Percobaan 11 Maret 2013


Percobaan kali ini mencoba mengontrol pergerakan motor DC agar bisa berputar cw dan ccw menggunakan PS3 Controller secara wireless dengan koneksi bluetooth yang dihubungkan dengan USB host shield dan dfrduino mega 1280, berikut videonya


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/*
 Example sketch for the PS3 Bluetooth library - developed by Kristian Lauszus
 For more information visit my blog: http://blog.tkjelectronics.dk/ or
 send me an e-mail: kristianl@tkjelectronics.com
 */

#include <PS3BT.h>

//motor
int E1 = 5;
int M1 = 4;
int E2 = 6;
int M2 = 7;

USB Usb;
BTD Btd(&Usb); // You have to create the Bluetooth Dongle instance like so
/* You can create the instance of the class in two ways */
PS3BT PS3(&Btd); // This will just create the instance
//PS3BT PS3(&Btd,0x00,0x15,0x83,0x3D,0x0A,0x57); // This will also store the bluetooth address - this can be obtained from the dongle when running the sketch

boolean printTemperature;
boolean printAngle;

void setup() {
 Serial.begin(9600);
 if (Usb.Init() == -1) {
 Serial.print(F("\r\nOSC did not start"));
 while(1); //halt
 }
 Serial.print(F("\r\nPS3 Bluetooth Library Started"));

 //motor
 pinMode(M1, OUTPUT);
 pinMode(M2, OUTPUT);
}
void loop() {
 Usb.Task();

if(PS3.PS3Connected || PS3.PS3NavigationConnected) {
 //if(PS3.getAnalogHat(LeftHatX) > 137 || PS3.getAnalogHat(LeftHatX) < 117 || PS3.getAnalogHat(LeftHatY) > 137 || PS3.getAnalogHat(LeftHatY) < 117 || PS3.getAnalogHat(RightHatX) > 137 || PS3.getAnalogHat(RightHatX) < 117 || PS3.getAnalogHat(RightHatY) > 137 || PS3.getAnalogHat(RightHatY) < 117) {
 if(PS3.getAnalogHat(LeftHatX) == 128 || PS3.getAnalogHat(LeftHatY) == 128 || PS3.getAnalogHat(RightHatX) == 128 || PS3.getAnalogHat(RightHatY) == 128){
 //Serial.print(F("\r\nAllpos: "));
 //Serial.print(PS3.getAnalogHat(LeftHatX));
 //Serial.print(PS3.getAnalogHat(LeftHatY));
 //Serial.print(PS3.getAnalogHat(RightHatX));
 //Serial.print(PS3.getAnalogHat(RightHatY));
 int val1;
 val1=map(PS3.getAnalogHat(RightHatY),127,128,0,0);

 Serial.print(F("\r\nvaltgh1: "));
 Serial.print(val1);
 digitalWrite(M1,HIGH);
 analogWrite(E1, val1);
 }
 if(PS3.getAnalogHat(RightHatY) == 255){
 //if(PS3.getAnalogHat(LeftHatX) == 255);{
 int val2;
 val2=PS3.getAnalogHat(RightHatY);
 val2=map(PS3.getAnalogHat(RightHatY),250,255,250,255);
 Serial.print(F("\r\nvalmtr2: "));
 Serial.print(val2);
 digitalWrite(M1,HIGH);
 analogWrite(E1, val2);
 //
 } if(PS3.getAnalogHat(RightHatY) == 0){
 //if(PS3.getAnalogHat(LeftHatX) == 0);{
 int val3;
 val3=PS3.getAnalogHat(RightHatY);
 val3=map(PS3.getAnalogHat(RightHatY),5,0,250,255);
 Serial.print(F("\r\nvalmtr23: "));
 Serial.print(val3);
 digitalWrite(M1,LOW);
 analogWrite(E1, val3);

 //Serial.print(F("\r\nLeftHatX: "));
 //Serial.print(PS3.getAnalogHat(LeftHatX));
 //if(PS3.getAnalogHat(LeftHatY) > 137 || PS3.getAnalogHat(LeftHatY) < 117)
 //Serial.print(F("\tLeftHatY: "));
 //Serial.print(PS3.getAnalogHat(LeftHatY));
 if(!PS3.PS3NavigationConnected) {
 //Serial.print(F("\tRightHatX: "));
 //Serial.print(PS3.getAnalogHat(RightHatX));
 //Serial.print(F("\tRightHatY: "));
 //Serial.print(PS3.getAnalogHat(RightHatY));

 }
 }

//Analog button values can be read from almost all buttons
 if(PS3.getAnalogButton(L2) || PS3.getAnalogButton(R2)) {
 Serial.print(F("\r\nL2: "));
 Serial.print(PS3.getAnalogButton(L2));
 if(!PS3.PS3NavigationConnected) {
 Serial.print(F("\tR2: "));
 Serial.print(PS3.getAnalogButton(R2));
 }
 }
 if(PS3.getButtonClick(PS)) {
 Serial.print(F("\r\nPS"));
 PS3.disconnect();
 }
 else {
 if(PS3.getButtonClick(TRIANGLE))
 Serial.print(F("\r\nTraingle"));
 if(PS3.getButtonClick(CIRCLE))
 Serial.print(F("\r\nCircle"));
 if(PS3.getButtonClick(CROSS))
 Serial.print(F("\r\nCross"));
 if(PS3.getButtonClick(SQUARE))
 Serial.print(F("\r\nSquare"));

if(PS3.getButtonClick(UP)) {
 Serial.print(F("\r\nUp"));
 if(PS3.PS3Connected) {
 PS3.setAllOff();
 PS3.setLedOn(LED4);
 }
 }
 if(PS3.getButtonClick(RIGHT)) {
 Serial.print(F("\r\nRight"));
 if(PS3.PS3Connected) {
 PS3.setAllOff();
 PS3.setLedOn(LED1);
 }
 }
 if(PS3.getButtonClick(DOWN)) {
 Serial.print(F("\r\nDown"));
 if(PS3.PS3Connected) {
 PS3.setAllOff();
 PS3.setLedOn(LED2);
 }
 }
 if(PS3.getButtonClick(LEFT)) {
 Serial.print(F("\r\nLeft"));
 if(PS3.PS3Connected) {
 PS3.setAllOff();
 PS3.setLedOn(LED3);
 }
 }

if(PS3.getButtonClick(L1))
 Serial.print(F("\r\nL1"));
 if(PS3.getButtonClick(L3))
 Serial.print(F("\r\nL3"));
 if(PS3.getButtonClick(R1))
 Serial.print(F("\r\nR1"));
 if(PS3.getButtonClick(R3))
 Serial.print(F("\r\nR3"));

if(PS3.getButtonClick(SELECT)) {
 Serial.print(F("\r\nSelect - "));
 Serial.print(PS3.getStatusString());
 }
 if(PS3.getButtonClick(START)) {
 Serial.print(F("\r\nStart"));
 printAngle = !printAngle;
 }
 }
 if(printAngle) {
 Serial.print(F("\r\nPitch: "));
 Serial.print(PS3.getAngle(Pitch));
 Serial.print(F("\tRoll: "));
 Serial.print(PS3.getAngle(Roll));
 }
 }
 else if(PS3.PS3MoveConnected) {
 if(PS3.getAnalogButton(T)) {
 Serial.print(F("\r\nT: "));
 Serial.print(PS3.getAnalogButton(T));
 }
 if(PS3.getButtonClick(PS)) {
 Serial.print(F("\r\nPS"));
 PS3.disconnect();
 }
 else {
 if(PS3.getButtonClick(SELECT)) {
 Serial.print(F("\r\nSelect"));
 printTemperature = !printTemperature;
 }
 if(PS3.getButtonClick(START)) {
 Serial.print(F("\r\nStart"));
 printAngle = !printAngle;
 }
 if(PS3.getButtonClick(TRIANGLE)) {
 Serial.print(F("\r\nTriangle"));
 PS3.moveSetBulb(Red);
 }
 if(PS3.getButtonClick(CIRCLE)) {
 Serial.print(F("\r\nCircle"));
 PS3.moveSetBulb(Green);
 }
 if(PS3.getButtonClick(SQUARE)) {
 Serial.print(F("\r\nSquare"));
 PS3.moveSetBulb(Blue);
 }
 if(PS3.getButtonClick(CROSS)) {
 Serial.print(F("\r\nCross"));
 PS3.moveSetBulb(Yellow);
 }
 if(PS3.getButtonClick(MOVE)) {
 PS3.moveSetBulb(Off);
 Serial.print(F("\r\nMove"));
 Serial.print(F(" - "));
 Serial.print(PS3.getStatusString());
 }
 }
 if(printAngle) {
 Serial.print(F("\r\nPitch: "));
 Serial.print(PS3.getAngle(Pitch));
 Serial.print(F("\tRoll: "));
 Serial.print(PS3.getAngle(Roll));
 }
 else if(printTemperature) {
 Serial.print(F("\r\nTemperature: "));
 Serial.print(PS3.getTemperature());
 }
 }
}
<pre>

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