Diff: main.cpp

Revision:

48:5b0d65292fab

Parent:

47:322c5966ee73

--- a/main.cpp	Mon May 08 11:12:04 2017 +0000
+++ b/main.cpp	Wed May 10 12:23:05 2017 +0000
@@ -114,6 +114,7 @@
 bool isReload = false;
 bool ReloadOn = false;
 bool flag_Pneu = false;
+bool flag_paku = false;
 bool ready = false;
 
 /*****************************************************/
@@ -151,6 +152,7 @@
 
 /* Deklarasi Penumatik Launcher */
 DigitalOut pneumatik(PA_4, PullUp);
+DigitalOut pneu_paku(PC_2, PullUp);
 
 /*Dekalrasi Limit Switch */
 //DigitalIn infraAtas(PC_9, PullUp);
@@ -180,59 +182,59 @@
     
     int caseJoystick;
     if ((joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri))  {  
-        // Pivot Kanan
+        // Pivot Kanan R1
         caseJoystick = 1;
     } 
     else if ((!joystick.R1)&&(joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri))  {  
-        // Pivot Kiri
+        // Pivot Kiri L1
         caseJoystick = 2;
     }
     else if ((joystick.START_click)&&(!joystick.SELECT_click)&&(!joystick.R3_click)) {   
-        // tambah rpm dengan nilai tertentu
+        // tambah rpm dengan nilai tertentu START
         caseJoystick = 31;     
     }
     else if ((!joystick.START_click)&&(joystick.SELECT_click)&&(!joystick.R3_click)) {   
-        // kurangi rpm dengan nilai tertentu
+        // kurangi rpm dengan nilai tertentu SELECT
         caseJoystick = 32;     
     }
     else if ((!joystick.START_click)&&(!joystick.SELECT_click)&&(joystick.R3_click)) {   
-        // kurangi rpm dengan nilai tertentu
+        // kurangi rpm dengan nilai tertentu R3
         caseJoystick = 33;     
     }
     else if ((joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri))  {  
-        // Kanan + Rotasi kanan
+        // Kanan + Rotasi kanan R1 KANAN
         caseJoystick = 17;
     } 
     else if ((!joystick.R1)&&(joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri))  {  
-        // Kanan + Rotasi kiri
+        // Kanan + Rotasi kiri L1 KANAN
         caseJoystick = 18;
     }
     else if ((joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri))  {  
-        // Kiri + Rotasi kanan
+        // Kiri + Rotasi kanan R1 KIRI
         caseJoystick = 19;
     } 
     else if ((!joystick.R1)&&(joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri))  {  
-        // Kanan + Rotasi kiri
+        // Kanan + Rotasi kiri L1 KIRI
         caseJoystick = 20;
     }
     else if ((joystick.R1)&&(!joystick.L1)&&(joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri))  {  
-        // Maju + Rotasi kanan
+        // Maju + Rotasi kanan R1 MAJU
         caseJoystick = 21;
     } 
     else if ((!joystick.R1)&&(joystick.L1)&&(joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri))  {  
-        // Maju + Rotasi kiri
+        // Maju + Rotasi kiri L1 MAJU
         caseJoystick = 22;
     }
     else if ((joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri))  {  
-        // Mundur + Rotasi kanan
+        // Mundur + Rotasi kanan R1 MUNDUR
         caseJoystick = 23;
     } 
     else if ((!joystick.R1)&&(joystick.L1)&&(!joystick.atas)&&(joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri))  {  
-        // Mundur + Rotasi kiri
+        // Mundur + Rotasi kiri L1 MUNDUR
         caseJoystick = 24;
     }
     else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(joystick.kanan)&&(!joystick.kiri)&&(joystick.segitiga_click))  {  
-        // Kanan + segitiga
+        // Kanan + segitiga 
         caseJoystick = 25;
     }
     else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri)&&(joystick.segitiga_click))  {  
@@ -310,7 +312,11 @@
     else if ((joystick.kotak_click)&&(!joystick.lingkaran_click)) {   
         // Power Screw Down
         caseJoystick = 12;       
-    } 
+    }
+    else if (joystick.L3){
+        // Paku Bumi ON/OFF
+        caseJoystick = 34;
+    }
     else
     {
         tuneAksel = 0.6;
@@ -630,6 +636,14 @@
             isReload = true;
             break;
         }
+        case (34) :{
+            pneu_paku = !pneu_paku;
+            if (pneu_paku == 1){
+                PIVOT = 0.17;
+            }else{
+                PIVOT = 0.5;
+            }
+        }
         default : 
         {
             tuneAksel = 0.6;