Diff: main.cpp

Revision:

41:336a19289c2d

Parent:

40:5b937cac959a

Child:

42:6caf8bd5abbc

--- a/main.cpp	Sat Feb 18 03:24:05 2017 +0000
+++ b/main.cpp	Sat Feb 18 11:33:00 2017 +0000
@@ -61,10 +61,10 @@
 double last_error = 0, current_error, sum_error = 0;
 double last_error2 = 0, current_error2, sum_error2 = 0;
 float rpm, rpm2;
-float target_rpm = 13.0, target_rpm2 = 15.0; 
-const float maxRPM = 27, minRPM = 0; // Limit 25 atau 27
+float target_rpm = 15.0, target_rpm2 = 17.0; 
+const float maxRPM = 28, minRPM = 0; // Limit 25 atau 27
 
-const float pwmPowerUp        = 0.7;
+const float pwmPowerUp        = 0.8;
 const float pwmPowerDown      = -0.9;
 
 float jarak_ping=0;
@@ -241,13 +241,13 @@
     if (target_rpm>maxRPM-2){
         target_rpm = maxRPM-2;
     }
-    if (target_rpm<minRPM){
+    if (target_rpm<minRPM+8){
         target_rpm = minRPM;
     }
     if (target_rpm2>maxRPM){
         target_rpm2 = maxRPM;
     }
-    if (target_rpm2<minRPM+2){
+    if (target_rpm2<minRPM+2+8){
         target_rpm2 = minRPM+2;
     }
 }
@@ -381,11 +381,11 @@
         else if(!limitTengah){
             isReload = true;
         }
-        else if(jarak_ping > 4){
+        else if((jarak_ping > 4) && !flag_Pneu){
             powerScrew.speed(pwmPowerUp);
         }
-        else if(jarak_ping < 3) {
-            powerScrew.speed(pwmPowerDown);
+        else if((jarak_ping < 3.5 ) && !flag_Pneu) {
+            powerScrew.speed(-0.1);
         }
         else{
             powerScrew.brake(1);
@@ -472,7 +472,10 @@
     wait_ms(1000);
     
     // initializing encoder
+    pneumatik =1;
+    
     setCenter();
+    
     wait_ms(500);
     
     //initializing PING
@@ -483,8 +486,8 @@
     while(1)
     {   
         // interupsi pembacaan PING setiap 30 ms
-        if(millis() - previousMillis4 >= 30){
-            jarak_ping = pingAtas.Read_cm()/2;
+        if(millis() - previousMillis4 >= 5){    //30
+            jarak_ping = (float)pingAtas.Read_cm()/2;
             
             pingAtas.Send();
             previousMillis4 = millis();
@@ -503,7 +506,7 @@
             aktuator();
             launcher();
             reloader();
-            if ((millis()-previousMillis3 >= 425)&&(flag_Pneu)){
+            if ((millis()-previousMillis3 >= 370)&&(flag_Pneu)){
                 pneumatik = 1;
                 flag_Pneu = false;
             }