PERCOBAAN 2 KONDISI 5
PERCOBAAN 2 KONDISI 6
1. Prosedur[Kembali]
4. Motor Stepper
6. Touch Sensor
#include "stm32f1xx_hal.h"
#include "stm32f1xx_hal_rcc.h"
// Konfigurasi Pin Stepper
#define STEPPER_PORT GPIOB
#define IN1_PIN GPIO_PIN_8
#define IN2_PIN GPIO_PIN_9
#define IN3_PIN GPIO_PIN_10
#define IN4_PIN GPIO_PIN_11
// Konfigurasi LED RGB
#define LED_PORT GPIOB
#define LED_RED_PIN GPIO_PIN_12
#define LED_GREEN_PIN GPIO_PIN_13
#define LED_BLUE_PIN GPIO_PIN_14
// Urutan langkah stepper
const uint16_t STEP_SEQ_CW[4] = {0x0100, 0x0200, 0x0400, 0x0800};
const uint16_t STEP_SEQ_CCW[4] = {0x0800, 0x0400, 0x0200, 0x0100};
ADC_HandleTypeDef hadc1;
uint8_t current_mode = 0; // 0 = CW, 1 = CCW, 2 = Oscillate
uint8_t direction = 0; // Untuk Oscillate mode
// Prototipe fungsi
void SystemClock_Config(void);
void MX_GPIO_Init(void);
void MX_ADC1_Init(void);
void RunStepper(const uint16_t *sequence, uint8_t speed);
void Error_Handler(void);
int main(void)
{
HAL_Init();
SystemClock_Config();
MX_GPIO_Init();
MX_ADC1_Init();
while (1)
{
// Baca nilai ADC (potensiometer)
HAL_ADC_Start(&hadc1);
if (HAL_ADC_PollForConversion(&hadc1, 10) == HAL_OK)
{
uint16_t adc_val = HAL_ADC_GetValue(&hadc1);
// Tentukan mode berdasarkan ADC
if (adc_val < 1365) {
current_mode = 0;
HAL_GPIO_WritePin(LED_PORT, LED_RED_PIN, GPIO_PIN_SET);
HAL_GPIO_WritePin(LED_PORT, LED_GREEN_PIN | LED_BLUE_PIN, GPIO_PIN_RESET);
}
else if (adc_val < 2730) {
current_mode = 1;
HAL_GPIO_WritePin(LED_PORT, LED_GREEN_PIN, GPIO_PIN_SET);
HAL_GPIO_WritePin(LED_PORT, LED_RED_PIN | LED_BLUE_PIN, GPIO_PIN_RESET);
}
else {
current_mode = 2;
HAL_GPIO_WritePin(LED_PORT, LED_BLUE_PIN, GPIO_PIN_SET);
HAL_GPIO_WritePin(LED_PORT, LED_RED_PIN | LED_GREEN_PIN, GPIO_PIN_RESET);
}
}
// Eksekusi stepper sesuai mode
switch (current_mode)
{
case 0: // CW
RunStepper(STEP_SEQ_CCW, 10);
break;
case 1: // CCW
RunStepper(STEP_SEQ_CW, 10);
break;
case 2: // Oscillate
if (direction == 0)
{
RunStepper(STEP_SEQ_CW, 5);
if ((STEPPER_PORT->ODR & 0x0F00) == STEP_SEQ_CW[3])
direction = 1;
}
else
{
RunStepper(STEP_SEQ_CCW, 5);
if ((STEPPER_PORT->ODR & 0x0F00) == STEP_SEQ_CCW[3])
direction = 0;
}
break;
}
}
}
// Fungsi untuk menjalankan stepper
void RunStepper(const uint16_t *sequence, uint8_t speed)
{
static uint8_t step = 0;
STEPPER_PORT->ODR = (STEPPER_PORT->ODR & 0x00FF) | sequence[step];
step = (step + 1) % 4;
HAL_Delay(speed);
}
// Konfigurasi clock default (HSI)
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
Error_Handler();
}
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK
| RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK)
{
Error_Handler();
}
}
// Inisialisasi GPIO
void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
__HAL_RCC_GPIOB_CLK_ENABLE(); // Aktifkan clock GPIOB
// LED pin output
GPIO_InitStruct.Pin = LED_RED_PIN | LED_GREEN_PIN | LED_BLUE_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_PULLDOWN;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(LED_PORT, &GPIO_InitStruct);
// Stepper pin output
GPIO_InitStruct.Pin = IN1_PIN | IN2_PIN | IN3_PIN | IN4_PIN;
HAL_GPIO_Init(STEPPER_PORT, &GPIO_InitStruct);
}
// Inisialisasi ADC1 untuk potensiometer
void MX_ADC1_Init(void)
{
ADC_ChannelConfTypeDef sConfig = {0};
hadc1.Instance = ADC1;
hadc1.Init.ScanConvMode = ADC_SCAN_DISABLE;
hadc1.Init.ContinuousConvMode = DISABLE;
hadc1.Init.DiscontinuousConvMode = DISABLE;
hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hadc1.Init.NbrOfConversion = 1;
if (HAL_ADC_Init(&hadc1) != HAL_OK)
{
Error_Handler();
}
sConfig.Channel = ADC_CHANNEL_0;
sConfig.Rank = ADC_REGULAR_RANK_1;
sConfig.SamplingTime = ADC_SAMPLETIME_71CYCLES_5;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
}
// Error Handler
void Error_Handler(void)
{
while (1) {}
}
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