![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
paling baru
Dependencies: DigitDisplay Motor PID Ping mbed millis
Fork of MainProgram_BaseBaru_fix_omni_11April by
Diff: main.cpp
- Revision:
- 45:964ae71a30e3
- Parent:
- 44:452c214d9cf5
- Child:
- 46:85169ae8659b
--- a/main.cpp Wed Apr 05 12:54:03 2017 +0000 +++ b/main.cpp Wed Apr 05 16:04:08 2017 +0000 @@ -78,6 +78,9 @@ float PIVOT = 0.17; // PWM Pivot Kanan, Pivot Kiri float tuneDpn = 0.80; // Tunning PWM motor Depan float tuneBlk = 0.80; // Tunning PWM motor belakang +float tuneAksel = 0.6; +int aksel = 0; +float tuneAkselBlk = 0.4; float tuneR = 0.78; float tuneL = 0.72; float serong = 0.4; @@ -307,6 +310,11 @@ // Power Screw Down caseJoystick = 12; } + else + { + tuneAksel = 0.6; + aksel = 0; + } return(caseJoystick); } @@ -521,8 +529,12 @@ case (3) : { // Kanan - motorDpn.speed(-tuneDpn); - motorBlk.speed(tuneBlk); + aksel++; + if (aksel>300) + tuneAksel = 0.9; + + motorDpn.speed(-tuneAksel); + motorBlk.speed(tuneAksel); motorR.brake(1); motorL.brake(1); break; @@ -530,8 +542,12 @@ case (4) : { // Kiri - motorDpn.speed(tuneDpn); - motorBlk.speed(-tuneBlk); + aksel++; + if (aksel>300) + tuneAksel = 0.9; + + motorDpn.speed(tuneAksel); + motorBlk.speed(-tuneAksel); motorR.brake(1); motorL.brake(1); break; @@ -539,8 +555,12 @@ case (8) : { // Maju - motorR.speed(tuneR); - motorL.speed(-tuneL); + aksel++; + if (aksel>300) + tuneAksel = 0.9; + + motorR.speed(tuneAksel); + motorL.speed(-tuneAksel); motorDpn.brake(1); motorBlk.brake(1); break; @@ -548,8 +568,12 @@ case (9) : { // Mundur - motorR.speed(-tuneR); - motorL.speed(tuneL); + aksel++; + if (aksel>300) + tuneAksel = 0.9; + + motorR.speed(-tuneAksel); + motorL.speed(tuneAksel); motorDpn.brake(1); motorBlk.brake(1); break; @@ -585,6 +609,7 @@ previousMillis3 = millis(); flag_Pneu = true; ready = false; + } break; } @@ -628,6 +653,8 @@ } default : { + tuneAksel = 0.6; + aksel = 0; motorDpn.brake(1); motorBlk.brake(1); motorR.brake(1);