Diff: main.cpp

Revision:

28:2d0746dc2d7d

Parent:

27:68efb1622985

Child:

29:7b372b0aaa61

--- a/main.cpp	Fri Feb 10 17:59:57 2017 +0000
+++ b/main.cpp	Fri Feb 10 19:18:55 2017 +0000
@@ -77,8 +77,8 @@
 encoderKRAI encoderKiri(PC_4, PB_15, 2000, encoderKRAI::X2_ENCODING);   //inA, inB, pin Indeks (NC = tak ada), resolusi, pembacaan
 
 /* Deklarasi Encoder Launcher */
-encoderKRAI encoderAtas( PB_13, PB_14, 14, encoderKRAI::X2_ENCODING);
-encoderKRAI encoderAtas2( PB_15, PC_4, 14, encoderKRAI::X2_ENCODING);
+encoderKRAI encoderAtas( PB_13, PB_14, 28, encoderKRAI::X2_ENCODING);
+encoderKRAI encoderAtas2( PB_15, PC_4, 28, encoderKRAI::X2_ENCODING);
 
 /* Deklarasi Motor Base */
 Motor motor1(PB_9, PC_5, PA_12);    // pwm, fwd, rev, Motor Depan
@@ -97,10 +97,6 @@
 DigitalIn limitT(PB_10, PullUp);
 DigitalIn limitB (PC_8, PullUp);
 
-/* Deklarasi Servo */
-//Servo servoS(PB_2);
-//Servo servoB(PA_5);
-
 /**
  *  posX dan posY berdasarkan arah robot
  *  encoder Depan & Belakang sejajar sumbu Y
@@ -198,11 +194,14 @@
         }
         reload = !reload;
     }
+    
 /*Motor Atas*/
     if (launcher) {
         startMillis();
-        currentMillis = millis();
-        /*Launcher Depan*/
+        currentMillis  = millis();
+        currentMillis2 = millis();
+        
+        /*PID Launcher Depan*/
         if (currentMillis-previousMillis>=10)
         {
             rpm = (float)encoderAtas.getPulses();    
@@ -244,6 +243,7 @@
             encoderAtas2.getPulses();
         }
     }
+    
     // MOTOR Bawah
     switch (case_ger) {
         case (1): {       
@@ -366,7 +366,9 @@
                 pneumatik = 0;
             }
             speedKalibrasiMotor();
-            if (joystick.silang_click) reload = !reload;  
+            if (joystick.silang_click){
+                reload = !reload;
+            }  
         }
         else {
             joystick.idle();    
@@ -374,4 +376,4 @@
             motor2.brake(1);
         }
     }
-}
+}
\ No newline at end of file