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Dependencies: DigitDisplay Motor PID Ping mbed millis
Fork of
MainProgram_BaseBaru_fix_omni_11April
by 
KRAI 2017
Diff: main.cpp
- Revision:
- 1:56bd3e8f38c5
- Parent:
- 0:9072e932503c
- Child:
- 3:1287fccc11be
--- a/main.cpp Thu May 28 14:50:05 2015 +0000
+++ b/main.cpp Sat Jun 06 06:19:06 2015 +0000
@@ -269,7 +269,9 @@
koef=1;
}
- s1 = (float)(-1*koef*vcurr);
+ //Case s1 untuk mode L2 lebih lambat
+ s1 = (float)(-1*koef*(vcurr+0.005));
+
s2 = (float)(1.0*koef*vcurr);
s3 = (float)(1.0*koef*vcurr);
s4 = (float)(-1*koef*vcurr);
@@ -315,11 +317,11 @@
} else {
koef=1;
}
-
- s1 = (float)(1*koef*vcurr);
- s2 = (float)(-1*koef*vcurr);
- s3 = (float)(-1*koef*vcurr);
- s4 = (float)(1*koef*vcurr);
+ //Motor 4 telat mulai
+ s1 = (float)(1*koef*(vcurr-0.008));
+ s2 = (float)(-1*koef*(vcurr-0.005));
+ s3 = (float)(-1*koef*(vcurr-0.005));
+ s4 = (float)(1*koef*(vcurr+0.005));
mundur=true;
maju=kiri=kanan=saka=saki=sbka=sbki=pivka=pivki=cw1=ccw1=cw2=ccw2=cw3=ccw3=false;