Revision 2:23fe981b6ef7, committed 2015-12-19

Comitter:

rizqicahyo

Date:

Sat Dec 19 00:03:45 2015 +0000

Parent:

1:33203568631b

Commit message:

debug manual driving

Changed in this revision

--- a/main.cpp	Fri Dec 18 23:35:16 2015 +0000
+++ b/main.cpp	Sat Dec 19 00:03:45 2015 +0000
@@ -291,8 +291,8 @@
 
 void running()  //prosedur utama untuk kendali robot
 {
-    float speed=0;
-    float k;
+    float speed=gMax_speed;
+    float k=1;
     
     switch(gCase)
     {
@@ -335,10 +335,10 @@
                     }
                     pc.printf("\n");
                 }
-                else
+                else if(!PS3.silang)
                 {
-                    motor_kiri.brake(1);
-                    motor_kanan.brake(1);
+                    motor_kiri.brake(0);
+                    motor_kanan.brake(0);
                     pc.printf("PID stop \n");
                 }
             }
@@ -400,19 +400,19 @@
                     motor_kanan.speed(-speed*k*0.7);
                     pc.printf("piv kanan \n");
                 }
-                else
+                else if (!PS3.atas && !PS3.bawah && !PS3.L1 && !PS3.R1)
                 {
-                    motor_kiri.brake(1);
-                    motor_kanan.brake(1);
+                    motor_kiri.brake(0);
+                    motor_kanan.brake(0);
                     pc.printf("stop \n");
                 }
                 
-                if(PS3.L2 == 255 && PS3.R2 == 0)
+               /*if(PS3.L2 == 255 && PS3.R2 == 0)
                     k=0.5;
                 else if (PS3.L2 == 0 && PS3.R2 == 255)
                     k=2;
                 else
-                    k=1;
+                    k=1;*/
             }
             else
             {
@@ -458,7 +458,7 @@
     pc.baud(115200);
     
     //multitasking untuk menampilkan layar
-    timer.attach(&showLCD,0.8);
+    timer.attach(&showLCD,1);
     
     while(1){  
         PS3.idle();