Pembalik plat berbasis servo L298n

plate_flip.cpp

#include <stdio.h>
#include "driver/gpio.h"
#include "driver/ledc.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "esp_timer.h"

// === Pin Mapping ===

// Tombol
#define BUTTON_PIN         GPIO_NUM_32

// Motor Depan
#define ENA_DEPAN          GPIO_NUM_4
#define ENB_DEPAN          GPIO_NUM_16
#define IN1_DEPAN          GPIO_NUM_17
#define IN2_DEPAN          GPIO_NUM_18
#define IN3_DEPAN          GPIO_NUM_19
#define IN4_DEPAN          GPIO_NUM_21
#define HALL1_DEPAN        GPIO_NUM_24
#define HALL2_DEPAN        GPIO_NUM_35

// Motor Belakang
#define ENA_BELAKANG       GPIO_NUM_22
#define ENB_BELAKANG       GPIO_NUM_25
#define IN1_BELAKANG       GPIO_NUM_26
#define IN2_BELAKANG       GPIO_NUM_27
#define IN3_BELAKANG       GPIO_NUM_13
#define IN4_BELAKANG       GPIO_NUM_23
#define HALL1_BELAKANG     GPIO_NUM_39
#define HALL2_BELAKANG     GPIO_NUM_36

// PWM Konfigurasi
#define LEDC_TIMER         LEDC_TIMER_0
#define LEDC_MODE          LEDC_HIGH_SPEED_MODE
#define LEDC_FREQ_HZ       1000
#define LEDC_DUTY_RES      LEDC_TIMER_10_BIT
#define DUTY_MAX           ((1 << LEDC_DUTY_RES) - 1)

void set_motor_pwm(gpio_num_t en_pin, ledc_channel_t channel, uint8_t duty_percent)
{
    ledc_channel_config_t ledc_channel = {
        .channel    = channel,
        .duty       = (duty_percent * DUTY_MAX) / 100,
        .gpio_num   = en_pin,
        .speed_mode = LEDC_MODE,
        .hpoint     = 0,
        .timer_sel  = LEDC_TIMER
    };
    ledc_channel_config(&ledc_channel);
    ledc_set_duty(LEDC_MODE, channel, (duty_percent * DUTY_MAX) / 100);
    ledc_update_duty(LEDC_MODE, channel);
}

void motor_forward(gpio_num_t in1, gpio_num_t in2)
{
    gpio_set_level(in1, 1);
    gpio_set_level(in2, 0);
}

void motor_stop(gpio_num_t in1, gpio_num_t in2)
{
    gpio_set_level(in1, 0);
    gpio_set_level(in2, 0);
}

bool hall_triggered(gpio_num_t hall_pin)
{
    return gpio_get_level(hall_pin) == 1; // aktif HIGH karena pull-down
}

void wait_for_hall(gpio_num_t hall1, gpio_num_t hall2)
{
    while (!(hall_triggered(hall1) && hall_triggered(hall2))) {
        vTaskDelay(pdMS_TO_TICKS(10));
    }
}

void setup_gpio()
{
    // Output pin
    gpio_config_t io_out = {
        .pin_bit_mask =
            (1ULL << IN1_DEPAN) | (1ULL << IN2_DEPAN) |
            (1ULL << IN3_DEPAN) | (1ULL << IN4_DEPAN) |
            (1ULL << IN1_BELAKANG) | (1ULL << IN2_BELAKANG) |
            (1ULL << IN3_BELAKANG) | (1ULL << IN4_BELAKANG),
        .mode = GPIO_MODE_OUTPUT,
        .pull_up_en = 0,
        .pull_down_en = 0,
        .intr_type = GPIO_INTR_DISABLE
    };
    gpio_config(&io_out);

    // Input pin (button dan hall sensor)
    gpio_config_t io_in = {
        .pin_bit_mask =
            (1ULL << BUTTON_PIN) |
            (1ULL << HALL1_DEPAN) | (1ULL << HALL2_DEPAN) |
            (1ULL << HALL1_BELAKANG) | (1ULL << HALL2_BELAKANG),
        .mode = GPIO_MODE_INPUT,
        .pull_up_en = 0,
        .pull_down_en = 1, // Semua pull-down
        .intr_type = GPIO_INTR_DISABLE
    };
    gpio_config(&io_in);

    // PWM Timer
    ledc_timer_config_t ledc_timer = {
        .speed_mode       = LEDC_MODE,
        .timer_num        = LEDC_TIMER,
        .duty_resolution  = LEDC_DUTY_RES,
        .freq_hz          = LEDC_FREQ_HZ,
        .clk_cfg          = LEDC_AUTO_CLK
    };
    ledc_timer_config(&ledc_timer);
}

bool button_held_1s()
{
    if (gpio_get_level(BUTTON_PIN) == 1) {
        int64_t start = esp_timer_get_time();
        while (gpio_get_level(BUTTON_PIN) == 1) {
            if ((esp_timer_get_time() - start) >= 1000000) {
                return true;
            }
            vTaskDelay(pdMS_TO_TICKS(10));
        }
    }
    return false;
}

void app_main()
{
    setup_gpio();

    while (1) {
        if (button_held_1s()) {
            printf("Tombol ditekan >1 detik, mulai menjalankan motor\n");

            // ===== MOTOR DEPAN =====
            motor_forward(IN1_DEPAN, IN2_DEPAN);
            motor_forward(IN3_DEPAN, IN4_DEPAN);
            set_motor_pwm(ENA_DEPAN, LEDC_CHANNEL_0, 80);
            set_motor_pwm(ENB_DEPAN, LEDC_CHANNEL_1, 80);
            wait_for_hall(HALL1_DEPAN, HALL2_DEPAN);
            motor_stop(IN1_DEPAN, IN2_DEPAN);
            motor_stop(IN3_DEPAN, IN4_DEPAN);
            set_motor_pwm(ENA_DEPAN, LEDC_CHANNEL_0, 0);
            set_motor_pwm(ENB_DEPAN, LEDC_CHANNEL_1, 0);
            printf("Motor depan selesai.\n");

            // ===== MOTOR BELAKANG =====
            motor_forward(IN1_BELAKANG, IN2_BELAKANG);
            motor_forward(IN3_BELAKANG, IN4_BELAKANG);
            set_motor_pwm(ENA_BELAKANG, LEDC_CHANNEL_2, 80);
            set_motor_pwm(ENB_BELAKANG, LEDC_CHANNEL_3, 80);
            wait_for_hall(HALL1_BELAKANG, HALL2_BELAKANG);
            motor_stop(IN1_BELAKANG, IN2_BELAKANG);
            motor_stop(IN3_BELAKANG, IN4_BELAKANG);
            set_motor_pwm(ENA_BELAKANG, LEDC_CHANNEL_2, 0);
            set_motor_pwm(ENB_BELAKANG, LEDC_CHANNEL_3, 0);
            printf("Motor belakang selesai.\n");
        }

        vTaskDelay(pdMS_TO_TICKS(100)); // polling delay
    }
}