tambahan mode manual dan semiautomatis, belum dioptimasi
Dependencies: Motor PID Joystick_OrdoV5 mbed
Fork of Joystick_OrdoV6_3 by
Revision 21:da2f3d04468f, committed 2017-01-28
- Comitter:
- MarchioKevin
- Date:
- Sat Jan 28 07:24:07 2017 +0000
- Parent:
- 20:54dc93e7b016
- Commit message:
- Optimasi, Kontrol semi-otomatis fixed
Changed in this revision
main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Sat Jan 28 04:33:39 2017 +0000 +++ b/main.cpp Sat Jan 28 07:24:07 2017 +0000 @@ -64,10 +64,10 @@ float kpX=0.5, kpY=0.5, kp_tetha=0.03; /* Deklarasi encoder */ -encoderKRAI encoderDepan( PB_13, PB_14, 2000, encoderKRAI::X2_ENCODING); //inA, inB, pin Indeks (NC = tak ada), resolusi, pembacaan -encoderKRAI encoderBelakang( PC_11, PC_10, 2000, encoderKRAI::X2_ENCODING); //inA, inB, pin Indeks (NC = tak ada), resolusi, pembacaan -encoderKRAI encoderKanan( PC_12, PD_2, 720, encoderKRAI::X2_ENCODING); //inA, inB, pin Indeks (NC = tak ada), resolusi, pembacaan -encoderKRAI encoderKiri( PC_4, PB_15, 2000, encoderKRAI::X2_ENCODING); //inA, inB, pin Indeks (NC = tak ada), resolusi, pembacaan +encoderKRAI encoderDepan( PB_13, PB_14, 2000, encoderKRAI::X2_ENCODING); //inA, inB, pin Indeks (NC = tak ada), resolusi, pembacaan +encoderKRAI encoderBelakang( PC_11, PC_10, 2000, encoderKRAI::X2_ENCODING); //inA, inB, pin Indeks (NC = tak ada), resolusi, pembacaan +encoderKRAI encoderKanan( PC_12, PD_2, 720, encoderKRAI::X2_ENCODING); //inA, inB, pin Indeks (NC = tak ada), resolusi, pembacaan +encoderKRAI encoderKiri( PC_4, PB_15, 2000, encoderKRAI::X2_ENCODING); //inA, inB, pin Indeks (NC = tak ada), resolusi, pembacaan /* Deklarasi Motor Base */ Motor motor1(PB_7, PA_14, PA_15); // pwm, fwd, rev @@ -338,12 +338,14 @@ } case (9) :{ // Kanan - if (case_ger != caseSebelum) XT = XT + PERPINDAHAN; + if (case_ger != caseSebelum) + XT = XT + PERPINDAHAN; break; } case (10) :{ // Kiri - if (case_ger != caseSebelum) XT = XT - PERPINDAHAN; + if (case_ger != caseSebelum) + XT = XT - PERPINDAHAN; break; } default :{} @@ -498,7 +500,8 @@ } else { joystick.idle(); - } + } + if (!manual) gotoXYT(XT,YT,Tetha); } }