diff --git a/BAB2/bab2.tex b/BAB2/bab2.tex index 108b884..e3de4c4 100644 --- a/BAB2/bab2.tex +++ b/BAB2/bab2.tex @@ -292,6 +292,12 @@ Dengan itu dapat digabungkan menjadi persamaan \textit{state-space} menggunakan \label{eq:ss-formasi} \end{align} +\begin{figure} + \centering + \includegraphics[scale=.35]{BAB2/img/plotMotion3Robot.png} + \caption{Plot motion 3 robot dengan nilai kp=80 dan ki=1} +\end{figure} + %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% \section{Solusi Persamaan Differensial Secara Numerik} diff --git a/BAB2/img/plotMotion3Robot.png b/BAB2/img/plotMotion3Robot.png new file mode 100644 index 0000000..b49f1fd Binary files /dev/null and b/BAB2/img/plotMotion3Robot.png differ diff --git a/BAB3/bab3.tex b/BAB3/bab3.tex index f9a0013..d31e986 100644 --- a/BAB3/bab3.tex +++ b/BAB3/bab3.tex @@ -17,31 +17,33 @@ bidan kendali multi-robot, khususnya dalam kendali formasi. \section{Definisi Permasalahan Kendali Formasi} Kendali formasi adalah kendali multi-agent untuk mencapai suatu formasi yang diinginkan. -Banyak metode yang telah digunakan berdasarkan berbagai macam kategori. +% Banyak metode yang telah digunakan berdasarkan berbagai macam kategori. Dapat diperhatikan dalam gambar~\ref{fig:kerangka_pen}, dari berbagai metode teresebut -dapat disimpulkan dalam 3 kategori secara general. +dapat disimpulkan secara umum dalam 3 kategori. Yaitu berbasis posisi, pergerakan, dan jarak. -Pembagian kategori tersebut berdasarkan kemampuan sensor yang digunakan dan +Pembagian tersebut berdasarkan kemampuan sensor yang digunakan dan penggunaan komunikasi dalam metodenya. Dari ketiga kategori tersebut, kendali formati berbasis jarak sangat dibutuhkan pembahasan mengenai penerapan metode tersebut pada agent yang nyata. \textit{Simple model, Model real,} dan \textit{Real} dapat dikatakan sebuah tahap pengemabangan. + \kutip{OH2015424} menyatakan bahwa mayoritas dari hasil penelitian yang menggunakan pendekatan ini (\textit{distance-based}) berfokus pada model agent dengan integrator-tunggal di suatu bidang datar. -Gagasan agent \textit{simple model} tersebut memiliki manfaat ketika menginvestigasi karakteristik kendali secara mendasar, model agent yang lebih relistik (\textit{Model real}) perlu untuk dipelajari lebih lanjut untuk menambah kepraktisan pada metode kendali multi-agent berdasarkan jarak. -Dengan bertambahnya kepraktisan pada metode tersebut diharapkan dapat diterapkan dalam agent secara \textit{Real}. +Gagasan agent \textit{simple model} memiliki manfaat ketika menginvestigasi karakteristik kendali secara mendasar, model agent yang lebih relistik (\textit{Model real}) perlu untuk dipelajari lebih lanjut untuk menambah kepraktisan metode kendali multi-agent berdasarkan jarak. +Dengan bertambahnya kepraktisan diharapkan dapat diterapkan dalam agent secara \textit{Real}. Pada penelitian oleh \kutip{Rozenheck2015}, kendali formasi berdasarkan jarak dikendalikan menggunakan kendali PI dan menghasilkan pergerakan yang baik. Dapat diperhatikan pada persamaan~\eqref{eq:modelorde2} bahwa peneliti menggunakan \textit{Simple model} untuk mengembangkan kendali multi-robotnya. Maka, penelitian ini akan difokuskan pada kendali formasi berbasis jarak kendali PI yang telah dilakukan sebelumnya dengan menggunakan model nyata. + \section{Permasalah dan Solusi} Dapat diperhatikan pada persamaan~\eqref{eq:ss-formasi}, state yang digunakan membutuhkan koordinat relatif dari tetangganya. Akan tetapi pada batasan penelitian ini, sensor yang digunakan hanya memberikan jarak terhadap tetangganya. -Sedangkan koordinat relatif tersebut berupa kartesian. -Koordinat kartesian dapat diubah ke bentuk koordinat polar, atau sebaliknya. -Akan tetapi koordinat polar membutuhkan sudut antara agent dan tetangganya. -Oleh karena itu dibutuhkan algoritma khusus untuk menutup permasalahan tersebut. +Sedangkan koordinat relatif yang digunakan adalah kartesian. +Apabila yang diketahui adalah jarak maka koordinat yang bisa digunakanadalah polar. +Sedangkan koordinat polar membutuhkan sudut antara agent dan tetangganya. +Oleh karena itu dibutuhkan algoritma khusus untuk mendapatkan sudut tersebut. Untuk mengembangkan algoritma tersebut, dapat menggunakan hukum \textit{cosinus} segitiga untuk menentukan sudutnya. Dengan memanfaatkan komunikasi antar robot, maka robot dapat mengirimkan informasi state kecepatan kepada tetangganya. diff --git a/BAB4/DataOutMotion.csv b/BAB4/DataOutMotion.csv new file mode 100644 index 0000000..64f7dca --- /dev/null +++ b/BAB4/DataOutMotion.csv @@ -0,0 +1,92 @@ +x1,y1,x2,y2,x3,y3,dx1,dy1,dx2,dy2,dx3,dy3,xi1,xi2,xi3,xi4,xi5,xi6,xii1,xii2,xii3 +1.5,1.7,2,2.5,2.5,2.8,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 +1.660781058591101,1.868426298368491,1.983628841011567,2.482484860808699,2.410257413075477,2.696504532616002,1.27949252103798,1.240940703645519,-0.1207657640295765,-0.07062913180644501,-0.5345525093964825,-0.6568619543827603,0.1607810585911011,0.1684262983684909,-0.01637115898843293,-0.01751513919130067,-0.08974258692452401,-0.1034954673839971,0.01715695680941148,0.1194518091673519,-0.02212979885273052 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+4.295893553206928,2.232650543251788,3.447993672282453,1.958227392545702,3.57004666538178,2.558467832457725,0.2089100276482159,0.5232873633527287,0.2337496813418919,0.006069818060728193,0.116003422131741,0.03772024692330385,2.795893553206928,0.5326505432517902,1.447993672282453,-0.5417726074542948,1.07004666538178,-0.2415321675422736,2.124187048892203,1.501970138680726,-1.456224322396915 diff --git a/BAB4/bab4.tex b/BAB4/bab4.tex index bca1440..081cf14 100644 --- a/BAB4/bab4.tex +++ b/BAB4/bab4.tex @@ -17,12 +17,6 @@ Metode HIL, banyak digunakan oleh peneliti dalam proses pengembangan dengan pert Seperti yang digunakan oleh~\kutip{Irwanto2018}, mengembangkan kendali UAV menggunakan HIL; dan \kutip{QUESADA2019275}, mengembangkan prangkat pankreas buatan yang digunakan untuk mengendalikan kadar gula pada pengidap diabetes. -\begin{figure} -\centering - \input{BAB4/img/Diagram_hil_controller.tex} - \caption{HIL Kendali Multi-Robot.} - \label{fig:hil_graph_1} -\end{figure} Pada penelitian ini akan digunakan \textit{microcontroller}(MCU) STM32F466 sebagai prangkat kendalinya. MCU tersebut ber-arsitektur ARM Cortex-M4 dengan clock 180MHz, menampung ukuran program sampai 256K didalam memori Flash, serta fitur komunikasi standart MCU dengan lengkap. @@ -39,15 +33,22 @@ Sedangkan komunikasi dengan PC akan mempresentasikan aktuator dan sensor untuk s kendali. PC akan merekam setiap keluaran dari model dan masukan dari setiap prangkat kendali sebagai tampilan pergerakan robotnya. -\todo{ - Tambahkan subsection mengenai - \begin{itemize} - %% \item pengembangan data/akuisisi data ? - % \item skenario pengujian/simulasi? (lebih ke teknis seperti lapangan environtment dll) - % \item skenario Analisa hasil - \item jadwal penelitian - \end{itemize} -} +\begin{figure} +\centering + \input{BAB4/img/Diagram_hil_controller.tex} + \caption{HIL Kendali Multi-Robot.} + \label{fig:hil_graph_1} +\end{figure} + +% \todo{ +% Tambahkan subsection mengenai +% \begin{itemize} +% %% \item pengembangan data/akuisisi data ? +% % \item skenario pengujian/simulasi? (lebih ke teknis seperti lapangan environtment dll) +% % \item skenario Analisa hasil +% \item jadwal penelitian +% \end{itemize} +% } \section{Strategi Kendali Multi Robot} @@ -56,7 +57,7 @@ Kendali tingkat bawah akan membahas mengenai kendali robot secara individu, seda \subsection{Kendali Robot} Pada kendali robot akan dibahas mengenai analisis kendali robot menggunakan -state-space feedback. Kendali robot ini adalah kendali tahap akhir dari kendali ke- +state-space feedback. Kendali robot ini adalah kendali tingkat bawah dari kendali ke- seluruhan. Dapat diperhatikan pada persamaan~\eqref{eq:ss-formasi}, sebagai kendali tahap awal, bahwa state yang digunakan adalah koordinat. Maka koordinat tersebut akan men- jadi set point bagi robot. Variable yang dikendalikan pada kendali robot adalah @@ -313,7 +314,8 @@ Lalu robot $A$ berjalan secara random kesegala arah dengan jarak $l_a$. Disimpan kembali nilai jara $d_a$, atau dinotasikan dengan $d_a[k+1]$. Setalah itu dapat ditentukan sudut $\alpha[k+1]$ \begin{align} - \alpha[k+1] = cos^{-1}\Bigg[ \frac{l_a^2 + d[k+1]^2 -d_a[k]^2}{2d_a[k+1]l_a} \Bigg] + \alpha[k+1] = cos^{-1}\Bigg[ \frac{l_a^2 + d_a[k+1]^2 -d_a[k]^2}{2d_a[k+1]l_a} \Bigg] + \label{eq:algo_getAngle} \end{align} Sebelum $\alpha[k+1]$ digunakan, jarak $d_a[k+1]$ dan $d_a[k]$ berpengaruh dalam penentuan koordinat. Sehingga diperlukan sedikit algoritma @@ -345,13 +347,44 @@ mengkalkulasi koordinat robot $B$ relatif terhadap robot $A$ Dalam strategi ini akan terjadi ketidak akuratan dalam pengukuran apabila target ukur berada pada sudut $90^\circ$. Akan tetapi, \kutip{Cao2007} sudah menjelaskan mengenai kriteria posisi agent ketika dalam kondisi inisial. -Yaitu semua agent tidak berada pada kondisi sejajar secara koordinat global pada kondisi inisial. +Yaitu semua agent tidak berada pada kondisi sejajar secara koordinat global. -\todo{ buat psudo code dari algoritma ini, sehingga dapat di ambil referensi ke bab lain} \begin{algorithm} \DontPrintSemicolon - TODO: make your algo here ! - \label{algo:solution_purpose} + \KwInput{ + Integer $l_a>0$, + $\tetangga_i=getConnectionRobot()$, } + \KwOutput{$x_i^j$} + + \tcc{inisialisasi} + $dir = getRandomDirection()$\; + $d_{before} = getDistanceFromSensor(\tetangga_i)$\; + $r = \begin{bmatrix} + l_a \cos(rand(0,360)) \\ + l_a \sin(rand(0,360)) + \end{bmatrix}$\; + + \tcc{Menjalankan robot hingga mencapai setpoint} + \While{isSetpointReached()}{ + $runRobotToSetpoint(r)$\; + } + + \tcc{Mengambil jarak setelah robot mencapai setpoint} + $d_{after} = getDistanceFromSensor(\tetangga_i)$\; + + \tcc{Mengkalkulasi sudut} + $ang = cos^{-1}\Bigg[ \frac{l_a^2 + d_{after}^2 -d_{before}^2}{2d_{before}l_a} \Bigg]$\; + \If{$d_{before}]{label}{start} - Create a gantt milestone using a diamond +% usage: \ganttmilestonecon[color=]{label}{start} - Create a gantt milestone using a diamond and conect with the previuos itemg +% fixed the issue when \ganttbarcon or \ganttmilestonecon connect in decimal positions +% +% Update 15.03.2011, Version 1.2 +% +% changes from v1.1: +% px sizes has ben changed ot pt due to problems with some LaTeX distributions (thanks to Michael Kubovy and Loïc Le Guyader!) +% Correction of the text aligned in \titleelement (thanks to Josh Hykes!) +% \unitlength was changed to \ganttunitlength (thanks to Alan Munn!) +% \RequirePackage was added (thanks to Alan Munn!) +% +% Update 05.08.2010, Version 1.1 +% +% changes from v1.0: +% \ganttbar and \ganttbarcon have been extended with the xkeyval syntax +% The pattern of the bar is now independent of the color and can be set by +% e.g. \ganttbar[pattern=horizontal lines,color=blue]{...}{1}{1} +% This syntax is incompatible with the previous ones! +% replace \ganttbar[] with \ganttbar[pattern=] + +\RequirePackage{tikz,pgffor,xkeyval,ifthen,calc,forloop} + +\usetikzlibrary{patterns} +\usetikzlibrary{arrows} + +\newcounter{ganttnum} +\newcounter{ganttwidth} + +\newlength{\ganttlastx} +\setlength{\ganttlastx}{0cm} + +\newlength{\nextganttlastx} + +\newlength{\gantttmpa} +\newlength{\gantttmpb} +\newlength{\ganttunitlength} + +\setlength{\ganttunitlength}{1cm} + +\newlength{\titleunitlength} +\setlength{\titleunitlength}{1cm} + +\newcounter{gantttitlenum} + +\define@key{ganttx}{xunitlength}{% + \setlength{\ganttunitlength}{#1} +} +\define@boolkey{ganttx}{drawledgerline}{} + +\define@key{ganttx}{fontsize}{\def\ganttfontsize{#1}} +\define@key{ganttx}{titlefontsize}{\def\gantttitlefontsize{#1}} + +\presetkeys{ganttx}{drawledgerline=false,xunitlength=1cm,titlefontsize=\small,fontsize=\normalsize}{} + +\define@key{ganttbarx}{pattern}{\def\ganttbarpattern{#1}} +\define@key{ganttbarx}{color}{\def\ganttbarcolor{#1}} + +\presetkeys{ganttbarx}{pattern=north west lines,color=black}{} + + +% The gantt environment draws the canvas of a gantt figure (realized as tikzpicture) +% The usage is \begin{gantt}[...]{no of Tasks to plot}{no of time slots} +% The optional argument [...] can be filled in a key=value syntax, using one or more of the following keys: +% +% xunitlength - length of one time slot (default: 1 cm) +% fontsize - fontsize of labels (default: \normalsize) +% titlefontsize - fontsize of title section (default: \small) +% drawledgerline - Switch to enable/disable the drawing of horizontal ledger lines (default value: false) + +\newenvironment{gantt}[3][]{% + \begin{tikzpicture}[draw=black, yscale=.7,xscale=1] + \tikzstyle{time}=[coordinate] + \setkeys{ganttx}{#1}{% + \setcounter{ganttwidth}{#3} + + \setcounter{ganttnum}{0} + \newcount\ganttx + \newcount\ganttheight + \ganttheight=#2 %define the number of Y ticks + \advance\ganttheight by 1 + + \def\ganttxstringtop{}; + \def\ganttxstringbottom{}; + + \ganttx=0 + \draw (0,0.5) node[above] {\ganttxstringtop} -- (0,1.4-\ganttheight) node[below] {\ganttxstringbottom}; + \draw (\value{ganttwidth}*\ganttunitlength,0.5) node[above] {\ganttxstringtop} -- (\value{ganttwidth}*\ganttunitlength,1.4-\ganttheight) node[below] {\ganttxstringbottom}; + + %draw grid + \foreach \t in {1,2,...,\value{ganttwidth}}{ + \ganttx=1 + \multiply\ganttx by \t + + \draw[dotted] (\ganttunitlength*\t,-0.5) node[above] {\ganttxstringtop} -- (\ganttunitlength*\t,1.4-\ganttheight) node[below] {\ganttxstringbottom}; + } + %draw x axis + \draw[] (0,-#2+0.4) -- (\value{ganttwidth}*\ganttunitlength,-#2+0.4); +} +}{\end{tikzpicture}} + + +% ganttitle is the environment for drawing the title section +\newenvironment{ganttitle}[1][]{% + \setlength{\ganttlastx}{0 cm} +}{% + \setlength{\ganttlastx}{0 cm} + \addtocounter{ganttnum}{-1}% +} + +% \titleelement draws one element of the title +% usage: \titleelement{label}{length} +\newcommand{\titleelement}[2]{ + \setlength{\gantttmpa}{\ganttunitlength*#2} + \divide\gantttmpa by 2; + + \draw (\the\ganttlastx,\value{ganttnum}) rectangle (\the\ganttlastx+#2*\ganttunitlength,\value{ganttnum}+0.6); + \node [text height=1.5ex,text depth=0.7ex] at (\the\ganttlastx+\the\gantttmpa,\value{ganttnum}+0.25) {% + \gantttitlefontsize #1% + }; + \setlength{\ganttlastx}{\ganttlastx+\ganttunitlength*\real{#2}} +} + + +% \numtitle draws a numbered sequence of title elements +% usage: \numtitle{start number}{increment}{end number}{length of each title element} +\newcommand{\numtitle}[4]{ + \forloop[#2]{gantttitlenum}{#1}{\(\value{gantttitlenum} < #3\) \or \(\value{gantttitlenum} = #3\)}% + {% + \titleelement{\thegantttitlenum}{#4} + } +} + +% \ganttbar draws a single, unconnected bar for representing a task +% usage: \ganttbar[pattern=,color=]{label}{start}{length} +% where the optional comma separated arguments are: +% pattern - is a tikz pattern (e.g. north west lines (default), north east lines, crosshatch, crosshatch dots, grid, ...) +% color - a tikz color of the pattern (e.g. red, green blue gray, dark gray) +% for more information see the tikz documentation +\newcommand{\ganttbar}[4][]{ + \setlength{\gantttmpa}{#3\ganttunitlength} + \setlength{\gantttmpb}{#4\ganttunitlength} + \setlength{\gantttmpb}{\gantttmpa+\gantttmpb} + + \ifKV@ganttx@drawledgerline + \draw[dotted] (0,\value{ganttnum}-0.2) -- (\value{ganttwidth}*\ganttunitlength,\value{ganttnum}-0.2); + \fi + \node at (0,\value{ganttnum}) [anchor=base east] {% + \ganttfontsize #2% + }; + \setkeys{ganttbarx}{#1}{% + \draw[pattern=\ganttbarpattern,pattern color=\ganttbarcolor] (\gantttmpa,\value{ganttnum}+0.1) rectangle (\gantttmpb,\value{ganttnum}+0.5); + } + \setlength{\ganttlastx}{\gantttmpb} + \addtocounter{ganttnum}{-1} +} + + +% \ganttcon draws an arrow between to bars with specified coordinates +% usage: \ganttcon{startx}{starty}{endx}{endy} +\newcommand{\ganttcon}[4]{ + \draw[-latex,rounded corners=1pt] (#1\ganttunitlength,-#2+0.1 + 0.2) -- (#1\ganttunitlength+0.4*\ganttunitlength,-#2+0.1+0.2) -- (#1\ganttunitlength+0.4*\ganttunitlength,-#2-0.4+0.2) -- (#1\ganttunitlength-0.4*\ganttunitlength,-#2-0.4+0.2) -- (#1\ganttunitlength-0.4*\ganttunitlength,-#4+0.1+0.2) -- (#3\ganttunitlength,-#4+0.1+0.2); +} + + +% \ganttbarcon draws a single bar *and* connects the bar with the previous bar for +% consecutive tasks +% usage: \ganttbarcon[pattern=,color=]{label}{start}{length} +% where the optional pattern argument are the same as for \ganttbar +\newcommand{\ganttbarcon}[4][]{ + \setlength{\nextganttlastx}{\the\ganttlastx+1\ganttunitlength} + \ifdim\nextganttlastx>#3\ganttunitlength + \draw[-latex,rounded corners=1pt] (\the\ganttlastx,\value{ganttnum}+1.1 + 0.2) -- (\the\ganttlastx+0.4*\ganttunitlength,\value{ganttnum}+1.1+0.2) -- (\the\ganttlastx+0.4*\ganttunitlength,\value{ganttnum}+0.6+0.2) -- (\the\ganttlastx-0.4*\ganttunitlength,\value{ganttnum}+0.6+0.2) -- (\the\ganttlastx-0.4*\ganttunitlength,\value{ganttnum}+0.1+0.2) -- (#3\ganttunitlength,\value{ganttnum}+0.1+0.2); + \else + \draw[-latex,rounded corners=1pt] (\the\ganttlastx,\value{ganttnum}+1.1 + 0.2) -- (\the\ganttlastx+0.4*\ganttunitlength,\value{ganttnum}+1.1+0.2) -- (\the\ganttlastx+0.4*\ganttunitlength,\value{ganttnum}+0.1+0.2) -- (#3\ganttunitlength,\value{ganttnum}+0.1+0.2); + \fi + \ganttbar[#1]{#2}{#3}{#4} +} + + +% \ganttgroup draws a bar to group tasks +% usage: \ganttgroup{label}{start}{length} +\newcommand{\ganttgroup}[3]{% + \setlength{\gantttmpa}{#2\ganttunitlength} + \setlength{\gantttmpb}{#3\ganttunitlength} + \setlength{\gantttmpb}{\gantttmpa+\gantttmpb} + + \ifKV@ganttx@drawledgerline + \draw[dotted] (0,\value{ganttnum}-0.2) -- (\value{ganttwidth}*\ganttunitlength,\value{ganttnum}-0.2); + \fi + \node at (0,\value{ganttnum}) [anchor=base east] {% + \ganttfontsize\bfseries #1% + }; + \fill[black] (\gantttmpa-0.14cm,\value{ganttnum}+0.2) rectangle (\gantttmpb+0.14cm,\value{ganttnum}+0.4); + \draw[diamond-diamond] (\gantttmpa-0.14cm,\value{ganttnum}+0.2) -- (\gantttmpb+0.14cm,\value{ganttnum}+0.2); + + \setlength{\ganttlastx}{\gantttmpb} + \addtocounter{ganttnum}{-1} +} + + +% \ganttmilestone, draw a diamond to represent a milestone +% usage: \ganttgroup[fill=]{label}{start} +% color - a tikz color of the pattern (e.g. red, green blue gray, dark gray) +% for more information see the tikz documentation + +% Declaring layers to abvoid superposition when you connect a \ganttmileston with a task +\pgfdeclarelayer{background} +\pgfdeclarelayer{foreground} +\pgfsetlayers{background,main,foreground} + +\newcommand{\ganttmilestone}[3][]{ + \setlength{\gantttmpa}{#3\ganttunitlength} + \setlength{\gantttmpb}{0\ganttunitlength} + \setlength{\gantttmpb}{\gantttmpa+\gantttmpb} + + \ifKV@ganttx@drawledgerline + \draw[dotted] (0,\value{ganttnum}-0.2) -- (\value{ganttwidth}*\ganttunitlength,\value{ganttnum}-0.2); + \fi + \node at (0,\value{ganttnum}) [anchor=base east] {% + \ganttfontsize #2% + }; + \setkeys{ganttbarx}{#1}{% + \pgfonlayer{foreground} + \draw[diamond-, color=\ganttbarcolor] (\gantttmpa,\value{ganttnum}+0.1) -- (\gantttmpb,\value{ganttnum}+0.4); + \endpgfonlayer + } + \setlength{\ganttlastx}{\gantttmpb} + \addtocounter{ganttnum}{-1} +} + + +% \ganttmilestonecon draws a single diamond *and* connects the diamond with the previous task +% usage: \ganttmilestonecon[color=]{label}{start}{length} +% where the optional color argument are the same as for \ganttbar and \ganttmilestone + +\newcommand{\ganttmilestonecon}[3][]{ + \setlength{\nextganttlastx}{\the\ganttlastx+1\ganttunitlength} + \ifdim\nextganttlastx>#3\ganttunitlength + \draw[-latex,rounded corners=1pt] (\the\ganttlastx,\value{ganttnum}+1.1 + 0.2) -- (\the\ganttlastx+0.4*\ganttunitlength,\value{ganttnum}+1.1+0.2) -- (\the\ganttlastx+0.4*\ganttunitlength,\value{ganttnum}+0.6+0.2) -- (\the\ganttlastx-0.4*\ganttunitlength-1.8,\value{ganttnum}+0.6+0.2) -- (\the\ganttlastx-0.4*\ganttunitlength-1.8,\value{ganttnum}+0.1+0.2) -- (#3\ganttunitlength-1.8,\value{ganttnum}+0.1+0.2); + % + \else + \draw[-latex,rounded corners=1pt] (\the\ganttlastx,\value{ganttnum}+1.1 + 0.2) -- (\the\ganttlastx+0.4*\ganttunitlength,\value{ganttnum}+1.1+0.2) -- (\the\ganttlastx+0.4*\ganttunitlength,\value{ganttnum}+0.1+0.2) -- (#3\ganttunitlength-1.8,\value{ganttnum}+0.1+0.2); + \fi +% \fi + \ganttmilestone[#1]{#2}{#3} +} + + +\endinput diff --git a/thesis.tex b/thesis.tex index f6f5650..8be06a6 100644 --- a/thesis.tex +++ b/thesis.tex @@ -98,8 +98,8 @@ \include{BAB2/bab2} \include{BAB3/bab3} \include{BAB4/bab4} -\include{BAB5/bab5} -\include{BAB6/bab6} +% \include{BAB5/bab5} +% \include{BAB6/bab6} \include{OTHER/kesimpulan} % diff --git a/uithesis.sty b/uithesis.sty index b86c481..112e600 100644 --- a/uithesis.sty +++ b/uithesis.sty @@ -181,6 +181,7 @@ % \usepackage{caption} +\usepackage{gantt} %-----------------------------------------------------------------------------% % Konfigurasi %-----------------------------------------------------------------------------%