Diff: main.cpp

Revision:

51:292c5807a93f

Parent:

50:8bc9dbca2ffa

--- a/main.cpp	Mon May 15 07:08:30 2017 +0000
+++ b/main.cpp	Mon May 15 12:51:35 2017 +0000
@@ -74,9 +74,9 @@
 const float pwmPowerDown      = -1.0;
 
 double jarak_ping=0;
-double ping_target = 15;
+double ping_target = 17;
 double ping_current_error, ping_previous_error1 = 0, ping_sum_error=0;
-double ping_Kp = -0.2747, ping_Kd = -0.535, ping_Ts=10;
+double ping_Kp = -0.3747, ping_Kd = -0.535, ping_Ts=10;
 double ping_pwm, ping_previous_pwm = 0; 
 
 // Variable Bawah
@@ -677,8 +677,11 @@
                
             ping_sum_error += ping_current_error*ping_Ts;
             ping_pwm = (double) ping_Kp*ping_current_error + ping_Kd*(ping_current_error-ping_previous_error1)/ping_Ts;   
-            //ping_sum_error = ping_sum_error+ping_current_error;
             
+            if ((ping_pwm<0.7) && (ping_pwm>0.0)) ping_pwm = 0.7;
+            if ((ping_pwm>-0.5) && (ping_pwm<0.0)) ping_pwm = -0.5;
+            if (ping_pwm>1) ping_pwm=1;
+            if (ping_pwm<-1) ping_pwm=-1;
             pc.printf("%.2f\n", jarak_ping);
             powerScrew.speed(ping_pwm);
             
@@ -818,9 +821,6 @@
             if ((millis()-previousMillis3 >= 230)&&(flag_Pneu)){
                 pneumatik = 1;
                 flag_Pneu = false;
-                //if (millis()-previousMillis6 >= 100){
-                //    ReloadOn = !ReloadOn;
-                //}
             }
         }
         else