Diff: main.cpp

Revision:

0:f510a9c32a2c

Child:

1:e8fcbd118f4d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sun Jun 11 08:10:57 2017 +0000
@@ -0,0 +1,86 @@
+#include "mbed.h"
+#include "JoystickPS3.h"
+#include "Motor.h"
+
+const float pwmPowerUp        = 1.0;
+const float pwmPowerDown      = -1.0;
+
+int  case_joy;
+bool isLauncher = false;
+bool isReload = false;
+bool ReloadOn = false;
+bool flag_Pneu = false;
+bool flag_paku = false;
+
+bool ready = false;
+
+int case_joystick();
+
+joysticknucleo joystick(PA_0,PA_1);
+Serial pc(USBTX,USBRX);
+
+//DigitalIn infraAtas(PC_9, PullUp);
+DigitalIn limitAtas(PA_9, PullUp);
+DigitalIn limitBawah(PC_7, PullUp);
+DigitalIn limitKiri(PA_7, PullUp);
+DigitalIn limitTengah(PB_7, PullUp);
+DigitalIn limitKanan(PB_9, PullUp);
+
+Motor powerScrew(PB_10, PB_14, PB_13); // pwm, fwd, rev                
+
+int case_joystick()
+{
+    int caseJoystick;
+    if ((joystick.lingkaran_click)&&(!joystick.kotak_click))  {   
+        // Power Screw Up
+        caseJoystick = 11;
+    } 
+    else if ((joystick.kotak_click)&&(!joystick.lingkaran_click)) {   
+        // Power Screw Down
+        caseJoystick = 12;       
+    }
+    return(caseJoystick);
+}
+
+void aktuator() 
+{
+    switch (case_joy)
+    {
+        case (11) : 
+        {
+           // Power Screw Up
+           ReloadOn = !ReloadOn;
+           isReload = false;
+           break;
+        }
+        case (12) : 
+        {
+           // Power Screw Down
+           ReloadOn = !ReloadOn;
+           isReload = true;
+           break;
+        }
+    }
+}
+
+void reloader()
+{
+    if(ReloadOn){
+        if(isReload){
+            powerScrew.speed(pwmPowerDown);
+            //pc.printf("%.2f\n", jarak_ping);
+            if(!limitBawah){
+                isReload = false;
+                ReloadOn = false;
+            }
+        }
+        else if(!limitAtas){
+            isReload = true;
+            powerScrew.speed(pwmPowerUp);
+        }
+    }
+    else{
+        powerScrew.brake(1);
+    }
+}
+         
\ No newline at end of file