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dear josh
Dependencies: DigitDisplay Motor PID Ping mbed millis
Fork of DagonFly__RoadToJapan_15Mei by
Diff: main.cpp
- Revision:
- 1:56bd3e8f38c5
- Parent:
- 0:9072e932503c
- Child:
- 3:1287fccc11be
--- a/main.cpp Thu May 28 14:50:05 2015 +0000 +++ b/main.cpp Sat Jun 06 06:19:06 2015 +0000 @@ -269,7 +269,9 @@ koef=1; } - s1 = (float)(-1*koef*vcurr); + //Case s1 untuk mode L2 lebih lambat + s1 = (float)(-1*koef*(vcurr+0.005)); + s2 = (float)(1.0*koef*vcurr); s3 = (float)(1.0*koef*vcurr); s4 = (float)(-1*koef*vcurr); @@ -315,11 +317,11 @@ } else { koef=1; } - - s1 = (float)(1*koef*vcurr); - s2 = (float)(-1*koef*vcurr); - s3 = (float)(-1*koef*vcurr); - s4 = (float)(1*koef*vcurr); + //Motor 4 telat mulai + s1 = (float)(1*koef*(vcurr-0.008)); + s2 = (float)(-1*koef*(vcurr-0.005)); + s3 = (float)(-1*koef*(vcurr-0.005)); + s4 = (float)(1*koef*(vcurr+0.005)); mundur=true; maju=kiri=kanan=saka=saki=sbka=sbki=pivka=pivki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false;