KRAI 2017 / Mbed 2 deprecated DagonFly__RoadToJapan_15Mei

dear chio dan madi dan calman dan josh

Dependencies:   DigitDisplay Motor PID Ping mbed millis

Fork of DagonFly__RoadToJapan_13Mei_a by KRAI 2017

main.cpp@50:8bc9dbca2ffa, 2017-05-15 (annotated)

Committer:
Najib_irvani
Date:
Mon May 15 07:08:30 2017 +0000
Revision:
50:8bc9dbca2ffa
Parent:
49:0c9148ab8585 
dear chio dan calman dan josh dan madi

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Najib_irvani 47:6cac4f1a3c8e 1 /*tuning motor baru untuk konstanta pid baru */
rahmadirizki18 5:3aa203218306 2 /****************************************************************************/
rahmadirizki18 5:3aa203218306 3 /* PROGRAM UNTUK PID CLOSED LOOP */
rahmadirizki18 5:3aa203218306 4 /* */
Najib_irvani 47:6cac4f1a3c8e 5 /* Last Update : 16 April 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 44:452c214d9cf5 28 /* Tombol silang => Pneumatik aktif */
Sufa 30:d69cc27ac644 29 /* Tombol segitiga => Aktif motor Launcher */
Najib_irvani 44:452c214d9cf5 30 /* Tombol lingkaran => Reloader naik */
Najib_irvani 44:452c214d9cf5 31 /* Tombol kotak => Reloader turun */
Sufa 30:d69cc27ac644 32 /* Tombol L1 => Pivot Kiri */
Sufa 30:d69cc27ac644 33 /* Tombol R1 => Pivot Kanan */
Najib_irvani 44:452c214d9cf5 34 /* Tombol L2 => Kurang PWM Motor Launcher */
Najib_irvani 44:452c214d9cf5 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
Najib_irvani 46:85169ae8659b 56 // Variable Atas
Najib_irvani 46:85169ae8659b 57 // indek 2 untuk motor depan, 1 untuk motor belakang
gustavaditya 38:3ef6754bd8d8 58 double speed, speed2;
Najib_irvani 47:6cac4f1a3c8e 59 const double maxSpeed = 0.95, minSpeed = -0.95, Ts = 12.5;
Najib_irvani 49:0c9148ab8585 60 const double kpA1=0.19982, kdA1=0.91824, kiA1=0.00072609;
Najib_irvani 49:0c9148ab8585 61 const double kpA2=0.20481, kdA2=0.92191, kiA2=0.00076326;
Najib_irvani 46:85169ae8659b 62 double a1,b1,c1;
Najib_irvani 46:85169ae8659b 63 double a2,b2,c2;
Najib_irvani 46:85169ae8659b 64 double current_error1, previous_error1_1 = 0, previous_error1_2 = 0;
Najib_irvani 46:85169ae8659b 65 double current_error2, previous_error2_1 = 0, previous_error2_2 = 0;
Najib_irvani 46:85169ae8659b 66 double previous_speed1 = 0;
Najib_irvani 46:85169ae8659b 67 double previous_speed2 = 0;
Najib_irvani 46:85169ae8659b 68
gustavaditya 38:3ef6754bd8d8 69 float rpm, rpm2;
Najib_irvani 50:8bc9dbca2ffa 70 double target_rpm = 17.0, target_rpm2 = 17.0; // selisih 4 bagus, sama bagus
Najib_irvani 46:85169ae8659b 71 const float maxRPM = 35, minRPM = 0; // Limit 25 atau 27
gustavaditya 38:3ef6754bd8d8 72
Najib_irvani 44:452c214d9cf5 73 const float pwmPowerUp = 1.0;
Najib_irvani 44:452c214d9cf5 74 const float pwmPowerDown = -1.0;
gustavaditya 40:5b937cac959a 75
Najib_irvani 46:85169ae8659b 76 double jarak_ping=0;
Najib_irvani 50:8bc9dbca2ffa 77 double ping_target = 15;
Najib_irvani 46:85169ae8659b 78 double ping_current_error, ping_previous_error1 = 0, ping_sum_error=0;
Najib_irvani 50:8bc9dbca2ffa 79 double ping_Kp = -0.2747, ping_Kd = -0.535, ping_Ts=10;
Najib_irvani 46:85169ae8659b 80 double ping_pwm, ping_previous_pwm = 0;
Najib_irvani 46:85169ae8659b 81
be_bryan 26:256160a1a82d 82 // Variable Bawah
Najib_irvani 44:452c214d9cf5 83 float PIVOT = 0.17; // PWM Pivot Kanan, Pivot Kiri
Najib_irvani 46:85169ae8659b 84 float tuneDpn = 1.0; // Tunning PWM motor Depan
Najib_irvani 46:85169ae8659b 85 float tuneBlk = 1.0; // Tunning PWM motor belakang
gustavaditya 45:964ae71a30e3 86 float tuneAksel = 0.6;
gustavaditya 45:964ae71a30e3 87 int aksel = 0;
gustavaditya 45:964ae71a30e3 88 float tuneAkselBlk = 0.4;
Najib_irvani 46:85169ae8659b 89 float tuneR = 1.0;
Najib_irvani 46:85169ae8659b 90 float tuneL = 1.0;
Najib_irvani 44:452c214d9cf5 91 float serong = 0.4;
Najib_irvani 47:6cac4f1a3c8e 92 float rasio = 1.4545;
Najib_irvani 47:6cac4f1a3c8e 93 float t_new = 0.1;
Najib_irvani 43:3807a95aa284 94
Najib_irvani 43:3807a95aa284 95 /* variable tunning */
Najib_irvani 43:3807a95aa284 96 float tunning_L;
Najib_irvani 43:3807a95aa284 97 float tunning_R;
Najib_irvani 43:3807a95aa284 98 float tunning_Dpn;
Najib_irvani 43:3807a95aa284 99 float tunning_Blk;
gustavaditya 31:d5cbda07fd95 100
gustavaditya 31:d5cbda07fd95 101 /* Deklarasi Variable Millis */
gustavaditya 33:69d266bc3fe9 102 unsigned long int previousMillis = 0; // PID launcher
gustavaditya 31:d5cbda07fd95 103 unsigned long int currentMillis;
gustavaditya 33:69d266bc3fe9 104 unsigned long int previousMillis2 = 0; // PID launcher
gustavaditya 31:d5cbda07fd95 105 unsigned long int currentMillis2;
gustavaditya 33:69d266bc3fe9 106 unsigned long int previousMillis3 = 0; // Pneumatik
gustavaditya 40:5b937cac959a 107 unsigned long int previousMillis4 = 0; // Ping
franshendri 42:6caf8bd5abbc 108 unsigned long int previousMillis5 = 0; // Display
Najib_irvani 50:8bc9dbca2ffa 109 unsigned long int previousMillis6 = 0; // Display
MarchioKevin 22:4632f58461e0 110
gustavaditya 31:d5cbda07fd95 111 /* Variabel Stick */
gustavaditya 31:d5cbda07fd95 112 //Logic untuk masuk aktuator
gustavaditya 31:d5cbda07fd95 113 int case_joy;
gustavaditya 31:d5cbda07fd95 114 bool isLauncher = false;
gustavaditya 31:d5cbda07fd95 115 bool isReload = false;
rizqicahyo 36:5963c9a49485 116 bool ReloadOn = false;
gustavaditya 31:d5cbda07fd95 117 bool flag_Pneu = false;
Najib_irvani 47:6cac4f1a3c8e 118 bool flag_paku = false;
Najib_irvani 44:452c214d9cf5 119 bool ready = false;
gustavaditya 31:d5cbda07fd95 120
gustavaditya 31:d5cbda07fd95 121 /*****************************************************/
gustavaditya 31:d5cbda07fd95 122 /* Definisi Prosedur, Fungsi dan Setting Pinout */
gustavaditya 31:d5cbda07fd95 123 /*****************************************************/
gustavaditya 31:d5cbda07fd95 124
gustavaditya 31:d5cbda07fd95 125 /* Fungsi dan Procedur Encoder */
gustavaditya 31:d5cbda07fd95 126 void init_speed(); //
gustavaditya 31:d5cbda07fd95 127 void aktuator(); // Pergerakan aktuator berdasarkan case joystick
gustavaditya 31:d5cbda07fd95 128 int case_joystick(); // Mendapatkan case dari joystick
gustavaditya 33:69d266bc3fe9 129 //void speedKalibrasiMotor(); // Pertambahan target RPM motor atas melalui joystick
gustavaditya 31:d5cbda07fd95 130
gustavaditya 31:d5cbda07fd95 131 /* Inisialisasi Pin TX-RX Joystik dan PC */
gustavaditya 31:d5cbda07fd95 132 joysticknucleo joystick(PA_0,PA_1);
gustavaditya 31:d5cbda07fd95 133 Serial pc(USBTX,USBRX);
calmantara186 16:90119f03c5d1 134
be_bryan 26:256160a1a82d 135 /* Deklarasi Encoder Launcher */
Najib_irvani 44:452c214d9cf5 136 encoderKRAI encLauncherDpn( PC_10, PC_11, 28, encoderKRAI::X4_ENCODING);
Najib_irvani 44:452c214d9cf5 137 encoderKRAI encLauncherBlk( PC_12, PD_2, 28, encoderKRAI::X4_ENCODING);
be_bryan 26:256160a1a82d 138
calmantara186 16:90119f03c5d1 139 /* Deklarasi Motor Base */
Najib_irvani 44:452c214d9cf5 140 Motor motorDpn(PB_7, PC_3, PC_0); //(PB_9, PA_12, PC_5);
Najib_irvani 44:452c214d9cf5 141 //Motor motorBlk(PB_6, PC_14, PC_13); //(PB_6, PB_1, PB_12); (PC_7, PC_14, PC_13);
Najib_irvani 44:452c214d9cf5 142 Motor motorBlk(PB_2, PB_15, PB_1);
Najib_irvani 44:452c214d9cf5 143 Motor motorL (PB_9, PA_12, PA_6);
Najib_irvani 46:85169ae8659b 144 Motor motorR (PB_8, PC_6, PC_5); //(PC_6, PB_4, PB_5);
fanny868 0:9072e932503c 145
calmantara186 16:90119f03c5d1 146 /* Deklarasi Motor Launcher */
Najib_irvani 47:6cac4f1a3c8e 147 Motor launcherDpn(PA_5,PA_11,PB_12); // pwm ,fwd, rev
Najib_irvani 44:452c214d9cf5 148 Motor launcherBlk(PB_3, PC_4, PA_10); // pwm, fwd, rev
Najib_irvani 44:452c214d9cf5 149 Motor powerScrew(PB_10, PB_14, PB_13); // pwm, fwd, rev
rahmadirizki18 5:3aa203218306 150
be_bryan 26:256160a1a82d 151 /* Deklarasi Penumatik Launcher */
Najib_irvani 44:452c214d9cf5 152 DigitalOut pneumatik(PA_4, PullUp);
Najib_irvani 47:6cac4f1a3c8e 153 DigitalOut pneu_paku(PC_2, PullUp);
be_bryan 26:256160a1a82d 154
be_bryan 27:68efb1622985 155 /*Dekalrasi Limit Switch */
gustavaditya 40:5b937cac959a 156 //DigitalIn infraAtas(PC_9, PullUp);
Najib_irvani 44:452c214d9cf5 157 DigitalIn limitTengah(PA_9, PullUp);
Najib_irvani 44:452c214d9cf5 158 DigitalIn limitBawah(PC_7, PullUp);
Najib_irvani 44:452c214d9cf5 159 DigitalIn limitBawah1(PA_7, PullUp);
rahmadirizki18 5:3aa203218306 160
gustavaditya 40:5b937cac959a 161 /*deklarasi PING ultrasonic*/
Najib_irvani 44:452c214d9cf5 162 Ping pingAtas(PC_15);
fanny868 0:9072e932503c 163
franshendri 42:6caf8bd5abbc 164 /*Deklarasi Display*/
Najib_irvani 44:452c214d9cf5 165 DigitDisplay display (PA_8, PC_8);
franshendri 42:6caf8bd5abbc 166
MarchioKevin 22:4632f58461e0 167 /****************************************************/
MarchioKevin 22:4632f58461e0 168 /* Deklarasi Fungsi dan Procedure */
MarchioKevin 22:4632f58461e0 169 /****************************************************/
gustavaditya 31:d5cbda07fd95 170 int case_joystick()
gustavaditya 31:d5cbda07fd95 171 {
gustavaditya 31:d5cbda07fd95 172 //---------------------------------------------------//
gustavaditya 31:d5cbda07fd95 173 // Gerak Motor Base //
gustavaditya 31:d5cbda07fd95 174 // Case 1 : Pivot kanan //
gustavaditya 31:d5cbda07fd95 175 // Case 2 : Pivot Kiri //
gustavaditya 31:d5cbda07fd95 176 // Case 3 : Kanan //
gustavaditya 31:d5cbda07fd95 177 // Case 4 : Kiri //
gustavaditya 31:d5cbda07fd95 178 // Case 5 : Break //
gustavaditya 31:d5cbda07fd95 179 //---------------------------------------------------//
gustavaditya 31:d5cbda07fd95 180
gustavaditya 31:d5cbda07fd95 181 int caseJoystick;
Najib_irvani 43:3807a95aa284 182 if ((joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) {
gustavaditya 31:d5cbda07fd95 183 // Pivot Kanan
gustavaditya 31:d5cbda07fd95 184 caseJoystick = 1;
gustavaditya 31:d5cbda07fd95 185 }
Najib_irvani 43:3807a95aa284 186 else if ((!joystick.R1)&&(joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) {
gustavaditya 31:d5cbda07fd95 187 // Pivot Kiri
gustavaditya 31:d5cbda07fd95 188 caseJoystick = 2;
Najib_irvani 43:3807a95aa284 189 }
Najib_irvani 44:452c214d9cf5 190 else if ((joystick.START_click)&&(!joystick.SELECT_click)&&(!joystick.R3_click)) {
Najib_irvani 44:452c214d9cf5 191 // tambah rpm dengan nilai tertentu
Najib_irvani 44:452c214d9cf5 192 caseJoystick = 31;
Najib_irvani 44:452c214d9cf5 193 }
Najib_irvani 44:452c214d9cf5 194 else if ((!joystick.START_click)&&(joystick.SELECT_click)&&(!joystick.R3_click)) {
Najib_irvani 44:452c214d9cf5 195 // kurangi rpm dengan nilai tertentu
Najib_irvani 44:452c214d9cf5 196 caseJoystick = 32;
Najib_irvani 44:452c214d9cf5 197 }
Najib_irvani 44:452c214d9cf5 198 else if ((!joystick.START_click)&&(!joystick.SELECT_click)&&(joystick.R3_click)) {
Najib_irvani 44:452c214d9cf5 199 // kurangi rpm dengan nilai tertentu
Najib_irvani 44:452c214d9cf5 200 caseJoystick = 33;
Najib_irvani 44:452c214d9cf5 201 }
Najib_irvani 43:3807a95aa284 202 else if ((joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri)) {
Najib_irvani 43:3807a95aa284 203 // Kanan + Rotasi kanan
Najib_irvani 43:3807a95aa284 204 caseJoystick = 17;
Najib_irvani 43:3807a95aa284 205 }
Najib_irvani 43:3807a95aa284 206 else if ((!joystick.R1)&&(joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri)) {
Najib_irvani 43:3807a95aa284 207 // Kanan + Rotasi kiri
Najib_irvani 43:3807a95aa284 208 caseJoystick = 18;
Najib_irvani 43:3807a95aa284 209 }
Najib_irvani 43:3807a95aa284 210 else if ((joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)) {
Najib_irvani 43:3807a95aa284 211 // Kiri + Rotasi kanan
Najib_irvani 43:3807a95aa284 212 caseJoystick = 19;
Najib_irvani 43:3807a95aa284 213 }
Najib_irvani 43:3807a95aa284 214 else if ((!joystick.R1)&&(joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)) {
Najib_irvani 43:3807a95aa284 215 // Kanan + Rotasi kiri
Najib_irvani 43:3807a95aa284 216 caseJoystick = 20;
Najib_irvani 43:3807a95aa284 217 }
Najib_irvani 43:3807a95aa284 218 else if ((joystick.R1)&&(!joystick.L1)&&(joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) {
Najib_irvani 43:3807a95aa284 219 // Maju + Rotasi kanan
Najib_irvani 43:3807a95aa284 220 caseJoystick = 21;
Najib_irvani 43:3807a95aa284 221 }
Najib_irvani 43:3807a95aa284 222 else if ((!joystick.R1)&&(joystick.L1)&&(joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) {
Najib_irvani 43:3807a95aa284 223 // Maju + Rotasi kiri
Najib_irvani 43:3807a95aa284 224 caseJoystick = 22;
Najib_irvani 43:3807a95aa284 225 }
Najib_irvani 43:3807a95aa284 226 else if ((joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) {
Najib_irvani 43:3807a95aa284 227 // Mundur + Rotasi kanan
Najib_irvani 43:3807a95aa284 228 caseJoystick = 23;
Najib_irvani 43:3807a95aa284 229 }
Najib_irvani 43:3807a95aa284 230 else if ((!joystick.R1)&&(joystick.L1)&&(!joystick.atas)&&(joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) {
Najib_irvani 43:3807a95aa284 231 // Mundur + Rotasi kiri
Najib_irvani 43:3807a95aa284 232 caseJoystick = 24;
Najib_irvani 43:3807a95aa284 233 }
Najib_irvani 43:3807a95aa284 234 else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri)&&(joystick.segitiga_click)) {
Najib_irvani 43:3807a95aa284 235 // Kanan + segitiga
Najib_irvani 43:3807a95aa284 236 caseJoystick = 25;
Najib_irvani 43:3807a95aa284 237 }
Najib_irvani 43:3807a95aa284 238 else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)&&(joystick.segitiga_click)) {
Najib_irvani 43:3807a95aa284 239 // Kiri + segitiga
Najib_irvani 43:3807a95aa284 240 caseJoystick = 26;
Najib_irvani 43:3807a95aa284 241 }
Najib_irvani 43:3807a95aa284 242 else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri)&&(joystick.lingkaran_click)) {
Najib_irvani 43:3807a95aa284 243 // Kanan + lingkaran
Najib_irvani 43:3807a95aa284 244 caseJoystick = 27;
Najib_irvani 43:3807a95aa284 245 }
Najib_irvani 43:3807a95aa284 246 else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)&&(joystick.lingkaran_click)) {
Najib_irvani 43:3807a95aa284 247 // Kiri + lingkaran
Najib_irvani 43:3807a95aa284 248 caseJoystick = 28;
Najib_irvani 43:3807a95aa284 249 }
Najib_irvani 43:3807a95aa284 250 else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri)&&(joystick.kotak_click)) {
Najib_irvani 43:3807a95aa284 251 // Kanan + kotak
Najib_irvani 43:3807a95aa284 252 caseJoystick = 29;
Najib_irvani 43:3807a95aa284 253 }
Najib_irvani 43:3807a95aa284 254 else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)&&(joystick.kotak_click)) {
Najib_irvani 43:3807a95aa284 255 // Kiri + kotak
Najib_irvani 43:3807a95aa284 256 caseJoystick = 30;
Najib_irvani 43:3807a95aa284 257 }
Najib_irvani 43:3807a95aa284 258 else if ((!joystick.R1)&&(!joystick.L1)&&(joystick.atas)&&(!joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri)) {
Najib_irvani 43:3807a95aa284 259 // Serong kanan maju
Najib_irvani 44:452c214d9cf5 260 caseJoystick = 13;
Najib_irvani 43:3807a95aa284 261 }
Najib_irvani 43:3807a95aa284 262 else if ((!joystick.R1)&&(!joystick.L1)&&(joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)) {
Najib_irvani 43:3807a95aa284 263 // Serong kiri maju
Najib_irvani 44:452c214d9cf5 264 caseJoystick = 14;
Najib_irvani 43:3807a95aa284 265 }
Najib_irvani 43:3807a95aa284 266 else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri)) {
Najib_irvani 43:3807a95aa284 267 // Serong kanan mundur
Najib_irvani 44:452c214d9cf5 268 caseJoystick = 15;
Najib_irvani 43:3807a95aa284 269 }
Najib_irvani 43:3807a95aa284 270 else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)) {
Najib_irvani 43:3807a95aa284 271 // Serong kiri mundur
Najib_irvani 44:452c214d9cf5 272 caseJoystick = 16;
gustavaditya 31:d5cbda07fd95 273 }
gustavaditya 31:d5cbda07fd95 274 else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri)) {
gustavaditya 31:d5cbda07fd95 275 // Kanan
gustavaditya 31:d5cbda07fd95 276 caseJoystick = 3;
gustavaditya 31:d5cbda07fd95 277 }
gustavaditya 31:d5cbda07fd95 278 else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)) {
gustavaditya 31:d5cbda07fd95 279 // Kiri
gustavaditya 31:d5cbda07fd95 280 caseJoystick = 4;
Najib_irvani 43:3807a95aa284 281 }
Najib_irvani 43:3807a95aa284 282 else if ((!joystick.R1)&&(!joystick.L1)&&(joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) {
Najib_irvani 43:3807a95aa284 283 // Atas -- Maju
Najib_irvani 44:452c214d9cf5 284 caseJoystick = 8;
Najib_irvani 43:3807a95aa284 285 }
Najib_irvani 43:3807a95aa284 286 else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri)) {
Najib_irvani 43:3807a95aa284 287 // Bawah -- Mundur
Najib_irvani 44:452c214d9cf5 288 caseJoystick = 9;
gustavaditya 31:d5cbda07fd95 289 }
gustavaditya 38:3ef6754bd8d8 290 else if (joystick.segitiga_click){
gustavaditya 31:d5cbda07fd95 291 // Motor Launcher
gustavaditya 31:d5cbda07fd95 292 caseJoystick = 5;
gustavaditya 31:d5cbda07fd95 293 }
gustavaditya 38:3ef6754bd8d8 294 else if (joystick.R2_click){
gustavaditya 31:d5cbda07fd95 295 // Target Pulse PID ++ Motor Depan
gustavaditya 31:d5cbda07fd95 296 caseJoystick = 6;
gustavaditya 31:d5cbda07fd95 297 }
gustavaditya 38:3ef6754bd8d8 298 else if (joystick.L2_click){
Najib_irvani 43:3807a95aa284 299 // Target Pulse PID -- Motor
gustavaditya 31:d5cbda07fd95 300 caseJoystick = 7;
gustavaditya 31:d5cbda07fd95 301 }
gustavaditya 31:d5cbda07fd95 302 else if (joystick.silang_click){
gustavaditya 31:d5cbda07fd95 303 // Pnemuatik ON
gustavaditya 31:d5cbda07fd95 304 caseJoystick = 10;
gustavaditya 31:d5cbda07fd95 305 }
Najib_irvani 43:3807a95aa284 306 else if ((joystick.lingkaran_click)&&(!joystick.kotak_click)) {
gustavaditya 31:d5cbda07fd95 307 // Power Screw Up
gustavaditya 31:d5cbda07fd95 308 caseJoystick = 11;
gustavaditya 31:d5cbda07fd95 309 }
Najib_irvani 43:3807a95aa284 310 else if ((joystick.kotak_click)&&(!joystick.lingkaran_click)) {
gustavaditya 31:d5cbda07fd95 311 // Power Screw Down
gustavaditya 31:d5cbda07fd95 312 caseJoystick = 12;
gustavaditya 31:d5cbda07fd95 313 }
Najib_irvani 47:6cac4f1a3c8e 314 else if (joystick.L3){
Najib_irvani 47:6cac4f1a3c8e 315 // Paku Bumi ON/OFF
Najib_irvani 47:6cac4f1a3c8e 316 caseJoystick = 34;
Najib_irvani 47:6cac4f1a3c8e 317 }
gustavaditya 45:964ae71a30e3 318 else
gustavaditya 45:964ae71a30e3 319 {
gustavaditya 45:964ae71a30e3 320 tuneAksel = 0.6;
gustavaditya 45:964ae71a30e3 321 aksel = 0;
gustavaditya 45:964ae71a30e3 322 }
gustavaditya 31:d5cbda07fd95 323
gustavaditya 31:d5cbda07fd95 324 return(caseJoystick);
gustavaditya 31:d5cbda07fd95 325 }
gustavaditya 31:d5cbda07fd95 326
fanny868 0:9072e932503c 327
gustavaditya 37:67d54563af90 328 void init_rpm (){
gustavaditya 38:3ef6754bd8d8 329 if (target_rpm>maxRPM-2){
gustavaditya 38:3ef6754bd8d8 330 target_rpm = maxRPM-2;
gustavaditya 37:67d54563af90 331 }
franshendri 42:6caf8bd5abbc 332 if (target_rpm<minRPM){
gustavaditya 37:67d54563af90 333 target_rpm = minRPM;
gustavaditya 37:67d54563af90 334 }
gustavaditya 37:67d54563af90 335 if (target_rpm2>maxRPM){
gustavaditya 37:67d54563af90 336 target_rpm2 = maxRPM;
gustavaditya 37:67d54563af90 337 }
franshendri 42:6caf8bd5abbc 338 if (target_rpm2<minRPM+2){
gustavaditya 38:3ef6754bd8d8 339 target_rpm2 = minRPM+2;
gustavaditya 37:67d54563af90 340 }
gustavaditya 37:67d54563af90 341 }
gustavaditya 37:67d54563af90 342
gustavaditya 31:d5cbda07fd95 343 void aktuator()
gustavaditya 31:d5cbda07fd95 344 {
gustavaditya 31:d5cbda07fd95 345 switch (case_joy) {
gustavaditya 31:d5cbda07fd95 346 case (1):
gustavaditya 31:d5cbda07fd95 347 {
gustavaditya 31:d5cbda07fd95 348 // Pivot Kanan
gustavaditya 31:d5cbda07fd95 349 motorDpn.speed(-PIVOT);
gustavaditya 31:d5cbda07fd95 350 motorBlk.speed(-PIVOT);
Najib_irvani 47:6cac4f1a3c8e 351 motorR.speed(-rasio*PIVOT-t_new);
Najib_irvani 47:6cac4f1a3c8e 352 motorL.speed(-rasio*PIVOT-t_new);
gustavaditya 31:d5cbda07fd95 353 break;
gustavaditya 31:d5cbda07fd95 354 }
gustavaditya 31:d5cbda07fd95 355 case (2):
gustavaditya 31:d5cbda07fd95 356 {
gustavaditya 31:d5cbda07fd95 357 // Pivot Kiri
gustavaditya 31:d5cbda07fd95 358 motorDpn.speed(PIVOT);
gustavaditya 31:d5cbda07fd95 359 motorBlk.speed(PIVOT);
Najib_irvani 47:6cac4f1a3c8e 360 motorR.speed(rasio*PIVOT+t_new);
Najib_irvani 47:6cac4f1a3c8e 361 motorL.speed(rasio*PIVOT+t_new);
Najib_irvani 43:3807a95aa284 362 break;
Najib_irvani 43:3807a95aa284 363 }
Najib_irvani 43:3807a95aa284 364 case (17):
Najib_irvani 43:3807a95aa284 365 {
Najib_irvani 43:3807a95aa284 366 // Kanan + Rotasi Kanan
Najib_irvani 43:3807a95aa284 367 motorDpn.speed(-PIVOT);
Najib_irvani 43:3807a95aa284 368 motorBlk.speed(-PIVOT);
Najib_irvani 47:6cac4f1a3c8e 369 motorR.speed(-rasio*PIVOT-t_new);
Najib_irvani 47:6cac4f1a3c8e 370 motorL.speed(-rasio*PIVOT-t_new);
Najib_irvani 43:3807a95aa284 371 break;
Najib_irvani 43:3807a95aa284 372 }
Najib_irvani 43:3807a95aa284 373 case (18):
Najib_irvani 43:3807a95aa284 374 {
Najib_irvani 43:3807a95aa284 375 // Kanan + Rotasi Kiri
Najib_irvani 43:3807a95aa284 376 motorDpn.speed(PIVOT);
Najib_irvani 43:3807a95aa284 377 motorBlk.speed(PIVOT);
Najib_irvani 47:6cac4f1a3c8e 378 motorR.speed(rasio*PIVOT+t_new);
Najib_irvani 47:6cac4f1a3c8e 379 motorL.speed(rasio*PIVOT+t_new);
Najib_irvani 43:3807a95aa284 380 break;
Najib_irvani 43:3807a95aa284 381 }
Najib_irvani 43:3807a95aa284 382 case (19):
Najib_irvani 43:3807a95aa284 383 {
Najib_irvani 43:3807a95aa284 384 // Kiri + Rotasi Kanan
Najib_irvani 43:3807a95aa284 385 motorDpn.speed(-PIVOT);
Najib_irvani 43:3807a95aa284 386 motorBlk.speed(-PIVOT);
Najib_irvani 47:6cac4f1a3c8e 387 motorR.speed(-rasio*PIVOT-t_new);
Najib_irvani 47:6cac4f1a3c8e 388 motorL.speed(-rasio*PIVOT-t_new);
Najib_irvani 43:3807a95aa284 389 break;
Najib_irvani 43:3807a95aa284 390 }
Najib_irvani 43:3807a95aa284 391 case (20):
Najib_irvani 43:3807a95aa284 392 {
Najib_irvani 43:3807a95aa284 393 // Kiri + Rotasi Kiri
Najib_irvani 43:3807a95aa284 394 motorDpn.speed(PIVOT);
Najib_irvani 43:3807a95aa284 395 motorBlk.speed(PIVOT);
Najib_irvani 47:6cac4f1a3c8e 396 motorR.speed(rasio*PIVOT+t_new);
Najib_irvani 47:6cac4f1a3c8e 397 motorL.speed(rasio*PIVOT+t_new);
Najib_irvani 43:3807a95aa284 398 break;
Najib_irvani 43:3807a95aa284 399 }
Najib_irvani 43:3807a95aa284 400 case (21):
Najib_irvani 43:3807a95aa284 401 {
Najib_irvani 43:3807a95aa284 402 // Maju + Rotasi Kanan
Najib_irvani 43:3807a95aa284 403 motorDpn.speed(-PIVOT);
Najib_irvani 43:3807a95aa284 404 motorBlk.speed(-PIVOT);
Najib_irvani 47:6cac4f1a3c8e 405 motorR.speed(-rasio*PIVOT-t_new);
Najib_irvani 47:6cac4f1a3c8e 406 motorL.speed(-rasio*PIVOT-t_new);
Najib_irvani 43:3807a95aa284 407 break;
Najib_irvani 43:3807a95aa284 408 }
Najib_irvani 43:3807a95aa284 409 case (22):
Najib_irvani 43:3807a95aa284 410 {
Najib_irvani 43:3807a95aa284 411 // Maju + Rotasi Kiri
Najib_irvani 43:3807a95aa284 412 motorDpn.speed(PIVOT);
Najib_irvani 43:3807a95aa284 413 motorBlk.speed(PIVOT);
Najib_irvani 47:6cac4f1a3c8e 414 motorR.speed(rasio*PIVOT+t_new);
Najib_irvani 47:6cac4f1a3c8e 415 motorL.speed(rasio*PIVOT+t_new);
Najib_irvani 43:3807a95aa284 416 break;
Najib_irvani 43:3807a95aa284 417 }
Najib_irvani 43:3807a95aa284 418 case (23):
Najib_irvani 43:3807a95aa284 419 {
Najib_irvani 43:3807a95aa284 420 // Mundur + Rotasi Kanan
Najib_irvani 43:3807a95aa284 421 motorDpn.speed(-PIVOT);
Najib_irvani 43:3807a95aa284 422 motorBlk.speed(-PIVOT);
Najib_irvani 47:6cac4f1a3c8e 423 motorR.speed(-rasio*PIVOT-t_new);
Najib_irvani 47:6cac4f1a3c8e 424 motorL.speed(-rasio*PIVOT-t_new);
Najib_irvani 43:3807a95aa284 425 break;
Najib_irvani 43:3807a95aa284 426 }
Najib_irvani 43:3807a95aa284 427 case (24):
Najib_irvani 43:3807a95aa284 428 {
Najib_irvani 43:3807a95aa284 429 // Mundur + Rotasi Kiri
Najib_irvani 43:3807a95aa284 430 motorDpn.speed(PIVOT);
Najib_irvani 43:3807a95aa284 431 motorBlk.speed(PIVOT);
Najib_irvani 47:6cac4f1a3c8e 432 motorR.speed(rasio*PIVOT+t_new);
Najib_irvani 47:6cac4f1a3c8e 433 motorL.speed(rasio*PIVOT+t_new);
Najib_irvani 43:3807a95aa284 434 break;
Najib_irvani 43:3807a95aa284 435 }
Najib_irvani 43:3807a95aa284 436 case (25):
Najib_irvani 43:3807a95aa284 437 {
Najib_irvani 43:3807a95aa284 438 // Kanan + segitiga
Najib_irvani 43:3807a95aa284 439 isLauncher = !isLauncher;
Najib_irvani 43:3807a95aa284 440 break;
Najib_irvani 43:3807a95aa284 441 }
Najib_irvani 43:3807a95aa284 442 case (26):
Najib_irvani 43:3807a95aa284 443 {
Najib_irvani 43:3807a95aa284 444 // Kiri + segitiga
Najib_irvani 43:3807a95aa284 445 isLauncher = !isLauncher;
Najib_irvani 43:3807a95aa284 446 break;
Najib_irvani 43:3807a95aa284 447 }
Najib_irvani 43:3807a95aa284 448 case (27):
Najib_irvani 43:3807a95aa284 449 {
Najib_irvani 43:3807a95aa284 450 // Kanan + lingkaran
Najib_irvani 43:3807a95aa284 451 ReloadOn = !ReloadOn;
Najib_irvani 43:3807a95aa284 452 isReload = false;
Najib_irvani 43:3807a95aa284 453 break;
Najib_irvani 43:3807a95aa284 454 }
Najib_irvani 43:3807a95aa284 455 case (28):
Najib_irvani 43:3807a95aa284 456 {
Najib_irvani 43:3807a95aa284 457 // Kiri + lingkaran
Najib_irvani 43:3807a95aa284 458 ReloadOn = !ReloadOn;
Najib_irvani 43:3807a95aa284 459 isReload = false;
Najib_irvani 43:3807a95aa284 460 break;
Najib_irvani 43:3807a95aa284 461 }
Najib_irvani 43:3807a95aa284 462 case (29):
Najib_irvani 43:3807a95aa284 463 {
Najib_irvani 43:3807a95aa284 464 // Kanan + kotak
Najib_irvani 43:3807a95aa284 465 ReloadOn = !ReloadOn;
Najib_irvani 43:3807a95aa284 466 isReload = true;
Najib_irvani 43:3807a95aa284 467 break;
Najib_irvani 43:3807a95aa284 468 }
Najib_irvani 43:3807a95aa284 469 case (30):
Najib_irvani 43:3807a95aa284 470 {
Najib_irvani 43:3807a95aa284 471 // Kiri + kotak
Najib_irvani 43:3807a95aa284 472 ReloadOn = !ReloadOn;
Najib_irvani 43:3807a95aa284 473 isReload = true;
Najib_irvani 43:3807a95aa284 474 break;
Najib_irvani 43:3807a95aa284 475 }
Najib_irvani 43:3807a95aa284 476 case (13) :
Najib_irvani 43:3807a95aa284 477 {
Najib_irvani 43:3807a95aa284 478 // Serong kanan maju
Najib_irvani 43:3807a95aa284 479 motorDpn.speed(-serong);
Najib_irvani 46:85169ae8659b 480 motorL.speed(-serong-t_new);
Najib_irvani 43:3807a95aa284 481 motorBlk.speed(serong);
Najib_irvani 46:85169ae8659b 482 motorR.speed(serong+t_new);
Najib_irvani 43:3807a95aa284 483 break;
Najib_irvani 43:3807a95aa284 484 }
Najib_irvani 43:3807a95aa284 485 case (14) :
Najib_irvani 43:3807a95aa284 486 {
Najib_irvani 43:3807a95aa284 487 // Serong kiri maju
Najib_irvani 43:3807a95aa284 488 motorDpn.speed(serong);
Najib_irvani 46:85169ae8659b 489 motorR.speed(serong+t_new);
Najib_irvani 43:3807a95aa284 490 motorBlk.speed(-serong);
Najib_irvani 46:85169ae8659b 491 motorL.speed(-serong-t_new);
Najib_irvani 43:3807a95aa284 492 break;
Najib_irvani 43:3807a95aa284 493 }
Najib_irvani 43:3807a95aa284 494 case (15) :
Najib_irvani 43:3807a95aa284 495 {
Najib_irvani 43:3807a95aa284 496 // Serong kanan mundur
Najib_irvani 44:452c214d9cf5 497 motorDpn.speed(-serong);
Najib_irvani 46:85169ae8659b 498 motorR.speed(-serong-t_new);
Najib_irvani 43:3807a95aa284 499 motorBlk.speed(serong);
Najib_irvani 46:85169ae8659b 500 motorL.speed(serong+t_new);
Najib_irvani 43:3807a95aa284 501 break;
Najib_irvani 43:3807a95aa284 502 }
Najib_irvani 43:3807a95aa284 503 case (16) :
Najib_irvani 43:3807a95aa284 504 {
Najib_irvani 43:3807a95aa284 505 // Serong kiri mundur
Najib_irvani 43:3807a95aa284 506 motorDpn.speed(serong);
Najib_irvani 46:85169ae8659b 507 motorL.speed(serong+t_new);
Najib_irvani 43:3807a95aa284 508 motorBlk.speed(-serong);
Najib_irvani 46:85169ae8659b 509 motorR.speed(-serong-t_new);
gustavaditya 31:d5cbda07fd95 510 break;
gustavaditya 31:d5cbda07fd95 511 }
gustavaditya 31:d5cbda07fd95 512 case (3) :
gustavaditya 31:d5cbda07fd95 513 {
gustavaditya 31:d5cbda07fd95 514 // Kanan
gustavaditya 45:964ae71a30e3 515 aksel++;
gustavaditya 45:964ae71a30e3 516 if (aksel>300)
gustavaditya 45:964ae71a30e3 517 tuneAksel = 0.9;
gustavaditya 45:964ae71a30e3 518
gustavaditya 45:964ae71a30e3 519 motorDpn.speed(-tuneAksel);
gustavaditya 45:964ae71a30e3 520 motorBlk.speed(tuneAksel);
Najib_irvani 43:3807a95aa284 521 motorR.brake(1);
Najib_irvani 43:3807a95aa284 522 motorL.brake(1);
gustavaditya 31:d5cbda07fd95 523 break;
gustavaditya 31:d5cbda07fd95 524 }
gustavaditya 31:d5cbda07fd95 525 case (4) :
gustavaditya 31:d5cbda07fd95 526 {
gustavaditya 31:d5cbda07fd95 527 // Kiri
gustavaditya 45:964ae71a30e3 528 aksel++;
gustavaditya 45:964ae71a30e3 529 if (aksel>300)
gustavaditya 45:964ae71a30e3 530 tuneAksel = 0.9;
gustavaditya 45:964ae71a30e3 531
gustavaditya 45:964ae71a30e3 532 motorDpn.speed(tuneAksel);
gustavaditya 45:964ae71a30e3 533 motorBlk.speed(-tuneAksel);
Najib_irvani 43:3807a95aa284 534 motorR.brake(1);
Najib_irvani 43:3807a95aa284 535 motorL.brake(1);
Najib_irvani 43:3807a95aa284 536 break;
Najib_irvani 43:3807a95aa284 537 }
Najib_irvani 43:3807a95aa284 538 case (8) :
Najib_irvani 43:3807a95aa284 539 {
Najib_irvani 43:3807a95aa284 540 // Maju
gustavaditya 45:964ae71a30e3 541 aksel++;
gustavaditya 45:964ae71a30e3 542 if (aksel>300)
gustavaditya 45:964ae71a30e3 543 tuneAksel = 0.9;
gustavaditya 45:964ae71a30e3 544
Najib_irvani 47:6cac4f1a3c8e 545 motorR.speed(tuneAksel);
Najib_irvani 47:6cac4f1a3c8e 546 motorL.speed(-tuneAksel);
Najib_irvani 43:3807a95aa284 547 motorDpn.brake(1);
Najib_irvani 43:3807a95aa284 548 motorBlk.brake(1);
Najib_irvani 43:3807a95aa284 549 break;
Najib_irvani 43:3807a95aa284 550 }
Najib_irvani 43:3807a95aa284 551 case (9) :
Najib_irvani 43:3807a95aa284 552 {
Najib_irvani 43:3807a95aa284 553 // Mundur
gustavaditya 45:964ae71a30e3 554 aksel++;
gustavaditya 45:964ae71a30e3 555 if (aksel>300)
gustavaditya 45:964ae71a30e3 556 tuneAksel = 0.9;
gustavaditya 45:964ae71a30e3 557
Najib_irvani 47:6cac4f1a3c8e 558 motorR.speed(-tuneAksel);
Najib_irvani 47:6cac4f1a3c8e 559 motorL.speed(tuneAksel);
Najib_irvani 43:3807a95aa284 560 motorDpn.brake(1);
Najib_irvani 43:3807a95aa284 561 motorBlk.brake(1);
gustavaditya 31:d5cbda07fd95 562 break;
gustavaditya 31:d5cbda07fd95 563 }
gustavaditya 31:d5cbda07fd95 564 case (5) :
gustavaditya 31:d5cbda07fd95 565 {
gustavaditya 31:d5cbda07fd95 566 // Aktifkan motor atas
gustavaditya 31:d5cbda07fd95 567 isLauncher = !isLauncher;
gustavaditya 31:d5cbda07fd95 568 break;
Joshua23 8:0711dea61312 569 }
gustavaditya 31:d5cbda07fd95 570 case (6) :
gustavaditya 31:d5cbda07fd95 571 {
gustavaditya 31:d5cbda07fd95 572 // Target Pulse PID ++ Motor Depan
gustavaditya 39:11358f3f61ff 573 target_rpm2 = target_rpm2+1.0;
gustavaditya 39:11358f3f61ff 574 target_rpm = target_rpm+1.0;
gustavaditya 37:67d54563af90 575 init_rpm();
gustavaditya 31:d5cbda07fd95 576 break;
gustavaditya 31:d5cbda07fd95 577 }
gustavaditya 31:d5cbda07fd95 578 case (7) :
gustavaditya 31:d5cbda07fd95 579 {
gustavaditya 31:d5cbda07fd95 580 // Target Pulse PID -- Motor Depan
gustavaditya 39:11358f3f61ff 581 target_rpm2 = target_rpm2-1.0;
gustavaditya 39:11358f3f61ff 582 target_rpm = target_rpm-1.0;
gustavaditya 37:67d54563af90 583 init_rpm();
gustavaditya 31:d5cbda07fd95 584 break;
gustavaditya 31:d5cbda07fd95 585 }
gustavaditya 31:d5cbda07fd95 586 case (10) :
gustavaditya 31:d5cbda07fd95 587 {
gustavaditya 31:d5cbda07fd95 588 // Pneumatik
Najib_irvani 44:452c214d9cf5 589 if (ready)
Najib_irvani 44:452c214d9cf5 590 {
Najib_irvani 44:452c214d9cf5 591 pneumatik = 0;
Najib_irvani 44:452c214d9cf5 592 previousMillis3 = millis();
Najib_irvani 44:452c214d9cf5 593 flag_Pneu = true;
Najib_irvani 44:452c214d9cf5 594 ready = false;
Najib_irvani 50:8bc9dbca2ffa 595 //ReloadOn = !ReloadOn;
Najib_irvani 50:8bc9dbca2ffa 596 //previousMillis6 = millis();
gustavaditya 45:964ae71a30e3 597
Najib_irvani 44:452c214d9cf5 598 }
gustavaditya 31:d5cbda07fd95 599 break;
gustavaditya 31:d5cbda07fd95 600 }
gustavaditya 31:d5cbda07fd95 601 case (11) :
gustavaditya 31:d5cbda07fd95 602 {
gustavaditya 31:d5cbda07fd95 603 // Power Screw Up
gustavaditya 40:5b937cac959a 604 ReloadOn = !ReloadOn;
Najib_irvani 43:3807a95aa284 605 isReload = false;
gustavaditya 31:d5cbda07fd95 606 break;
gustavaditya 31:d5cbda07fd95 607 }
Najib_irvani 44:452c214d9cf5 608 case (31) :
Najib_irvani 44:452c214d9cf5 609 {
Najib_irvani 44:452c214d9cf5 610 // start
Najib_irvani 50:8bc9dbca2ffa 611 target_rpm2 = 24;
Najib_irvani 50:8bc9dbca2ffa 612 target_rpm = 24;
Najib_irvani 44:452c214d9cf5 613 init_rpm();
Najib_irvani 44:452c214d9cf5 614 break;
Najib_irvani 44:452c214d9cf5 615 }
Najib_irvani 44:452c214d9cf5 616 case (32) :
Najib_irvani 44:452c214d9cf5 617 {
Najib_irvani 44:452c214d9cf5 618 // select
Najib_irvani 46:85169ae8659b 619 target_rpm2 = 11;
Najib_irvani 46:85169ae8659b 620 target_rpm = 11;
Najib_irvani 44:452c214d9cf5 621 init_rpm();
Najib_irvani 44:452c214d9cf5 622 break;
Najib_irvani 44:452c214d9cf5 623 }
Najib_irvani 44:452c214d9cf5 624 case (33) :
Najib_irvani 44:452c214d9cf5 625 {
Najib_irvani 44:452c214d9cf5 626 // R3
Najib_irvani 50:8bc9dbca2ffa 627 target_rpm2 = 17;
Najib_irvani 50:8bc9dbca2ffa 628 target_rpm = 17;
Najib_irvani 44:452c214d9cf5 629 init_rpm();
Najib_irvani 44:452c214d9cf5 630 break;
Najib_irvani 44:452c214d9cf5 631 }
gustavaditya 31:d5cbda07fd95 632 case (12) :
gustavaditya 31:d5cbda07fd95 633 {
gustavaditya 31:d5cbda07fd95 634 // Power Screw Down
Najib_irvani 43:3807a95aa284 635 ReloadOn = !ReloadOn;
Najib_irvani 43:3807a95aa284 636 isReload = true;
gustavaditya 31:d5cbda07fd95 637 break;
gustavaditya 31:d5cbda07fd95 638 }
Najib_irvani 47:6cac4f1a3c8e 639 case (34) :{
Najib_irvani 47:6cac4f1a3c8e 640 pneu_paku = !pneu_paku;
Najib_irvani 47:6cac4f1a3c8e 641 wait_ms(50);
Najib_irvani 47:6cac4f1a3c8e 642 if (pneu_paku == 1){
Najib_irvani 47:6cac4f1a3c8e 643 PIVOT = 0.17;
Najib_irvani 47:6cac4f1a3c8e 644 }else{
Najib_irvani 47:6cac4f1a3c8e 645 PIVOT = 0.8;
Najib_irvani 47:6cac4f1a3c8e 646 }
Najib_irvani 47:6cac4f1a3c8e 647 }
gustavaditya 31:d5cbda07fd95 648 default :
gustavaditya 31:d5cbda07fd95 649 {
gustavaditya 45:964ae71a30e3 650 tuneAksel = 0.6;
gustavaditya 45:964ae71a30e3 651 aksel = 0;
gustavaditya 31:d5cbda07fd95 652 motorDpn.brake(1);
gustavaditya 31:d5cbda07fd95 653 motorBlk.brake(1);
Najib_irvani 43:3807a95aa284 654 motorR.brake(1);
Najib_irvani 43:3807a95aa284 655 motorL.brake(1);
gustavaditya 31:d5cbda07fd95 656 }
gustavaditya 31:d5cbda07fd95 657 } // End Switch
gustavaditya 31:d5cbda07fd95 658 }
gustavaditya 31:d5cbda07fd95 659
gustavaditya 40:5b937cac959a 660 void reloader()
rizqicahyo 36:5963c9a49485 661 {
rizqicahyo 36:5963c9a49485 662 if(ReloadOn){
rizqicahyo 36:5963c9a49485 663 if(isReload){
rizqicahyo 36:5963c9a49485 664 powerScrew.speed(pwmPowerDown);
Najib_irvani 47:6cac4f1a3c8e 665 pc.printf("%.2f\n", jarak_ping);
Najib_irvani 44:452c214d9cf5 666 if((!limitBawah)||(!limitBawah1)){
rizqicahyo 36:5963c9a49485 667 isReload = false;
rizqicahyo 36:5963c9a49485 668 ReloadOn = false;
rizqicahyo 36:5963c9a49485 669 }
rizqicahyo 36:5963c9a49485 670 }
rizqicahyo 36:5963c9a49485 671 else if(!limitTengah){
rizqicahyo 36:5963c9a49485 672 isReload = true;
rizqicahyo 36:5963c9a49485 673 }
Najib_irvani 46:85169ae8659b 674 else if(!flag_Pneu){
Najib_irvani 46:85169ae8659b 675 //pc.printf("%.2f\n", ping_pwm);
Najib_irvani 46:85169ae8659b 676 ping_current_error = (double) (ping_target-jarak_ping);
Najib_irvani 46:85169ae8659b 677
Najib_irvani 46:85169ae8659b 678 ping_sum_error += ping_current_error*ping_Ts;
Najib_irvani 50:8bc9dbca2ffa 679 ping_pwm = (double) ping_Kp*ping_current_error + ping_Kd*(ping_current_error-ping_previous_error1)/ping_Ts;
Najib_irvani 50:8bc9dbca2ffa 680 //ping_sum_error = ping_sum_error+ping_current_error;
Najib_irvani 46:85169ae8659b 681
Najib_irvani 47:6cac4f1a3c8e 682 pc.printf("%.2f\n", jarak_ping);
Najib_irvani 46:85169ae8659b 683 powerScrew.speed(ping_pwm);
Najib_irvani 46:85169ae8659b 684
Najib_irvani 46:85169ae8659b 685 ping_previous_error1 = ping_current_error;
gustavaditya 40:5b937cac959a 686 }
Najib_irvani 47:6cac4f1a3c8e 687 if ((jarak_ping>(ping_target-2))&&(jarak_ping<(ping_target+2))){
Najib_irvani 46:85169ae8659b 688 ready = true;
Najib_irvani 46:85169ae8659b 689 }else{
Najib_irvani 44:452c214d9cf5 690 ready = false;
rizqicahyo 36:5963c9a49485 691 }
rizqicahyo 36:5963c9a49485 692 }
rizqicahyo 36:5963c9a49485 693 else{
rizqicahyo 36:5963c9a49485 694 powerScrew.brake(1);
rizqicahyo 36:5963c9a49485 695 }
gustavaditya 40:5b937cac959a 696 }
rizqicahyo 36:5963c9a49485 697
rizqicahyo 36:5963c9a49485 698
gustavaditya 31:d5cbda07fd95 699 void launcher()
gustavaditya 31:d5cbda07fd95 700 {
gustavaditya 31:d5cbda07fd95 701 if (isLauncher)
Sufa 30:d69cc27ac644 702 {
be_bryan 28:2d0746dc2d7d 703 currentMillis = millis();
be_bryan 28:2d0746dc2d7d 704 currentMillis2 = millis();
be_bryan 28:2d0746dc2d7d 705
Najib_irvani 46:85169ae8659b 706 // PID Launcher Belakang
Najib_irvani 46:85169ae8659b 707 if (currentMillis-previousMillis>=Ts)
be_bryan 26:256160a1a82d 708 {
gustavaditya 31:d5cbda07fd95 709 rpm = (float)encLauncherBlk.getPulses();
Najib_irvani 46:85169ae8659b 710 current_error1 = target_rpm - rpm;
Najib_irvani 46:85169ae8659b 711 a1 = kpA1 + kiA1*Ts/2 + kdA1/Ts;
Najib_irvani 46:85169ae8659b 712 b1 = -kpA1 + kiA1*Ts/2 - 2*kdA1/Ts;
Najib_irvani 46:85169ae8659b 713 c1 = kdA1/Ts;
Najib_irvani 46:85169ae8659b 714 speed = previous_speed1 + a1*current_error1 + b1*previous_error1_1 + c1*previous_error1_2;
gustavaditya 38:3ef6754bd8d8 715 //init_speed();
gustavaditya 38:3ef6754bd8d8 716 if(speed > maxSpeed){
gustavaditya 38:3ef6754bd8d8 717 launcherBlk.speed(maxSpeed);
gustavaditya 38:3ef6754bd8d8 718 }
gustavaditya 39:11358f3f61ff 719 else if ( speed < minSpeed){
gustavaditya 39:11358f3f61ff 720 launcherBlk.speed(minSpeed);
gustavaditya 39:11358f3f61ff 721 }
gustavaditya 38:3ef6754bd8d8 722 else {
gustavaditya 38:3ef6754bd8d8 723 launcherBlk.speed(speed);
gustavaditya 38:3ef6754bd8d8 724 }
Najib_irvani 46:85169ae8659b 725 previous_speed1 = speed;
Najib_irvani 46:85169ae8659b 726 previous_error1_2 = previous_error1_1;
Najib_irvani 46:85169ae8659b 727 previous_error1_1 = current_error1;
gustavaditya 31:d5cbda07fd95 728 encLauncherBlk.reset();
be_bryan 26:256160a1a82d 729 previousMillis = currentMillis;
Najib_irvani 46:85169ae8659b 730
be_bryan 26:256160a1a82d 731 }
Najib_irvani 46:85169ae8659b 732 // PID Launcher Depan
Najib_irvani 46:85169ae8659b 733 if (currentMillis2-previousMillis2>=Ts)
be_bryan 27:68efb1622985 734 {
gustavaditya 31:d5cbda07fd95 735 rpm2 = (float)encLauncherDpn.getPulses();
be_bryan 27:68efb1622985 736 current_error2 = target_rpm2 - rpm2;
Najib_irvani 46:85169ae8659b 737 a2 = kpA2 + kiA2*Ts/2 + kdA2/Ts;
Najib_irvani 46:85169ae8659b 738 b2 = -kpA2 + kiA2*Ts/2 - 2*kdA2/Ts;
Najib_irvani 46:85169ae8659b 739 c2 = kdA2/Ts;
Najib_irvani 46:85169ae8659b 740 speed2 = previous_speed2 + a2*current_error2 + b2*previous_error2_1 + c2*previous_error2_2;
gustavaditya 38:3ef6754bd8d8 741 //init_speed();
gustavaditya 38:3ef6754bd8d8 742 if (speed2 > maxSpeed){
gustavaditya 38:3ef6754bd8d8 743 launcherDpn.speed(maxSpeed);
gustavaditya 38:3ef6754bd8d8 744 }
Najib_irvani 46:85169ae8659b 745 else if ( speed2 < minSpeed){
gustavaditya 39:11358f3f61ff 746 launcherDpn.speed(minSpeed);
gustavaditya 39:11358f3f61ff 747 }
gustavaditya 38:3ef6754bd8d8 748 else{
gustavaditya 38:3ef6754bd8d8 749 launcherDpn.speed(speed2);
gustavaditya 38:3ef6754bd8d8 750 }
Najib_irvani 46:85169ae8659b 751 previous_speed2 = speed2;
Najib_irvani 46:85169ae8659b 752 previous_error2_2 = previous_error2_1;
Najib_irvani 46:85169ae8659b 753 previous_error2_1 = current_error2;
gustavaditya 31:d5cbda07fd95 754 encLauncherDpn.reset();
be_bryan 27:68efb1622985 755 previousMillis2 = currentMillis2;
be_bryan 27:68efb1622985 756 }
Najib_irvani 47:6cac4f1a3c8e 757 //pc.printf("%.2f\t%.2f\n",rpm,rpm2);
rahmadirizki18 6:68293bed71ea 758 }
Sufa 29:7b372b0aaa61 759 else
Sufa 29:7b372b0aaa61 760 {
gustavaditya 31:d5cbda07fd95 761 launcherDpn.brake(1);
gustavaditya 31:d5cbda07fd95 762 launcherBlk.brake(1);
Najib_irvani 46:85169ae8659b 763
Najib_irvani 46:85169ae8659b 764 previous_error1_1 = 0;
Najib_irvani 46:85169ae8659b 765 previous_error1_2 = 0;
Najib_irvani 46:85169ae8659b 766 previous_error2_1 = 0;
Najib_irvani 46:85169ae8659b 767 previous_error2_2 = 0;
Najib_irvani 46:85169ae8659b 768 previous_speed1 = 0;
Najib_irvani 46:85169ae8659b 769 previous_speed2 = 0;
gustavaditya 31:d5cbda07fd95 770 }
rahmadirizki18 5:3aa203218306 771 }
gustavaditya 31:d5cbda07fd95 772
MarchioKevin 22:4632f58461e0 773 /*********************************************************/
MarchioKevin 22:4632f58461e0 774 /* Main Function */
MarchioKevin 22:4632f58461e0 775 /*********************************************************/
calmantara186 16:90119f03c5d1 776
gustavaditya 31:d5cbda07fd95 777 int main (void)
gustavaditya 31:d5cbda07fd95 778 {
gustavaditya 31:d5cbda07fd95 779 // Set baud rate - 115200
fanny868 0:9072e932503c 780 joystick.setup();
rahmadirizki18 23:023b522977b2 781 pc.baud(115200);
rahmadirizki18 6:68293bed71ea 782 wait_ms(1000);
gustavaditya 40:5b937cac959a 783
gustavaditya 40:5b937cac959a 784 // initializing encoder
gustavaditya 41:336a19289c2d 785 pneumatik =1;
gustavaditya 41:336a19289c2d 786
rahmadirizki18 5:3aa203218306 787 wait_ms(500);
gustavaditya 40:5b937cac959a 788
gustavaditya 40:5b937cac959a 789 //initializing PING
gustavaditya 40:5b937cac959a 790 pingAtas.Send();
gustavaditya 40:5b937cac959a 791
rahmadirizki18 23:023b522977b2 792 pc.printf("ready....");
gustavaditya 35:69a47b4cb3fc 793 startMillis();
fanny868 0:9072e932503c 794 while(1)
gustavaditya 40:5b937cac959a 795 {
gustavaditya 40:5b937cac959a 796 // interupsi pembacaan PING setiap 30 ms
Najib_irvani 46:85169ae8659b 797 if(millis() - previousMillis4 >= 10){ //30
Najib_irvani 46:85169ae8659b 798 jarak_ping = (float)pingAtas.Read_cm();
gustavaditya 40:5b937cac959a 799
gustavaditya 40:5b937cac959a 800 pingAtas.Send();
gustavaditya 40:5b937cac959a 801 previousMillis4 = millis();
gustavaditya 40:5b937cac959a 802 }
gustavaditya 40:5b937cac959a 803
fanny868 0:9072e932503c 804 // Interrupt Serial
calmantara186 16:90119f03c5d1 805 joystick.idle();
gustavaditya 31:d5cbda07fd95 806 if(joystick.readable())
gustavaditya 31:d5cbda07fd95 807 {
fanny868 0:9072e932503c 808 // Panggil fungsi pembacaan joystik
fanny868 0:9072e932503c 809 joystick.baca_data();
fanny868 0:9072e932503c 810 // Panggil fungsi pengolahan data joystik
fanny868 0:9072e932503c 811 joystick.olah_data();
gustavaditya 31:d5cbda07fd95 812 // Masuk ke case joystick
gustavaditya 31:d5cbda07fd95 813 case_joy = case_joystick();
Najib_irvani 44:452c214d9cf5 814 //pc.printf("%d\n",case_joy);
rahmadirizki18 3:1287fccc11be 815 aktuator();
gustavaditya 31:d5cbda07fd95 816 launcher();
gustavaditya 40:5b937cac959a 817 reloader();
Najib_irvani 50:8bc9dbca2ffa 818 if ((millis()-previousMillis3 >= 230)&&(flag_Pneu)){
be_bryan 26:256160a1a82d 819 pneumatik = 1;
gustavaditya 31:d5cbda07fd95 820 flag_Pneu = false;
Najib_irvani 50:8bc9dbca2ffa 821 //if (millis()-previousMillis6 >= 100){
Najib_irvani 50:8bc9dbca2ffa 822 // ReloadOn = !ReloadOn;
Najib_irvani 50:8bc9dbca2ffa 823 //}
be_bryan 26:256160a1a82d 824 }
be_bryan 26:256160a1a82d 825 }
gustavaditya 31:d5cbda07fd95 826 else
gustavaditya 31:d5cbda07fd95 827 {
gustavaditya 31:d5cbda07fd95 828 joystick.idle();
MarchioKevin 21:da2f3d04468f 829 }
franshendri 42:6caf8bd5abbc 830
Najib_irvani 44:452c214d9cf5 831 if(millis() - previousMillis5 >= 400)
Najib_irvani 44:452c214d9cf5 832 {
Najib_irvani 43:3807a95aa284 833 display.write(0,((int) rpm2) / 10);
Najib_irvani 43:3807a95aa284 834 display.write(1,((int)rpm2) % 10);
franshendri 42:6caf8bd5abbc 835 display.write(2, (int)target_rpm2 / 10);
franshendri 42:6caf8bd5abbc 836 display.write(3, (int)target_rpm2 % 10);
franshendri 42:6caf8bd5abbc 837 display.setColon(true);
franshendri 42:6caf8bd5abbc 838
franshendri 42:6caf8bd5abbc 839 previousMillis5 = millis();
franshendri 42:6caf8bd5abbc 840 }
fanny868 0:9072e932503c 841 }
be_bryan 28:2d0746dc2d7d 842 }