Skip to content

Update Dokumentasi anthenamonitor.py #1

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
nandaarafi wants to merge 1 commit into
base: main
Choose a base branch
from
Open

Update Dokumentasi anthenamonitor.py #1

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
50 changes: 19 additions & 31 deletions anthenamonitor.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -65,7 +65,7 @@
waktu_lama = 0
PWM_VALUE = 20

def read_angle():
def read_angle(): #Fungsi untuk membaca sensor AS5600 dan mengubahnya menjadi nilai sudut
# Membaca 2 byte data dari register sudut
data = bus.read_i2c_block_data(AS5600_ADDRESS, REG_ANGLE, 2)

Expand All @@ -79,60 +79,63 @@ def read_angle():



def map_value(value, from_low, from_high, to_low, to_high):
def map_value(value, from_low, from_high, to_low, to_high): #Fungsi Mapping mengubah skala
return (value - from_low) * (to_high - to_low) / (from_high - from_low) + to_low



try:
try:#Exception Keyboard Interrupt
previous_input = db.reference('input_degree').get()
while True:
while True: #Looping ketika kondisi True
sudut = read_angle()
sudut = int(sudut)

# Mengambil data sudut yang diinginkan dari Firebase Realtime Database
# Mengambil input degree, state button kanan, dan state button kiri yang diinginkan dari Firebase Realtime Database
target_degree = db.reference('input_degree').get()
kiri = db.reference('kiri').get()
kanan = db.reference('kanan').get()

if time.time() - waktu_lama > 0.25:
#Mengatur delay 0.25 detik untuk pengiriman data degree ke firebase agar tidak bertabrakan
if time.time() - waktu_lama > 0.25: #time.time() counting waktu
waktu_lama = time.time()
ref = db.reference()
ref.update({'degree': sudut})

#Ketika Input Degree berubah
if target_degree != previous_input:
previous_input = target_degree
if target_degree is not None:
while True:
while True: #Looping berkondisi True jika data input degree berubah
sudut = read_angle()
sudut = int(sudut)
error = int(eval(target_degree)) - sudut
print(f"target_degree: {target_degree} | degree: {sudut} | err: {error} | pwm: {PWM_VALUE}")
if time.time() - waktu_lama > 0.5:
if time.time() - waktu_lama > 0.5: #Mengatur delay 0.5 detik untuk pengiriman data degree ke firebase agar tidak bertabrakan
waktu_lama = time.time()
ref = db.reference()
ref.update({'degree': sudut})
if abs(error) > 0.8:
if error > 0:
if abs(error) > 0.8: #Batas error koreksi 0.8
#Jika Error Koreksi lebih dari 0 maka PWM ke kanan
if error > 0: #Jika Error lebih dari 0 maka PWM ke kanan
print("Gerakkan ke kanan")
rpwm.ChangeDutyCycle(PWM_VALUE)
lpwm.ChangeDutyCycle(0)
# Tambahkan logika kendali motor untuk gerakan ke kiri
#Jika Error koreksi lebih dari 0 maka PWM ke kiri
elif error < 0:
lpwm.start(0)
rpwm.ChangeDutyCycle(0)
lpwm.ChangeDutyCycle(PWM_VALUE)
print("Gerakkan ke kiri")
# Tambahkan logika kendali motor untuk gerakan ke kanan

#Jika batas error sudah tercapai maka motor berhenti
else:
print("Sudut sudah tepat")
rpwm.ChangeDutyCycle(0)
lpwm.ChangeDutyCycle(0)
break
# Tambahkan logika kendali motor untuk berhenti


#Jika data input Degree tidak berubah maka menggunakan State Button Kiri dan Kanan
else:

if kanan == "true" and kiri == "false":
print("Speeding up {} ke kiri".format(PWM_VALUE))
lpwm.start(0)
Expand All @@ -150,20 +153,5 @@ def map_value(value, from_low, from_high, to_low, to_high):
rpwm.ChangeDutyCycle(0)
lpwm.ChangeDutyCycle(0)

except KeyboardInterrupt:
except KeyboardInterrupt: #Exception Keyboard Interrupt handle untuk menginterup looping
print("Program dihentikan oleh pengguna.")