KRAI 2017 / Mbed 2 deprecated Joystick_OrdoManualV7

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Dependencies:   Motor PID Joystick_OrdoV5 mbed

Fork of Joystick_OrdoV6_3 by KRAI 2017

Files at this revision

API Documentation at this revision

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);
     }
 }