KRAI 2017 / Mbed 2 deprecated MainProgram_BaseBaru_17feb

Update 18 Februari 2017, PID laucnher dan Base sudah diperbarui

Dependencies:   Motor PID Joystick_OrdoV5 mbed millis

Fork of MainProgram_BaseBaru_otomatis-reloader by KRAI 2017

Diff: main.cpp

Revision:
21:da2f3d04468f
Parent:
20:54dc93e7b016
Child:
22:4632f58461e0
diff -r 54dc93e7b016 -r da2f3d04468f main.cpp
--- 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);
     }
 }