Revision 0:fb412ae47dc6, committed 2017-10-19

Comitter:

sarlilouis

Date:

Thu Oct 19 15:57:38 2017 +0000

Commit message:

update;

Changed in this revision

diff -r 000000000000 -r fb412ae47dc6 olahGerak.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/olahGerak.cpp	Thu Oct 19 15:57:38 2017 +0000
@@ -0,0 +1,101 @@
+#include "mbed.h"
+#include "JoystickPS3.h"
+#include "gerakBase.h"
+
+//////////////////////////////////////////
+// Variable Library
+
+/////////////////////////////////////////
+olahGerak::olahGerak(   PinName _pin_tx, PinName _pin_rx,
+                        PinName _pin_pwm_A, PinName _pin_fwd_A, PinName _pin_rev_A,
+                        PinName _pin_pwm_B, PinName _pin_fwd_B, PinName _pin_rev_B,
+                        PinName _pin_pwm_C, PinName _pin_fwd_C, PinName _pin_rev_C):
+                joysticknucleo joystick(PIN_TX, PIN_RX);
+                gerakBase Base(
+                            _pin_pwm_A, _pin_fwd_A, _pin_rev_A, // Motor A
+                            _pin_pwm_B, _pin_fwd_B, _pin_rev_B, // Motor B
+                            _pin_pwm_C, _pin_fwd_C, _pin_rev_C);// Motor C
+    {
+    }
+
+void olahgerak::inisiasiJoystick(){
+    joystick.setup();
+    joystick.idle();
+}
+void olahGerak::bacaOlahData(){
+    if(joystick.readable() ) {
+        // Panggil fungsi pembacaan joystik
+        joystick.baca_data();
+    }
+    joystick.olah_data();
+}
+
+int olahGerak::caseGerak(){
+{
+    int _case_gerak;
+     if (!joystick.L1 && joystick.R1) {
+        // Pivot Kanan
+        _case_gerak = 1;
+    } else if (!joystick.R1 && joystick.L1) {
+        // Pivot Kiri
+        _case_gerak = 2;
+    } else if ((!joystick.R1)&&(!joystick.L1)&&(joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) {  
+        // Maju
+        _case_gerak = 3;
+    } else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri))  {  
+        // Mundur
+        _case_gerak = 4;
+    } else if ((!joystick.R1)&&(!joystick.L1)&&(joystick.atas)&&(!joystick.bawah)&&(!joystick.kiri)&&(joystick.kanan))   {   
+        // Serong Atas Kanan
+        _case_gerak = 5;
+    } else if((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(joystick.bawah)&&(!joystick.kiri)&&(joystick.kanan)) {   
+        // Serong Bawah Kanan
+        _case_gerak = 6;
+    } else if ((!joystick.R1)&&(!joystick.L1)&&(joystick.atas)&&(!joystick.bawah)&&(joystick.kiri)&&(!joystick.kanan)) {   
+        // Serong Atas Kiri
+        _case_gerak = 7;
+    } else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(joystick.bawah)&&(joystick.kiri)&&(!joystick.kanan)) {   
+        // Serong Bawah Kiri
+        _case_gerak = 8;
+    } else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri))  {   
+        // Kanan
+        _case_gerak = 9;
+    } else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)) {   
+        // Kiri
+        _case_gerak = 10;        
+    } else if ((joystick.silang)&&(!joystick.kotak)&&(!joystick.segitiga)&&(!joystick.lingkaran)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) {
+        // Brake
+        _case_gerak = 11; 
+    } else Base.rem(1);
+    
+    return(_case_gerak);
+}
+
+void olahGerak::gerakAktuator(_case_gerak){
+     if (_case_gerak == 1){
+            Base.pivotKanan(0.4);
+            
+        }
+        else if (_case_gerak == 2){
+                 Base.pivotKiri(0.4);
+        }
+        else if (_case_gerak == 3){
+                 Base.maju(0.35);
+                 
+        }
+        else if (_case_gerak == 4){
+                 Base.mundur(0.35);
+                 
+        }
+        else if (_case_gerak == 9){
+                 Base.kanan(0.5);
+                 
+        }
+        else if (_case_gerak == 10){
+                 Base.kiri(0.5);
+                 
+        }
+        else if (_case_gerak == 11){
+                 Base.rem(1);
+        } 
+}
\ No newline at end of file

diff -r 000000000000 -r fb412ae47dc6 olahGerak.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/olahGerak.h	Thu Oct 19 15:57:38 2017 +0000
@@ -0,0 +1,20 @@
+#ifndef OLAH_GERAK_H
+#define OLAH_GERAK_H
+
+#include "mbed.h"
+#include "JoystickPS3.h"
+#include "gerakBase.h"
+
+class olahGerak{
+    public:
+        olahGerak(  PinName _pin_tx, PinName _pin_rx,
+                    PinName _pin_pwm_A, PinName _pin_fwd_A, PinName _pin_rev_A,
+                    PinName _pin_pwm_B, PinName _pin_fwd_B, PinName _pin_rev_B,
+                    PinName _pin_pwm_C, PinName _pin_fwd_C, PinName _pin_rev_C);
+        void inisiasiJoystick();
+        void bacaOlahData();
+        int caseGerak();
+        void gerakAktuator(int _case_gerak);
+};
+#endif
+        
\ No newline at end of file