmadirizki18 6:68293bed71ea 40
fanny868 0:9072e932503c 41 #include "mbed.h"
fanny868 0:9072e932503c 42 #include "JoystickPS3.h"
fanny868 0:9072e932503c 43 #include "Motor.h"
rahmadirizki18 5:3aa203218306 44 #include "encoderKRAI.h"
be_bryan 26:256160a1a82d 45 #include "millis.h"
gustavaditya 40:5b937cac959a 46 #include "Ping.h"
franshendri 42:6caf8bd5abbc 47 #include "DigitDisplay.h"
franshendri 42:6caf8bd5abbc 48
calmantara186 16:90119f03c5d1 49 /***********************************************/
calmantara186 16:90119f03c5d1 50 /* Konstanta dan Variabel */
calmantara186 16:90119f03c5d1 51 /***********************************************/
calmantara186 16:90119f03c5d1 52 #define PI 3.14159265
be_bryan 26:256160a1a82d 53 #define D_ENCODER 10 // Diameter Roda Encoder
be_bryan 26:256160a1a82d 54 #define D_ROBOT 80 // Diameter Roda Robot
rahmadirizki18 5:3aa203218306 55
be_bryan 26:256160a1a82d 56 // Variable Atas
gustavaditya 38:3ef6754bd8d8 57 double speed, speed2;
gustavaditya 39:11358f3f61ff 58 const double maxSpeed = 0.95, minSpeed = 0.0;
Najib_irvani 44:e23f6d8586c6 59 const double kpA=0.6757, kdA=0.7757, kiA=0.00003757;
be_bryan 26:256160a1a82d 60 double p,i,d;
be_bryan 27:68efb1622985 61 double p2,i2,d2;
be_bryan 26:256160a1a82d 62 double last_error = 0, current_error, sum_error = 0;
be_bryan 27:68efb1622985 63 double last_error2 = 0, current_error2, sum_error2 = 0;
gustavaditya 38:3ef6754bd8d8 64 float rpm, rpm2;
Najib_irvani 44:e23f6d8586c6 65 float target_rpm = 16.0, target_rpm2 = 16.0; // selisih 4 bagus, sama bagus
gustavaditya 41:336a19289c2d 66 const float maxRPM = 28, minRPM = 0; // Limit 25 atau 27
gustavaditya 38:3ef6754bd8d8 67
Najib_irvani 44:e23f6d8586c6 68 const float pwmPowerUp = 0.9;
gustavaditya 38:3ef6754bd8d8 69 const float pwmPowerDown = -0.9;
gustavaditya 40:5b937cac959a 70
gustavaditya 40:5b937cac959a 71 float jarak_ping=0;
be_bryan 26:256160a1a82d 72
be_bryan 26:256160a1a82d 73 // Variable Bawah
Joshua23 25:054d3048dd03 74 float Vt;
gustavaditya 31:d5cbda07fd95 75 float keliling_enc = PI*D_ENCODER;
gustavaditya 31:d5cbda07fd95 76 float keliling_robot = PI*D_ROBOT;
gustavaditya 31:d5cbda07fd95 77 float speedT = 0.2;
Najib_irvani 44:e23f6d8586c6 78 float PIVOT = 0.17; // PWM Pivot Kanan, Pivot Kiri
Najib_irvani 43:3807a95aa284 79 float tuneDpn = 0.62; // Tunning PWM motor Depan
Najib_irvani 43:3807a95aa284 80 float tuneBlk = 0.62; // Tunning PWM motor belakang
Najib_irvani 44:e23f6d8586c6 81 float tuneR = 0.78;
Najib_irvani 43:3807a95aa284 82 float tuneL = 0.72;
Najib_irvani 44:e23f6d8586c6 83 float serong = 0.4;
Najib_irvani 43:3807a95aa284 84 float rasio = 1.4545;
Najib_irvani 43:3807a95aa284 85
Najib_irvani 43:3807a95aa284 86 /* variable tunning */
Najib_irvani 43:3807a95aa284 87 float tunning_L;
Najib_irvani 43:3807a95aa284 88 float tunning_R;
Najib_irvani 43:3807a95aa284 89 float tunning_Dpn;
Najib_irvani 43:3807a95aa284 90 float tunning_Blk;
gustavaditya 31:d5cbda07fd95 91
gustavaditya 31:d5cbda07fd95 92 /* Variabel Encoder Bawah */
gustavaditya 31:d5cbda07fd95 93 float errTetha, Tetha; // Variabel yang didapatkan encoder
gustavaditya 31:d5cbda07fd95 94
gustavaditya 31:d5cbda07fd95 95 /* Deklarasi Variable Millis */
gustavaditya 33:69d266bc3fe9 96 unsigned long int previousMillis = 0; // PID launcher
gustavaditya 31:d5cbda07fd95 97 unsigned long int currentMillis;
gustavaditya 33:69d266bc3fe9 98 unsigned long int previousMillis2 = 0; // PID launcher
gustavaditya 31:d5cbda07fd95 99 unsigned long int currentMillis2;
gustavaditya 33:69d266bc3fe9 100 unsigned long int previousMillis3 = 0; // Pneumatik
gustavaditya 40:5b937cac959a 101 unsigned long int previousMillis4 = 0; // Ping
franshendri 42:6caf8bd5abbc 102 unsigned long int previousMillis5 = 0; // Display
MarchioKevin 22:4632f58461e0 103
gustavaditya 31:d5cbda07fd95 104 /* Variabel Stick */
gustavaditya 31:d5cbda07fd95 105 //Logic untuk masuk aktuator
gustavaditya 31:d5cbda07fd95 106 int case_joy;
gustavaditya 31:d5cbda07fd95 107 bool isLauncher = false;
gustavaditya 31:d5cbda07fd95 108 bool isReload = false;
rizqicahyo 36:5963c9a49485 109 bool ReloadOn = false;
gustavaditya 31:d5cbda07fd95 110 bool flag_Pneu = false;
Najib_irvani 44:e23f6d8586c6 111 bool ready = false;
gustavaditya 31:d5cbda07fd95 112
gustavaditya 31:d5cbda07fd95 113 /*****************************************************/
gustavaditya 31:d5cbda07fd95 114 /* Definisi Prosedur, Fungsi dan Setting Pinout */
gustavaditya 31:d5cbda07fd95 115 /*****************************************************/
gustavaditya 31:d5cbda07fd95 116
gustavaditya 31:d5cbda07fd95 117 /* Fungsi dan Procedur Encoder */
gustavaditya 31:d5cbda07fd95 118 void init_speed(); //
gustavaditya 31:d5cbda07fd95 119 void aktuator(); // Pergerakan aktuator berdasarkan case joystick
gustavaditya 31:d5cbda07fd95 120 int case_joystick(); // Mendapatkan case dari joystick
gustavaditya 33:69d266bc3fe9 121 //void speedKalibrasiMotor(); // Pertambahan target RPM motor atas melalui joystick
gustavaditya 31:d5cbda07fd95 122 void setCenter(); // Prosedur reset encoder, posisi saat itu diset jadi titik (0,0)
gustavaditya 31:d5cbda07fd95 123 float getTetha(); // Fungsi mendapatkan error Tetha
gustavaditya 31:d5cbda07fd95 124
gustavaditya 31:d5cbda07fd95 125 /* Inisialisasi Pin TX-RX Joystik dan PC */
gustavaditya 31:d5cbda07fd95 126 joysticknucleo joystick(PA_0,PA_1);
gustavaditya 31:d5cbda07fd95 127 Serial pc(USBTX,USBRX);
calmantara186 16:90119f03c5d1 128
be_bryan 26:256160a1a82d 129 /* Deklarasi Encoder Base */
gustavaditya 31:d5cbda07fd95 130 encoderKRAI encoderBase(PC_4, PB_15, 2000, encoderKRAI::X2_ENCODING); //inA, inB, pin Indeks (NC = tak ada), 2xresolusi, mode pembacaan
rahmadirizki18 15:98f0d56b14f0 131
be_bryan 26:256160a1a82d 132 /* Deklarasi Encoder Launcher */
Najib_irvani 44:e23f6d8586c6 133 encoderKRAI encLauncherDpn( PC_10, PC_11, 28, encoderKRAI::X4_ENCODING);
Najib_irvani 44:e23f6d8586c6 134 encoderKRAI encLauncherBlk( PD_2, PC_12, 28, encoderKRAI::X4_ENCODING);
be_bryan 26:256160a1a82d 135
calmantara186 16:90119f03c5d1 136 /* Deklarasi Motor Base */
Najib_irvani 44:e23f6d8586c6 137 Motor motorDpn(PC_7, PC_13, PC_14); //(PB_9, PA_12, PC_5);
Najib_irvani 44:e23f6d8586c6 138 Motor motorBlk(PB_9, PC_5, PA_12); //(PB_6, PB_1, PB_12); (PC_7, PC_14, PC_13);
Najib_irvani 44:e23f6d8586c6 139 Motor motorL (PA_11, PA_6, PA_7);
Najib_irvani 44:e23f6d8586c6 140 Motor motorR (PC_6, PB_5, PB_4); //(PC_6, PB_4, PB_5);
fanny868 0:9072e932503c 141
calmantara186 16:90119f03c5d1 142 /* Deklarasi Motor Launcher */
gustavaditya 31:d5cbda07fd95 143 Motor launcherDpn(PA_8,PC_2,PC_1); // pwm ,fwd, rev
Najib_irvani 44:e23f6d8586c6 144 Motor launcherBlk(PB_7, PA_14, PA_15); // pwm, fwd, rev
Najib_irvani 43:3807a95aa284 145 Motor powerScrew(PA_9, PA_4, PC_15); // pwm, fwd, rev
rahmadirizki18 5:3aa203218306 146
be_bryan 26:256160a1a82d 147 /* Deklarasi Penumatik Launcher */
Sufa 29:7b372b0aaa61 148 DigitalOut pneumatik(PB_3, PullUp);
be_bryan 26:256160a1a82d 149
be_bryan 27:68efb1622985 150 /*Dekalrasi Limit Switch */
gustavaditya 40:5b937cac959a 151 //DigitalIn infraAtas(PC_9, PullUp);
gustavaditya 31:d5cbda07fd95 152 DigitalIn limitTengah(PB_10, PullUp);
gustavaditya 31:d5cbda07fd95 153 DigitalIn limitBawah(PC_8, PullUp);
Najib_irvani 44:e23f6d8586c6 154 DigitalIn limitBawah1(PA_5, PullUp);
rahmadirizki18 5:3aa203218306 155
gustavaditya 40:5b937cac959a 156 /*deklarasi PING ultrasonic*/
gustavaditya 40:5b937cac959a 157 Ping pingAtas(PC_9);
fanny868 0:9072e932503c 158
franshendri 42:6caf8bd5abbc 159 /*Deklarasi Display*/
franshendri 42:6caf8bd5abbc 160 DigitDisplay display (D15, D4);
franshendri 42:6caf8bd5abbc 161
MarchioKevin 22:4632f58461e0 162 /****************************************************/
MarchioKevin 22:4632f58461e0 163 /* Deklarasi Fungsi dan Procedure */
MarchioKevin 22:4632f58461e0 164 /****************************************************/
gustavaditya 31:d5cbda07fd95 165 int case_joystick()
gustavaditya 31:d5cbda07fd95 166 {
gustavaditya 31:d5cbda07fd95 167 //---------------------------------------------------//
gustavaditya 31:d5cbda07fd95 168 // Gerak Motor Base //
gustavaditya 31:d5cbda07fd95 169 // Case 1 : Pivot kanan //
gustavaditya 31:d5cbda07fd95 170 // Case 2 : Pivot Kiri //
gustavaditya 31:d5cbda07fd95 171 // Case 3 : Kanan //
gustavaditya 31:d5cbda07fd95 172 // Case 4 : Kiri //
gustavaditya 31:d5cbda07fd95 173 // Case 5 : Break //
gustavaditya 31:d5cbda07fd95 174 //---------------------------------------------------//
gustavaditya 31:d5cbda07fd95 175
gustavaditya 31:d5cbda07fd95 176 int caseJoystick;
Najib_irvani 43:3807a95aa284 177 if ((joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) {
gustavaditya 31:d5cbda07fd95 178 // Pivot Kanan
gustavaditya 31:d5cbda07fd95 179 caseJoystick = 1;
gustavaditya 31:d5cbda07fd95 180 }
Najib_irvani 43:3807a95aa284 181 else if ((!joystick.R1)&&(joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) {
gustavaditya 31:d5cbda07fd95 182 // Pivot Kiri
gustavaditya 31:d5cbda07fd95 183 caseJoystick = 2;
Najib_irvani 43:3807a95aa284 184 }
Najib_irvani 43:3807a95aa284 185 else if ((joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri)) {
Najib_irvani 43:3807a95aa284 186 // Kanan + Rotasi kanan
Najib_irvani 43:3807a95aa284 187 caseJoystick = 17;
Najib_irvani 43:3807a95aa284 188 }
Najib_irvani 43:3807a95aa284 189 else if ((!joystick.R1)&&(joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri)) {
Najib_irvani 43:3807a95aa284 190 // Kanan + Rotasi kiri
Najib_irvani 43:3807a95aa284 191 caseJoystick = 18;
Najib_irvani 43:3807a95aa284 192 }
Najib_irvani 43:3807a95aa284 193 else if ((joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)) {
Najib_irvani 43:3807a95aa284 194 // Kiri + Rotasi kanan
Najib_irvani 43:3807a95aa284 195 caseJoystick = 19;
Najib_irvani 43:3807a95aa284 196 }
Najib_irvani 43:3807a95aa284 197 else if ((!joystick.R1)&&(joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)) {
Najib_irvani 43:3807a95aa284 198 // Kanan + Rotasi kiri
Najib_irvani 43:3807a95aa284 199 caseJoystick = 20;
Najib_irvani 43:3807a95aa284 200 }
Najib_irvani 43:3807a95aa284 201 else if ((joystick.R1)&&(!joystick.L1)&&(joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) {
Najib_irvani 43:3807a95aa284 202 // Maju + Rotasi kanan
Najib_irvani 43:3807a95aa284 203 caseJoystick = 21;
Najib_irvani 43:3807a95aa284 204 }
Najib_irvani 43:3807a95aa284 205 else if ((!joystick.R1)&&(joystick.L1)&&(joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) {
Najib_irvani 43:3807a95aa284 206 // Maju + Rotasi kiri
Najib_irvani 43:3807a95aa284 207 caseJoystick = 22;
Najib_irvani 43:3807a95aa284 208 }
Najib_irvani 43:3807a95aa284 209 else if ((joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) {
Najib_irvani 43:3807a95aa284 210 // Mundur + Rotasi kanan
Najib_irvani 43:3807a95aa284 211 caseJoystick = 23;
Najib_irvani 43:3807a95aa284 212 }
Najib_irvani 43:3807a95aa284 213 else if ((!joystick.R1)&&(joystick.L1)&&(!joystick.atas)&&(joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) {
Najib_irvani 43:3807a95aa284 214 // Mundur + Rotasi kiri
Najib_irvani 43:3807a95aa284 215 caseJoystick = 24;
Najib_irvani 43:3807a95aa284 216 }
Najib_irvani 43:3807a95aa284 217 else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri)&&(joystick.segitiga_click)) {
Najib_irvani 43:3807a95aa284 218 // Kanan + segitiga
Najib_irvani 43:3807a95aa284 219 caseJoystick = 25;
Najib_irvani 43:3807a95aa284 220 }
Najib_irvani 43:3807a95aa284 221 else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)&&(joystick.segitiga_click)) {
Najib_irvani 43:3807a95aa284 222 // Kiri + segitiga
Najib_irvani 43:3807a95aa284 223 caseJoystick = 26;
Najib_irvani 43:3807a95aa284 224 }
Najib_irvani 43:3807a95aa284 225 else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri)&&(joystick.lingkaran_click)) {
Najib_irvani 43:3807a95aa284 226 // Kanan + lingkaran
Najib_irvani 43:3807a95aa284 227 caseJoystick = 27;
Najib_irvani 43:3807a95aa284 228 }
Najib_irvani 43:3807a95aa284 229 else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)&&(joystick.lingkaran_click)) {
Najib_irvani 43:3807a95aa284 230 // Kiri + lingkaran
Najib_irvani 43:3807a95aa284 231 caseJoystick = 28;
Najib_irvani 43:3807a95aa284 232 }
Najib_irvani 43:3807a95aa284 233 else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri)&&(joystick.kotak_click)) {
Najib_irvani 43:3807a95aa284 234 // Kanan + kotak
Najib_irvani 43:3807a95aa284 235 caseJoystick = 29;
Najib_irvani 43:3807a95aa284 236 }
Najib_irvani 43:3807a95aa284 237 else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)&&(joystick.kotak_click)) {
Najib_irvani 43:3807a95aa284 238 // Kiri + kotak
Najib_irvani 43:3807a95aa284 239 caseJoystick = 30;
Najib_irvani 43:3807a95aa284 240 }
Najib_irvani 43:3807a95aa284 241 else if ((!joystick.R1)&&(!joystick.L1)&&(joystick.atas)&&(!joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri)) {
Najib_irvani 43:3807a95aa284 242 // Serong kanan maju
Najib_irvani 44:e23f6d8586c6 243 caseJoystick = 13;
Najib_irvani 43:3807a95aa284 244 }
Najib_irvani 43:3807a95aa284 245 else if ((!joystick.R1)&&(!joystick.L1)&&(joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)) {
Najib_irvani 43:3807a95aa284 246 // Serong kiri maju
Najib_irvani 44:e23f6d8586c6 247 caseJoystick = 14;
Najib_irvani 43:3807a95aa284 248 }
Najib_irvani 43:3807a95aa284 249 else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri)) {
Najib_irvani 43:3807a95aa284 250 // Serong kanan mundur
Najib_irvani 44:e23f6d8586c6 251 caseJoystick = 15;
Najib_irvani 43:3807a95aa284 252 }
Najib_irvani 43:3807a95aa284 253 else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)) {
Najib_irvani 43:3807a95aa284 254 // Serong kiri mundur
Najib_irvani 44:e23f6d8586c6 255 caseJoystick = 16;
gustavaditya 31:d5cbda07fd95 256 }
gustavaditya 31:d5cbda07fd95 257 else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri)) {
gustavaditya 31:d5cbda07fd95 258 // Kanan
gustavaditya 31:d5cbda07fd95 259 caseJoystick = 3;
gustavaditya 31:d5cbda07fd95 260 }
gustavaditya 31:d5cbda07fd95 261 else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)) {
gustavaditya 31:d5cbda07fd95 262 // Kiri
gustavaditya 31:d5cbda07fd95 263 caseJoystick = 4;
Najib_irvani 43:3807a95aa284 264 }
Najib_irvani 43:3807a95aa284 265 else if ((!joystick.R1)&&(!joystick.L1)&&(joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) {
Najib_irvani 43:3807a95aa284 266 // Atas -- Maju
Najib_irvani 44:e23f6d8586c6 267 caseJoystick = 8;
Najib_irvani 43:3807a95aa284 268 }
Najib_irvani 43:3807a95aa284 269 else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) {
Najib_irvani 43:3807a95aa284 270 // Bawah -- Mundur
Najib_irvani 44:e23f6d8586c6 271 caseJoystick = 9;
gustavaditya 31:d5cbda07fd95 272 }
gustavaditya 38:3ef6754bd8d8 273 else if (joystick.segitiga_click){
gustavaditya 31:d5cbda07fd95 274 // Motor Launcher
gustavaditya 31:d5cbda07fd95 275 caseJoystick = 5;
gustavaditya 31:d5cbda07fd95 276 }
gustavaditya 38:3ef6754bd8d8 277 else if (joystick.R2_click){
gustavaditya 31:d5cbda07fd95 278 // Target Pulse PID ++ Motor Depan
gustavaditya 31:d5cbda07fd95 279 caseJoystick = 6;
gustavaditya 31:d5cbda07fd95 280 }
gustavaditya 38:3ef6754bd8d8 281 else if (joystick.L2_click){
Najib_irvani 43:3807a95aa284 282 // Target Pulse PID -- Motor
gustavaditya 31:d5cbda07fd95 283 caseJoystick = 7;
gustavaditya 31:d5cbda07fd95 284 }
gustavaditya 31:d5cbda07fd95 285 else if (joystick.silang_click){
gustavaditya 31:d5cbda07fd95 286 // Pnemuatik ON
gustavaditya 31:d5cbda07fd95 287 caseJoystick = 10;
gustavaditya 31:d5cbda07fd95 288 }
Najib_irvani 43:3807a95aa284 289 else if ((joystick.lingkaran_click)&&(!joystick.kotak_click)) {
gustavaditya 31:d5cbda07fd95 290 // Power Screw Up
gustavaditya 31:d5cbda07fd95 291 caseJoystick = 11;
gustavaditya 31:d5cbda07fd95 292 }
Najib_irvani 43:3807a95aa284 293 else if ((joystick.kotak_click)&&(!joystick.lingkaran_click)) {
gustavaditya 31:d5cbda07fd95 294 // Power Screw Down
gustavaditya 31:d5cbda07fd95 295 caseJoystick = 12;
gustavaditya 31:d5cbda07fd95 296 }
gustavaditya 31:d5cbda07fd95 297
gustavaditya 31:d5cbda07fd95 298 return(caseJoystick);
gustavaditya 31:d5cbda07fd95 299 }
gustavaditya 31:d5cbda07fd95 300
gustavaditya 31:d5cbda07fd95 301 float getTetha(){
gustavaditya 31:d5cbda07fd95 302 // Fungsi untuk mendapatkan nilai tetha
gustavaditya 31:d5cbda07fd95 303 float busur, tetha;
gustavaditya 31:d5cbda07fd95 304 busur = ((encoderBase.getPulses())/(float)(2000.0)*keliling_enc);
gustavaditya 31:d5cbda07fd95 305 tetha = busur/keliling_robot*360;
gustavaditya 31:d5cbda07fd95 306
gustavaditya 31:d5cbda07fd95 307 return -(tetha);
gustavaditya 31:d5cbda07fd95 308 }
gustavaditya 31:d5cbda07fd95 309
be_bryan 26:256160a1a82d 310 float pidBase(float Kp, float Ki, float Kd)
Joshua23 25:054d3048dd03 311 {
Joshua23 25:054d3048dd03 312 int errorP;
Joshua23 25:054d3048dd03 313 errorP = getTetha();
gustavaditya 33:69d266bc3fe9 314 if (errorP<3.5 && errorP>(-3.5))
gustavaditya 33:69d266bc3fe9 315 errorP = 0;
Joshua23 25:054d3048dd03 316 return (float)Kp*errorP;
Joshua23 25:054d3048dd03 317 }
gustavaditya 31:d5cbda07fd95 318
gustavaditya 31:d5cbda07fd95 319 void setCenter(){
gustavaditya 31:d5cbda07fd95 320 // Fungsi untuk menentukan center dari robot
gustavaditya 31:d5cbda07fd95 321 encoderBase.reset();
fanny868 0:9072e932503c 322 }
fanny868 0:9072e932503c 323
gustavaditya 37:67d54563af90 324 void init_rpm (){
gustavaditya 38:3ef6754bd8d8 325 if (target_rpm>maxRPM-2){
gustavaditya 38:3ef6754bd8d8 326 target_rpm = maxRPM-2;
gustavaditya 37:67d54563af90 327 }
franshendri 42:6caf8bd5abbc 328 if (target_rpm<minRPM){
gustavaditya 37:67d54563af90 329 target_rpm = minRPM;
gustavaditya 37:67d54563af90 330 }
gustavaditya 37:67d54563af90 331 if (target_rpm2>maxRPM){
gustavaditya 37:67d54563af90 332 target_rpm2 = maxRPM;
gustavaditya 37:67d54563af90 333 }
franshendri 42:6caf8bd5abbc 334 if (target_rpm2<minRPM+2){
gustavaditya 38:3ef6754bd8d8 335 target_rpm2 = minRPM+2;
gustavaditya 37:67d54563af90 336 }
gustavaditya 37:67d54563af90 337 }
gustavaditya 37:67d54563af90 338
gustavaditya 31:d5cbda07fd95 339 void aktuator()
gustavaditya 31:d5cbda07fd95 340 {
gustavaditya 31:d5cbda07fd95 341 switch (case_joy) {
gustavaditya 31:d5cbda07fd95 342 case (1):
gustavaditya 31:d5cbda07fd95 343 {
gustavaditya 31:d5cbda07fd95 344 // Pivot Kanan
gustavaditya 31:d5cbda07fd95 345 motorDpn.speed(-PIVOT);
gustavaditya 31:d5cbda07fd95 346 motorBlk.speed(-PIVOT);
Najib_irvani 43:3807a95aa284 347 motorR.speed(-rasio*PIVOT);
Najib_irvani 43:3807a95aa284 348 motorL.speed(-rasio*PIVOT);
gustavaditya 31:d5cbda07fd95 349 break;
gustavaditya 31:d5cbda07fd95 350 }
gustavaditya 31:d5cbda07fd95 351 case (2):
gustavaditya 31:d5cbda07fd95 352 {
gustavaditya 31:d5cbda07fd95 353 // Pivot Kiri
gustavaditya 31:d5cbda07fd95 354 motorDpn.speed(PIVOT);
gustavaditya 31:d5cbda07fd95 355 motorBlk.speed(PIVOT);
Najib_irvani 43:3807a95aa284 356 motorR.speed(rasio*PIVOT);
Najib_irvani 43:3807a95aa284 357 motorL.speed(rasio*PIVOT);
Najib_irvani 43:3807a95aa284 358 break;
Najib_irvani 43:3807a95aa284 359 }
Najib_irvani 43:3807a95aa284 360 case (17):
Najib_irvani 43:3807a95aa284 361 {
Najib_irvani 43:3807a95aa284 362 // Kanan + Rotasi Kanan
Najib_irvani 43:3807a95aa284 363 motorDpn.speed(-PIVOT);
Najib_irvani 43:3807a95aa284 364 motorBlk.speed(-PIVOT);
Najib_irvani 43:3807a95aa284 365 motorR.speed(-rasio*PIVOT);
Najib_irvani 43:3807a95aa284 366 motorL.speed(-rasio*PIVOT);
Najib_irvani 43:3807a95aa284 367 break;
Najib_irvani 43:3807a95aa284 368 }
Najib_irvani 43:3807a95aa284 369 case (18):
Najib_irvani 43:3807a95aa284 370 {
Najib_irvani 43:3807a95aa284 371 // Kanan + Rotasi Kiri
Najib_irvani 43:3807a95aa284 372 motorDpn.speed(PIVOT);
Najib_irvani 43:3807a95aa284 373 motorBlk.speed(PIVOT);
Najib_irvani 43:3807a95aa284 374 motorR.speed(rasio*PIVOT);
Najib_irvani 43:3807a95aa284 375 motorL.speed(rasio*PIVOT);
Najib_irvani 43:3807a95aa284 376 break;
Najib_irvani 43:3807a95aa284 377 }
Najib_irvani 43:3807a95aa284 378 case (19):
Najib_irvani 43:3807a95aa284 379 {
Najib_irvani 43:3807a95aa284 380 // Kiri + Rotasi Kanan
Najib_irvani 43:3807a95aa284 381 motorDpn.speed(-PIVOT);
Najib_irvani 43:3807a95aa284 382 motorBlk.speed(-PIVOT);
Najib_irvani 43:3807a95aa284 383 motorR.speed(-rasio*PIVOT);
Najib_irvani 43:3807a95aa284 384 motorL.speed(-rasio*PIVOT);
Najib_irvani 43:3807a95aa284 385 break;
Najib_irvani 43:3807a95aa284 386 }
Najib_irvani 43:3807a95aa284 387 case (20):
Najib_irvani 43:3807a95aa284 388 {
Najib_irvani 43:3807a95aa284 389 // Kiri + Rotasi Kiri
Najib_irvani 43:3807a95aa284 390 motorDpn.speed(PIVOT);
Najib_irvani 43:3807a95aa284 391 motorBlk.speed(PIVOT);
Najib_irvani 43:3807a95aa284 392 motorR.speed(rasio*PIVOT);
Najib_irvani 43:3807a95aa284 393 motorL.speed(rasio*PIVOT);
Najib_irvani 43:3807a95aa284 394 break;
Najib_irvani 43:3807a95aa284 395 }
Najib_irvani 43:3807a95aa284 396 case (21):
Najib_irvani 43:3807a95aa284 397 {
Najib_irvani 43:3807a95aa284 398 // Maju + Rotasi Kanan
Najib_irvani 43:3807a95aa284 399 motorDpn.speed(-PIVOT);
Najib_irvani 43:3807a95aa284 400 motorBlk.speed(-PIVOT);
Najib_irvani 43:3807a95aa284 401 motorR.speed(-rasio*PIVOT);
Najib_irvani 43:3807a95aa284 402 motorL.speed(-rasio*PIVOT);
Najib_irvani 43:3807a95aa284 403 break;
Najib_irvani 43:3807a95aa284 404 }
Najib_irvani 43:3807a95aa284 405 case (22):
Najib_irvani 43:3807a95aa284 406 {
Najib_irvani 43:3807a95aa284 407 // Maju + Rotasi Kiri
Najib_irvani 43:3807a95aa284 408 motorDpn.speed(PIVOT);
Najib_irvani 43:3807a95aa284 409 motorBlk.speed(PIVOT);
Najib_irvani 43:3807a95aa284 410 motorR.speed(rasio*PIVOT);
Najib_irvani 43:3807a95aa284 411 motorL.speed(rasio*PIVOT);
Najib_irvani 43:3807a95aa284 412 break;
Najib_irvani 43:3807a95aa284 413 }
Najib_irvani 43:3807a95aa284 414 case (23):
Najib_irvani 43:3807a95aa284 415 {
Najib_irvani 43:3807a95aa284 416 // Mundur + Rotasi Kanan
Najib_irvani 43:3807a95aa284 417 motorDpn.speed(-PIVOT);
Najib_irvani 43:3807a95aa284 418 motorBlk.speed(-PIVOT);
Najib_irvani 43:3807a95aa284 419 motorR.speed(-rasio*PIVOT);
Najib_irvani 43:3807a95aa284 420 motorL.speed(-rasio*PIVOT);
Najib_irvani 43:3807a95aa284 421 break;
Najib_irvani 43:3807a95aa284 422 }
Najib_irvani 43:3807a95aa284 423 case (24):
Najib_irvani 43:3807a95aa284 424 {
Najib_irvani 43:3807a95aa284 425 // Mundur + Rotasi Kiri
Najib_irvani 43:3807a95aa284 426 motorDpn.speed(PIVOT);
Najib_irvani 43:3807a95aa284 427 motorBlk.speed(PIVOT);
Najib_irvani 43:3807a95aa284 428 motorR.speed(rasio*PIVOT);
Najib_irvani 43:3807a95aa284 429 motorL.speed(rasio*PIVOT);
Najib_irvani 43:3807a95aa284 430 break;
Najib_irvani 43:3807a95aa284 431 }
Najib_irvani 43:3807a95aa284 432 case (25):
Najib_irvani 43:3807a95aa284 433 {
Najib_irvani 43:3807a95aa284 434 // Kanan + segitiga
Najib_irvani 43:3807a95aa284 435 isLauncher = !isLauncher;
Najib_irvani 43:3807a95aa284 436 break;
Najib_irvani 43:3807a95aa284 437 }
Najib_irvani 43:3807a95aa284 438 case (26):
Najib_irvani 43:3807a95aa284 439 {
Najib_irvani 43:3807a95aa284 440 // Kiri + segitiga
Najib_irvani 43:3807a95aa284 441 isLauncher = !isLauncher;
Najib_irvani 43:3807a95aa284 442 break;
Najib_irvani 43:3807a95aa284 443 }
Najib_irvani 43:3807a95aa284 444 case (27):
Najib_irvani 43:3807a95aa284 445 {
Najib_irvani 43:3807a95aa284 446 // Kanan + lingkaran
Najib_irvani 43:3807a95aa284 447 ReloadOn = !ReloadOn;
Najib_irvani 43:3807a95aa284 448 isReload = false;
Najib_irvani 43:3807a95aa284 449 break;
Najib_irvani 43:3807a95aa284 450 }
Najib_irvani 43:3807a95aa284 451 case (28):
Najib_irvani 43:3807a95aa284 452 {
Najib_irvani 43:3807a95aa284 453 // Kiri + lingkaran
Najib_irvani 43:3807a95aa284 454 ReloadOn = !ReloadOn;
Najib_irvani 43:3807a95aa284 455 isReload = false;
Najib_irvani 43:3807a95aa284 456 break;
Najib_irvani 43:3807a95aa284 457 }
Najib_irvani 43:3807a95aa284 458 case (29):
Najib_irvani 43:3807a95aa284 459 {
Najib_irvani 43:3807a95aa284 460 // Kanan + kotak
Najib_irvani 43:3807a95aa284 461 ReloadOn = !ReloadOn;
Najib_irvani 43:3807a95aa284 462 isReload = true;
Najib_irvani 43:3807a95aa284 463 break;
Najib_irvani 43:3807a95aa284 464 }
Najib_irvani 43:3807a95aa284 465 case (30):
Najib_irvani 43:3807a95aa284 466 {
Najib_irvani 43:3807a95aa284 467 // Kiri + kotak
Najib_irvani 43:3807a95aa284 468 ReloadOn = !ReloadOn;
Najib_irvani 43:3807a95aa284 469 isReload = true;
Najib_irvani 43:3807a95aa284 470 break;
Najib_irvani 43:3807a95aa284 471 }
Najib_irvani 43:3807a95aa284 472 case (13) :
Najib_irvani 43:3807a95aa284 473 {
Najib_irvani 43:3807a95aa284 474 // Serong kanan maju
Najib_irvani 43:3807a95aa284 475 motorDpn.speed(-serong);
Najib_irvani 44:e23f6d8586c6 476 motorL.speed(-serong);
Najib_irvani 43:3807a95aa284 477 motorBlk.speed(serong);
Najib_irvani 44:e23f6d8586c6 478 motorR.speed(serong);
Najib_irvani 43:3807a95aa284 479 break;
Najib_irvani 43:3807a95aa284 480 }
Najib_irvani 43:3807a95aa284 481 case (14) :
Najib_irvani 43:3807a95aa284 482 {
Najib_irvani 43:3807a95aa284 483 // Serong kiri maju
Najib_irvani 43:3807a95aa284 484 motorDpn.speed(serong);
Najib_irvani 44:e23f6d8586c6 485 motorR.speed(serong);
Najib_irvani 43:3807a95aa284 486 motorBlk.speed(-serong);
Najib_irvani 44:e23f6d8586c6 487 motorL.speed(-serong);
Najib_irvani 43:3807a95aa284 488 break;
Najib_irvani 43:3807a95aa284 489 }
Najib_irvani 43:3807a95aa284 490 case (15) :
Najib_irvani 43:3807a95aa284 491 {
Najib_irvani 43:3807a95aa284 492 // Serong kanan mundur
Najib_irvani 44:e23f6d8586c6 493 motorDpn.speed(-serong);
Najib_irvani 44:e23f6d8586c6 494 motorR.speed(-serong);
Najib_irvani 43:3807a95aa284 495 motorBlk.speed(serong);
Najib_irvani 44:e23f6d8586c6 496 motorL.speed(serong);
Najib_irvani 43:3807a95aa284 497 break;
Najib_irvani 43:3807a95aa284 498 }
Najib_irvani 43:3807a95aa284 499 case (16) :
Najib_irvani 43:3807a95aa284 500 {
Najib_irvani 43:3807a95aa284 501 // Serong kiri mundur
Najib_irvani 43:3807a95aa284 502 motorDpn.speed(serong);
Najib_irvani 44:e23f6d8586c6 503 motorL.speed(serong);
Najib_irvani 43:3807a95aa284 504 motorBlk.speed(-serong);
Najib_irvani 44:e23f6d8586c6 505 motorR.speed(-serong);
gustavaditya 31:d5cbda07fd95 506 break;
gustavaditya 31:d5cbda07fd95 507 }
gustavaditya 31:d5cbda07fd95 508 case (3) :
gustavaditya 31:d5cbda07fd95 509 {
gustavaditya 31:d5cbda07fd95 510 // Kanan
Najib_irvani 43:3807a95aa284 511 motorDpn.speed(-tuneDpn);
Najib_irvani 43:3807a95aa284 512 motorBlk.speed(tuneBlk);
Najib_irvani 43:3807a95aa284 513 motorR.brake(1);
Najib_irvani 43:3807a95aa284 514 motorL.brake(1);
gustavaditya 31:d5cbda07fd95 515 break;
gustavaditya 31:d5cbda07fd95 516 }
gustavaditya 31:d5cbda07fd95 517 case (4) :
gustavaditya 31:d5cbda07fd95 518 {
gustavaditya 31:d5cbda07fd95 519 // Kiri
Najib_irvani 43:3807a95aa284 520 motorDpn.speed(tuneDpn);
Najib_irvani 43:3807a95aa284 521 motorBlk.speed(-tuneBlk);
Najib_irvani 43:3807a95aa284 522 motorR.brake(1);
Najib_irvani 43:3807a95aa284 523 motorL.brake(1);
Najib_irvani 43:3807a95aa284 524 break;
Najib_irvani 43:3807a95aa284 525 }
Najib_irvani 43:3807a95aa284 526 case (8) :
Najib_irvani 43:3807a95aa284 527 {
Najib_irvani 43:3807a95aa284 528 // Maju
Najib_irvani 43:3807a95aa284 529 motorR.speed(tuneR);
Najib_irvani 43:3807a95aa284 530 motorL.speed(-tuneL);
Najib_irvani 43:3807a95aa284 531 motorDpn.brake(1);
Najib_irvani 43:3807a95aa284 532 motorBlk.brake(1);
Najib_irvani 43:3807a95aa284 533 break;
Najib_irvani 43:3807a95aa284 534 }
Najib_irvani 43:3807a95aa284 535 case (9) :
Najib_irvani 43:3807a95aa284 536 {
Najib_irvani 43:3807a95aa284 537 // Mundur
Najib_irvani 43:3807a95aa284 538 motorR.speed(-tuneR);
Najib_irvani 43:3807a95aa284 539 motorL.speed(tuneL);
Najib_irvani 43:3807a95aa284 540 motorDpn.brake(1);
Najib_irvani 43:3807a95aa284 541 motorBlk.brake(1);
gustavaditya 31:d5cbda07fd95 542 break;
gustavaditya 31:d5cbda07fd95 543 }
gustavaditya 31:d5cbda07fd95 544 case (5) :
gustavaditya 31:d5cbda07fd95 545 {
gustavaditya 31:d5cbda07fd95 546 // Aktifkan motor atas
gustavaditya 31:d5cbda07fd95 547 isLauncher = !isLauncher;
gustavaditya 31:d5cbda07fd95 548 break;
Joshua23 8:0711dea61312 549 }
gustavaditya 31:d5cbda07fd95 550 case (6) :
gustavaditya 31:d5cbda07fd95 551 {
gustavaditya 31:d5cbda07fd95 552 // Target Pulse PID ++ Motor Depan
gustavaditya 39:11358f3f61ff 553 target_rpm2 = target_rpm2+1.0;
gustavaditya 39:11358f3f61ff 554 target_rpm = target_rpm+1.0;
gustavaditya 37:67d54563af90 555 init_rpm();
gustavaditya 31:d5cbda07fd95 556 break;
gustavaditya 31:d5cbda07fd95 557 }
gustavaditya 31:d5cbda07fd95 558 case (7) :
gustavaditya 31:d5cbda07fd95 559 {
gustavaditya 31:d5cbda07fd95 560 // Target Pulse PID -- Motor Depan
gustavaditya 39:11358f3f61ff 561 target_rpm2 = target_rpm2-1.0;
gustavaditya 39:11358f3f61ff 562 target_rpm = target_rpm-1.0;
gustavaditya 37:67d54563af90 563 init_rpm();
gustavaditya 31:d5cbda07fd95 564 break;
gustavaditya 31:d5cbda07fd95 565 }
gustavaditya 31:d5cbda07fd95 566 case (10) :
gustavaditya 31:d5cbda07fd95 567 {
gustavaditya 31:d5cbda07fd95 568 // Pneumatik
Najib_irvani 44:e23f6d8586c6 569 if (ready)
Najib_irvani 44:e23f6d8586c6 570 {
Najib_irvani 44:e23f6d8586c6 571 pneumatik = 0;
Najib_irvani 44:e23f6d8586c6 572 previousMillis3 = millis();
Najib_irvani 44:e23f6d8586c6 573 flag_Pneu = true;
Najib_irvani 44:e23f6d8586c6 574 ready = false;
Najib_irvani 44:e23f6d8586c6 575 }
gustavaditya 31:d5cbda07fd95 576 break;
gustavaditya 31:d5cbda07fd95 577 }
gustavaditya 31:d5cbda07fd95 578 case (11) :
gustavaditya 31:d5cbda07fd95 579 {
gustavaditya 31:d5cbda07fd95 580 // Power Screw Up
gustavaditya 40:5b937cac959a 581 ReloadOn = !ReloadOn;
Najib_irvani 43:3807a95aa284 582 isReload = false;
gustavaditya 31:d5cbda07fd95 583 break;
gustavaditya 31:d5cbda07fd95 584 }
gustavaditya 31:d5cbda07fd95 585 case (12) :
gustavaditya 31:d5cbda07fd95 586 {
gustavaditya 31:d5cbda07fd95 587 // Power Screw Down
Najib_irvani 43:3807a95aa284 588 ReloadOn = !ReloadOn;
Najib_irvani 43:3807a95aa284 589 isReload = true;
gustavaditya 31:d5cbda07fd95 590 break;
gustavaditya 31:d5cbda07fd95 591 }
gustavaditya 31:d5cbda07fd95 592 default :
gustavaditya 31:d5cbda07fd95 593 {
gustavaditya 31:d5cbda07fd95 594 motorDpn.brake(1);
gustavaditya 31:d5cbda07fd95 595 motorBlk.brake(1);
Najib_irvani 43:3807a95aa284 596 motorR.brake(1);
Najib_irvani 43:3807a95aa284 597 motorL.brake(1);
gustavaditya 31:d5cbda07fd95 598 }
gustavaditya 31:d5cbda07fd95 599 } // End Switch
gustavaditya 31:d5cbda07fd95 600 }
gustavaditya 31:d5cbda07fd95 601
gustavaditya 40:5b937cac959a 602 void reloader()
rizqicahyo 36:5963c9a49485 603 {
rizqicahyo 36:5963c9a49485 604 if(ReloadOn){
rizqicahyo 36:5963c9a49485 605 if(isReload){
rizqicahyo 36:5963c9a49485 606 powerScrew.speed(pwmPowerDown);
Najib_irvani 44:e23f6d8586c6 607 if((!limitBawah)||(limitBawah1)){
rizqicahyo 36:5963c9a49485 608 isReload = false;
rizqicahyo 36:5963c9a49485 609 ReloadOn = false;
rizqicahyo 36:5963c9a49485 610 }
rizqicahyo 36:5963c9a49485 611 }
rizqicahyo 36:5963c9a49485 612 else if(!limitTengah){
rizqicahyo 36:5963c9a49485 613 isReload = true;
rizqicahyo 36:5963c9a49485 614 }
Najib_irvani 43:3807a95aa284 615 else if((jarak_ping > 6.5) && !flag_Pneu){
gustavaditya 40:5b937cac959a 616 powerScrew.speed(pwmPowerUp);
Najib_irvani 44:e23f6d8586c6 617 ready = false;
gustavaditya 40:5b937cac959a 618 }
Najib_irvani 44:e23f6d8586c6 619 else if((jarak_ping < 6.0) && !flag_Pneu) {
Najib_irvani 44:e23f6d8586c6 620 powerScrew.speed(-0.4);
Najib_irvani 44:e23f6d8586c6 621 ready = false;
rizqicahyo 36:5963c9a49485 622 }
rizqicahyo 36:5963c9a49485 623 else{
gustavaditya 40:5b937cac959a 624 powerScrew.brake(1);
Najib_irvani 44:e23f6d8586c6 625 ready = true;
rizqicahyo 36:5963c9a49485 626 }
rizqicahyo 36:5963c9a49485 627 }
rizqicahyo 36:5963c9a49485 628 else{
rizqicahyo 36:5963c9a49485 629 powerScrew.brake(1);
rizqicahyo 36:5963c9a49485 630 }
gustavaditya 40:5b937cac959a 631 }
rizqicahyo 36:5963c9a49485 632
rizqicahyo 36:5963c9a49485 633
gustavaditya 31:d5cbda07fd95 634 void launcher()
gustavaditya 31:d5cbda07fd95 635 {
gustavaditya 31:d5cbda07fd95 636 if (isLauncher)
Sufa 30:d69cc27ac644 637 {
be_bryan 28:2d0746dc2d7d 638 currentMillis = millis();
be_bryan 28:2d0746dc2d7d 639 currentMillis2 = millis();
be_bryan 28:2d0746dc2d7d 640
gustavaditya 31:d5cbda07fd95 641 // PID Launcher Depan
gustavaditya 38:3ef6754bd8d8 642 if (currentMillis-previousMillis>=12.5)
be_bryan 26:256160a1a82d 643 {
gustavaditya 31:d5cbda07fd95 644 rpm = (float)encLauncherBlk.getPulses();
be_bryan 26:256160a1a82d 645 current_error = target_rpm - rpm;
be_bryan 26:256160a1a82d 646 sum_error = sum_error + current_error;
be_bryan 26:256160a1a82d 647 p = current_error*kpA;
gustavaditya 38:3ef6754bd8d8 648 d = (current_error-last_error)*kdA/12.5;
gustavaditya 38:3ef6754bd8d8 649 i = sum_error*kiA*12.5;
be_bryan 26:256160a1a82d 650 speed = p + d + i;
gustavaditya 38:3ef6754bd8d8 651 //init_speed();
gustavaditya 38:3ef6754bd8d8 652 if(speed > maxSpeed){
gustavaditya 38:3ef6754bd8d8 653 launcherBlk.speed(maxSpeed);
gustavaditya 38:3ef6754bd8d8 654 }
gustavaditya 39:11358f3f61ff 655 else if ( speed < minSpeed){
gustavaditya 39:11358f3f61ff 656 launcherBlk.speed(minSpeed);
gustavaditya 39:11358f3f61ff 657 }
gustavaditya 38:3ef6754bd8d8 658 else {
gustavaditya 38:3ef6754bd8d8 659 launcherBlk.speed(speed);
gustavaditya 38:3ef6754bd8d8 660 }
be_bryan 26:256160a1a82d 661 last_error = current_error;
gustavaditya 31:d5cbda07fd95 662 encLauncherBlk.reset();
be_bryan 26:256160a1a82d 663 //pc.printf("%.04lf\n",rpm);
be_bryan 26:256160a1a82d 664 previousMillis = currentMillis;
be_bryan 26:256160a1a82d 665 }
gustavaditya 38:3ef6754bd8d8 666 if (currentMillis2-previousMillis2>=12.5)
be_bryan 27:68efb1622985 667 {
gustavaditya 31:d5cbda07fd95 668 rpm2 = (float)encLauncherDpn.getPulses();
be_bryan 27:68efb1622985 669 current_error2 = target_rpm2 - rpm2;
be_bryan 27:68efb1622985 670 sum_error2 = sum_error2 + current_error2;
be_bryan 27:68efb1622985 671 p2 = current_error2*kpA;
gustavaditya 38:3ef6754bd8d8 672 d2 = (current_error2-last_error2)*kdA/12.5;
gustavaditya 38:3ef6754bd8d8 673 i2 = sum_error2*kiA*12.5;
be_bryan 27:68efb1622985 674 speed2 = p2 + d2 + i2;
gustavaditya 38:3ef6754bd8d8 675 //init_speed();
gustavaditya 38:3ef6754bd8d8 676 if (speed2 > maxSpeed){
gustavaditya 38:3ef6754bd8d8 677 launcherDpn.speed(maxSpeed);
gustavaditya 38:3ef6754bd8d8 678 }
gustavaditya 39:11358f3f61ff 679 else if ( speed < minSpeed){
gustavaditya 39:11358f3f61ff 680 launcherDpn.speed(minSpeed);
gustavaditya 39:11358f3f61ff 681 }
gustavaditya 38:3ef6754bd8d8 682 else{
gustavaditya 38:3ef6754bd8d8 683 launcherDpn.speed(speed2);
gustavaditya 38:3ef6754bd8d8 684 }
be_bryan 27:68efb1622985 685 last_error2 = current_error2;
gustavaditya 31:d5cbda07fd95 686 encLauncherDpn.reset();
be_bryan 27:68efb1622985 687 previousMillis2 = currentMillis2;
be_bryan 27:68efb1622985 688 }
rahmadirizki18 6:68293bed71ea 689 }
Sufa 29:7b372b0aaa61 690 else
Sufa 29:7b372b0aaa61 691 {
gustavaditya 31:d5cbda07fd95 692 launcherDpn.brake(1);
gustavaditya 31:d5cbda07fd95 693 launcherBlk.brake(1);
Najib_irvani 44:e23f6d8586c6 694 sum_error = 0;
Najib_irvani 44:e23f6d8586c6 695 sum_error2 = 0;
Najib_irvani 44:e23f6d8586c6 696 current_error = 0;
Najib_irvani 44:e23f6d8586c6 697 current_error2 = 0;
Najib_irvani 44:e23f6d8586c6 698 last_error = 0;
Najib_irvani 44:e23f6d8586c6 699 last_error2 = 0;
gustavaditya 31:d5cbda07fd95 700 }
rahmadirizki18 5:3aa203218306 701 }
gustavaditya 31:d5cbda07fd95 702
MarchioKevin 22:4632f58461e0 703 /*********************************************************/
MarchioKevin 22:4632f58461e0 704 /* Main Function */
MarchioKevin 22:4632f58461e0 705 /*********************************************************/
calmantara186 16:90119f03c5d1 706
gustavaditya 31:d5cbda07fd95 707 int main (void)
gustavaditya 31:d5cbda07fd95 708 {
gustavaditya 31:d5cbda07fd95 709 // Set baud rate - 115200
fanny868 0:9072e932503c 710 joystick.setup();
rahmadirizki18 23:023b522977b2 711 pc.baud(115200);
rahmadirizki18 6:68293bed71ea 712 wait_ms(1000);
gustavaditya 40:5b937cac959a 713
gustavaditya 40:5b937cac959a 714 // initializing encoder
gustavaditya 41:336a19289c2d 715 pneumatik =1;
gustavaditya 41:336a19289c2d 716
rahmadirizki18 5:3aa203218306 717 setCenter();
gustavaditya 41:336a19289c2d 718
rahmadirizki18 5:3aa203218306 719 wait_ms(500);
gustavaditya 40:5b937cac959a 720
gustavaditya 40:5b937cac959a 721 //initializing PING
gustavaditya 40:5b937cac959a 722 pingAtas.Send();
gustavaditya 40:5b937cac959a 723
rahmadirizki18 23:023b522977b2 724 pc.printf("ready....");
gustavaditya 35:69a47b4cb3fc 725 startMillis();
fanny868 0:9072e932503c 726 while(1)
gustavaditya 40:5b937cac959a 727 {
gustavaditya 40:5b937cac959a 728 // interupsi pembacaan PING setiap 30 ms
gustavaditya 41:336a19289c2d 729 if(millis() - previousMillis4 >= 5){ //30
gustavaditya 41:336a19289c2d 730 jarak_ping = (float)pingAtas.Read_cm()/2;
gustavaditya 40:5b937cac959a 731
gustavaditya 40:5b937cac959a 732 pingAtas.Send();
gustavaditya 40:5b937cac959a 733 previousMillis4 = millis();
gustavaditya 40:5b937cac959a 734 }
gustavaditya 40:5b937cac959a 735
fanny868 0:9072e932503c 736 // Interrupt Serial
calmantara186 16:90119f03c5d1 737 joystick.idle();
gustavaditya 31:d5cbda07fd95 738 if(joystick.readable())
gustavaditya 31:d5cbda07fd95 739 {
fanny868 0:9072e932503c 740 // Panggil fungsi pembacaan joystik
fanny868 0:9072e932503c 741 joystick.baca_data();
fanny868 0:9072e932503c 742 // Panggil fungsi pengolahan data joystik
fanny868 0:9072e932503c 743 joystick.olah_data();
gustavaditya 31:d5cbda07fd95 744 // Masuk ke case joystick
gustavaditya 31:d5cbda07fd95 745 case_joy = case_joystick();
Najib_irvani 43:3807a95aa284 746 pc.printf("%d\n",case_joy);
rahmadirizki18 3:1287fccc11be 747 aktuator();
gustavaditya 31:d5cbda07fd95 748 launcher();
gustavaditya 40:5b937cac959a 749 reloader();
Najib_irvani 43:3807a95aa284 750 if ((millis()-previousMillis3 >= 320)&&(flag_Pneu)){
be_bryan 26:256160a1a82d 751 pneumatik = 1;
gustavaditya 31:d5cbda07fd95 752 flag_Pneu = false;
be_bryan 26:256160a1a82d 753 }
be_bryan 26:256160a1a82d 754 }
gustavaditya 31:d5cbda07fd95 755 else
gustavaditya 31:d5cbda07fd95 756 {
gustavaditya 31:d5cbda07fd95 757 joystick.idle();
MarchioKevin 21:da2f3d04468f 758 }
franshendri 42:6caf8bd5abbc 759
Najib_irvani 44:e23f6d8586c6 760 if(millis() - previousMillis5 >= 400)
Najib_irvani 44:e23f6d8586c6 761 {
Najib_irvani 43:3807a95aa284 762 display.write(0,((int) rpm2) / 10);
Najib_irvani 43:3807a95aa284 763 display.write(1,((int)rpm2) % 10);
franshendri 42:6caf8bd5abbc 764 display.write(2, (int)target_rpm2 / 10);
franshendri 42:6caf8bd5abbc 765 display.write(3, (int)target_rpm2 % 10);
franshendri 42:6caf8bd5abbc 766 display.setColon(true);
franshendri 42:6caf8bd5abbc 767
franshendri 42:6caf8bd5abbc 768 previousMillis5 = millis();
franshendri 42:6caf8bd5abbc 769 }
fanny868 0:9072e932503c 770 }
be_bryan 28:2d0746dc2d7d 771 }