terbaru
Dependencies: DigitDisplay Motor PID Ping mbed millis
Fork of MainProgram_BaseBaru_fix_omni_20April by
Revision 48:5b0d65292fab, committed 2017-05-10
- Comitter:
- Joshua23
- Date:
- Wed May 10 12:23:05 2017 +0000
- Parent:
- 47:322c5966ee73
- Commit message:
- Tambahan Pneumatik Pakubumi
Changed in this revision
main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- 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;