main.

c Tuesday, December 10, 2024, 9:13 AM

1 /* USER CODE BEGIN Header */

2 /**
3 ******************************************************************************
4 * @file : main.c
5 * @brief : Main program body
6 ******************************************************************************
7 * @attention
8 *
9 * Copyright (c) 2024 STMicroelectronics.
10 * All rights reserved.
11 *
12 * This software is licensed under terms that can be found in the LICENSE file
13 * in the root directory of this software component.
14 * If no LICENSE file comes with this software, it is provided AS-IS.
15 *
16 ******************************************************************************
17 */
18 /* USER CODE END Header */
19 /* Includes ------------------------------------------------------------------*/
20 #include "main.h"
21
22 /* Private includes ----------------------------------------------------------*/
23 /* USER CODE BEGIN Includes */
24 #include "stdio.h"
25 #include "stdlib.h"
26 #include "math.h"
27 #include "pca9685.h"
28 #include "../../ECUAL/I2C_LCD/I2C_LCD.h"
29 /* USER CODE END Includes */
30
31 /* Private typedef -----------------------------------------------------------*/
32 /* USER CODE BEGIN PTD */
33 int readSensor1 = 0;
34 int readSensor2 = 0;
35 int jumlah=0;
36 /* USER CODE END PTD */
37
38 /* Private define ------------------------------------------------------------*/
39 /* USER CODE BEGIN PD */
40 #define MyI2C_LCD I2C_LCD_1
41 /* USER CODE END PD */
42
43 /* Private macro -------------------------------------------------------------*/
44 /* USER CODE BEGIN PM */
45
46 /* USER CODE END PM */
47
48 /* Private variables ---------------------------------------------------------*/
49 I2C_HandleTypeDef hi2c1;
50 I2C_HandleTypeDef hi2c2;
51
52 /* USER CODE BEGIN PV */
53
54 /* USER CODE END PV */
55
56 /* Private function prototypes -----------------------------------------------*/
57 void SystemClock_Config(void);
58 static void MX_GPIO_Init(void);
59 static void MX_I2C1_Init(void);

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60 static void MX_I2C2_Init(void);

61 /* USER CODE BEGIN PFP */
62
63 /* USER CODE END PFP */
64
65 /* Private user code ---------------------------------------------------------*/
66 /* USER CODE BEGIN 0 */
67
68 /* USER CODE END 0 */
69
70 /**
71 * @brief The application entry point.
72 * @retval int
73 */
74 int main(void)
75 {
76
77 /* USER CODE BEGIN 1 */
78
79 /* USER CODE END 1 */
80
81 /* MCU Configuration--------------------------------------------------------*/
82
83 /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
84 HAL_Init();
85
86 /* USER CODE BEGIN Init */
87
88 /* USER CODE END Init */
89
90 /* Configure the system clock */
91 SystemClock_Config();
92
93 /* USER CODE BEGIN SysInit */
94
95 /* USER CODE END SysInit */
96
97 /* Initialize all configured peripherals */
98 MX_GPIO_Init(); // Inisiasi pin GPIO
99 MX_I2C1_Init(); // Inisiasi antarmuka I2C pertama
100 MX_I2C2_Init(); // Inisiasi antarmuka I2C kedua
101 /* USER CODE BEGIN 2 */
102 // Inisiasi driver servo PCA 9685
103 PCA9685_Init(&hi2c1);
104 // Inisiasi posisi awal motor servo
105 PCA9685_SetServoAngle(0, 0);
106 PCA9685_SetServoAngle(1, 80);
107 PCA9685_SetServoAngle(2, 30);
108 PCA9685_SetServoAngle(3, 180);
109 PCA9685_SetServoAngle(4, 0);
110
111 // Inisiasi tampilan LCD
112 I2C_LCD_Clear(MyI2C_LCD);
113 I2C_LCD_Init(MyI2C_LCD);
114 I2C_LCD_SetCursor(MyI2C_LCD, 2, 0);
115 I2C_LCD_WriteString(MyI2C_LCD, "Robot Lengan");
116 I2C_LCD_SetCursor(MyI2C_LCD, 1, 1);
117 I2C_LCD_WriteString(MyI2C_LCD, "Siap Dijalankan");
118 I2C_LCD_Backlight(MyI2C_LCD);

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119 I2C_LCD_Display(MyI2C_LCD);
120 /* USER CODE END 2 */
121
122 /* Infinite loop */
123 /* USER CODE BEGIN WHILE */
124 while (1)
125 {
126 // Sensor pertama mendeteksi objek (mendeteksi objek)
127 readSensor1 = HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_4);
128
129 // Sensor kedua mendeteksi objek (untuk reset hitungan)
130 readSensor2 = HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_5);
131
132 if (readSensor1 == 0) // Jika sensor pertama mendeteksi objek
133 {
134 jumlah++; // Kenaikan hitungan
135 I2C_LCD_Clear(MyI2C_LCD);
136 I2C_LCD_SetCursor(MyI2C_LCD, 1, 0);
137 I2C_LCD_WriteString(MyI2C_LCD, " Jumlah Botol: ");
138 I2C_LCD_SetCursor(MyI2C_LCD, 7, 7);
139
140 char buffer[16]; // Membuat array untuk menampung 16 karakter
141 sprintf (buffer, "%d", jumlah); // Konversi nilai integer
jumlah ke string
142 I2C_LCD_WriteString(MyI2C_LCD, buffer); // Menampilkan
hitungan
143
144 // Menggerakkan motor servo pada robot lengan
145 for(int i =45; i<120;i+=2){ // Menggerakkan servo ketiga dari
45 ke 120
146 PCA9685_SetServoAngle(2, i);
147 HAL_Delay(50);
148 }
149 HAL_Delay(1000);
150 for(int i =180; i>90;i-=2){ // Menggerakkan servo keempat
dari 180 ke 90
151 PCA9685_SetServoAngle(3, i);
152 HAL_Delay(50);
153 }
154 HAL_Delay(1000);
155 for(int i =90; i>45;i-=2){ // Menggerakkan servo ketiga dari
90 ke 45
156 PCA9685_SetServoAngle(2, i);
157 HAL_Delay(50);
158 }
159 HAL_Delay(1000);
160 for(int i =80; i>45;i-=2){ // Menggerakkan servo kedua dari 80
ke 45
161 PCA9685_SetServoAngle(1, i);
162 HAL_Delay(75);
163 }
164 HAL_Delay(1000);
165 PCA9685_SetServoAngle(4, 30); // Menggerakkan servo
kelima dari 0 ke 30
166 HAL_Delay(3000);
167 for(int i =45; i>90;i-=2){ // Menggerakkan servo kedua dari 45
ke 90
168 PCA9685_SetServoAngle(1, i);
169 HAL_Delay(75);

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170 }
171 HAL_Delay(1000);
172 for(int i =45; i<140;i+=2){ // Menggerakkan servo servo ketiga
dari 45 ke 140
173 PCA9685_SetServoAngle(2, i);
174 HAL_Delay(50);
175 }
176 HAL_Delay(1000);
177 for(int i =90; i<180;i+=2){ // Menggerakkan servo keempat dari
90 ke 180
178 PCA9685_SetServoAngle(3, i);
179 HAL_Delay(25);
180 }
181 HAL_Delay(1000);
182 for(int i =0; i<120;i+=2){ // Menggerakkan servo pertama dari
0 ke 120
183 PCA9685_SetServoAngle(0, i);
184 HAL_Delay(50);
185 }
186 HAL_Delay(3000);
187 PCA9685_SetServoAngle(4, 0); // Menggerakkan servo kelima
dari 30 ke 0
188 HAL_Delay(3000);
189 for(int i =120; i>0;i-=2){ // Menggerakkan servo pertama dari
120 ke 0
190 PCA9685_SetServoAngle(0, i);
191 HAL_Delay(50);
192 }
193 HAL_Delay(3000);
194 for(int i =140; i>45;i-=2){ // Menggerakkan servo ketiga dari
140 ke 45
195 PCA9685_SetServoAngle(2, i);
196 HAL_Delay(25);
197 }
198 HAL_Delay(1000);
199 }
200 else if (readSensor2 == 0) // Jika sensor kedua mendeteksi objek
(untuk reset hitungan)
201 {
202 jumlah = 0; // Reset hitungan
203 I2C_LCD_Clear(MyI2C_LCD);
204 I2C_LCD_SetCursor(MyI2C_LCD, 5, 0);
205 I2C_LCD_WriteString(MyI2C_LCD, "Wadah"); // Menampilkan pesan
wadah sudah penuh
206 I2C_LCD_SetCursor(MyI2C_LCD, 2, 1);
207 I2C_LCD_WriteString(MyI2C_LCD, "Sudah Penuh");
208 HAL_Delay(2000); // Delay untuk memperlihatkan pesan reset
209 I2C_LCD_Clear(MyI2C_LCD); // Kosongkan layar LCD setelah reset
210 I2C_LCD_SetCursor(MyI2C_LCD, 1, 0);
211 I2C_LCD_WriteString(MyI2C_LCD, " Jumlah Botol: ");
212 I2C_LCD_SetCursor(MyI2C_LCD, 7, 7);
213 I2C_LCD_WriteString(MyI2C_LCD, "0 ");
214
215 }
216 else{
217 // Kembali ke posisi awal
218 PCA9685_SetServoAngle(0, 0);
219 PCA9685_SetServoAngle(1, 80);
220 PCA9685_SetServoAngle(2, 30);

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221 PCA9685_SetServoAngle(3, 0);

222 PCA9685_SetServoAngle(4, 0);
223 }
224 }
225 /* USER CODE END WHILE */
226
227 /* USER CODE BEGIN 3 */
228
229 /* USER CODE END 3 */
230 }
231
232 /**
233 * @brief System Clock Configuration
234 * @retval None
235 */
236 void SystemClock_Config(void)
237 {
238 RCC_OscInitTypeDef RCC_OscInitStruct = {0};
239 RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
240
241 /** Configure the main internal regulator output voltage
242 */
243 __HAL_RCC_PWR_CLK_ENABLE();
244 __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
245
246 /** Initializes the RCC Oscillators according to the specified parameters
247 * in the RCC_OscInitTypeDef structure.
248 */
249 RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
250 RCC_OscInitStruct.HSIState = RCC_HSI_ON;
251 RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
252 RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
253 RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
254 RCC_OscInitStruct.PLL.PLLM = 8;
255 RCC_OscInitStruct.PLL.PLLN = 100;
256 RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
257 RCC_OscInitStruct.PLL.PLLQ = 4;
258 if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
259 {
260 Error_Handler();
261 }
262
263 /** Initializes the CPU, AHB and APB buses clocks
264 */
265 RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
266 |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
267 RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
268 RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
269 RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
270 RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
271
272 if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_3) != HAL_OK)
273 {
274 Error_Handler();
275 }
276 }
277
278 /**
279 * @brief I2C1 Initialization Function

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280 * @param None

281 * @retval None
282 */
283 static void MX_I2C1_Init(void)
284 {
285
286 /* USER CODE BEGIN I2C1_Init 0 */
287
288 /* USER CODE END I2C1_Init 0 */
289
290 /* USER CODE BEGIN I2C1_Init 1 */
291
292 /* USER CODE END I2C1_Init 1 */
293 hi2c1.Instance = I2C1;
294 hi2c1.Init.ClockSpeed = 100000;
295 hi2c1.Init.DutyCycle = I2C_DUTYCYCLE_2;
296 hi2c1.Init.OwnAddress1 = 0;
297 hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
298 hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
299 hi2c1.Init.OwnAddress2 = 0;
300 hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
301 hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
302 if (HAL_I2C_Init(&hi2c1) != HAL_OK)
303 {
304 Error_Handler();
305 }
306 /* USER CODE BEGIN I2C1_Init 2 */
307
308 /* USER CODE END I2C1_Init 2 */
309
310 }
311
312 /**
313 * @brief I2C2 Initialization Function
314 * @param None
315 * @retval None
316 */
317 static void MX_I2C2_Init(void)
318 {
319
320 /* USER CODE BEGIN I2C2_Init 0 */
321
322 /* USER CODE END I2C2_Init 0 */
323
324 /* USER CODE BEGIN I2C2_Init 1 */
325
326 /* USER CODE END I2C2_Init 1 */
327 hi2c2.Instance = I2C2;
328 hi2c2.Init.ClockSpeed = 100000;
329 hi2c2.Init.DutyCycle = I2C_DUTYCYCLE_2;
330 hi2c2.Init.OwnAddress1 = 0;
331 hi2c2.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
332 hi2c2.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
333 hi2c2.Init.OwnAddress2 = 0;
334 hi2c2.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
335 hi2c2.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
336 if (HAL_I2C_Init(&hi2c2) != HAL_OK)
337 {
338 Error_Handler();

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339 }
340 /* USER CODE BEGIN I2C2_Init 2 */
341
342 /* USER CODE END I2C2_Init 2 */
343
344 }
345
346 /**
347 * @brief GPIO Initialization Function
348 * @param None
349 * @retval None
350 */
351 static void MX_GPIO_Init(void)
352 {
353 GPIO_InitTypeDef GPIO_InitStruct = {0};
354 /* USER CODE BEGIN MX_GPIO_Init_1 */
355 /* USER CODE END MX_GPIO_Init_1 */
356
357 /* GPIO Ports Clock Enable */
358 __HAL_RCC_GPIOC_CLK_ENABLE();
359 __HAL_RCC_GPIOH_CLK_ENABLE();
360 __HAL_RCC_GPIOB_CLK_ENABLE();
361
362 /*Configure GPIO pin Output Level */
363 HAL_GPIO_WritePin(GPIOC, GPIO_PIN_13, GPIO_PIN_RESET);
364
365 /*Configure GPIO pin : PC13 */
366 GPIO_InitStruct.Pin = GPIO_PIN_13;
367 GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
368 GPIO_InitStruct.Pull = GPIO_NOPULL;
369 GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
370 HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
371
372 /*Configure GPIO pins : PB4 PB5 */
373 GPIO_InitStruct.Pin = GPIO_PIN_4|GPIO_PIN_5;
374 GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
375 GPIO_InitStruct.Pull = GPIO_NOPULL;
376 HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
377
378 /* USER CODE BEGIN MX_GPIO_Init_2 */
379 /* USER CODE END MX_GPIO_Init_2 */
380 }
381
382 /* USER CODE BEGIN 4 */
383
384 /* USER CODE END 4 */
385
386 /**
387 * @brief This function is executed in case of error occurrence.
388 * @retval None
389 */
390 void Error_Handler(void)
391 {
392 /* USER CODE BEGIN Error_Handler_Debug */
393 /* User can add his own implementation to report the HAL error return state */
394 __disable_irq();
395 while (1)
396 {
397 }

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398 /* USER CODE END Error_Handler_Debug */

399 }
400
401 #ifdef USE_FULL_ASSERT
402 /**
403 * @brief Reports the name of the source file and the source line number
404 * where the assert_param error has occurred.
405 * @param file: pointer to the source file name
406 * @param line: assert_param error line source number
407 * @retval None
408 */
409 void assert_failed(uint8_t *file, uint32_t line)
410 {
411 /* USER CODE BEGIN 6 */
412 /* User can add his own implementation to report the file name and line number,
413 ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
414 /* USER CODE END 6 */
415 }
416 #endif /* USE_FULL_ASSERT */
417

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