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;