Diff: main.cpp

Revision:

39:11358f3f61ff

Parent:

38:3ef6754bd8d8

Child:

40:5b937cac959a

--- a/main.cpp	Fri Feb 17 13:05:02 2017 +0000
+++ b/main.cpp	Sat Feb 18 00:37:33 2017 +0000
@@ -55,17 +55,17 @@
 
 // Variable Atas
 double speed, speed2;
-const double maxSpeed = 0.95;
+const double maxSpeed = 0.95, minSpeed = 0.0;
 const double kpA=0.6757, kdA=0.6757, kiA=0.00006757;
 double p,i,d;
 double p2,i2,d2;
 double last_error = 0, current_error, sum_error = 0;
 double last_error2 = 0, current_error2, sum_error2 = 0;
 float rpm, rpm2;
-float target_rpm = 12.0, target_rpm2 = 16.0; 
+float target_rpm = 13.0, target_rpm2 = 15.0; 
 const float maxRPM = 27, minRPM = 0; // Limit 25 atau 27
 
-const float pwmPowerUp        = 0.78;
+const float pwmPowerUp        = 0.7;
 const float pwmPowerDown      = -0.9;
  
 // Variable Bawah
@@ -311,16 +311,16 @@
         case (6) : 
         {
             // Target Pulse PID ++ Motor Depan
-            target_rpm2 = target_rpm2++;
-            target_rpm = target_rpm++;
+            target_rpm2 = target_rpm2+1.0;
+            target_rpm = target_rpm+1.0;
             init_rpm();
             break;
         }
         case (7) : 
         {
             // Target Pulse PID -- Motor Depan
-            target_rpm2 = target_rpm2--;
-            target_rpm = target_rpm--;
+            target_rpm2 = target_rpm2-1.0;
+            target_rpm = target_rpm-1.0;
             init_rpm();
             break;
         }
@@ -348,7 +348,8 @@
         {
             // Power Screw Up
             //powerScrew.speed(pwmPowerUp);
-            ReloadOn = !ReloadOn;
+            //ReloadOn = !ReloadOn;
+            powerScrew.speed(pwmPowerUp);
             break;
         }
         case (12) : 
@@ -361,26 +362,24 @@
         {
             motorDpn.brake(1);
             motorBlk.brake(1);
-           // aktuator();
-         /*   if (!infraAtas)
-            {
+            if(isReload){
+                powerScrew.speed(pwmPowerDown);
+                if(!limitBawah){
+                    isReload = false;
+                    ReloadOn = false;
+                }
+            }
+            else if(!limitTengah){
+                isReload = true;
+            }
+            else{
                 powerScrew.brake(1);
             }
-            if (!limitTengah)
-            {
-                case_joy = 12;
-                aktuator();   
-            }
-            if (!limitBawah)
-            {
-                case_joy = 11;
-                aktuator();   
-            }*/
         }   
     } // End Switch
  }
  
- void reloader()
+/*void reloader()
 {
     if(ReloadOn){
         if(isReload){
@@ -403,7 +402,7 @@
     else{
         powerScrew.brake(1);
     }
-}
+}*/
  
  
 void launcher()
@@ -427,6 +426,9 @@
             if(speed > maxSpeed){
                 launcherBlk.speed(maxSpeed);
             }
+            else if ( speed < minSpeed){
+                launcherBlk.speed(minSpeed);
+            }
             else {
                 launcherBlk.speed(speed);
             }
@@ -448,6 +450,9 @@
             if (speed2 > maxSpeed){
                 launcherDpn.speed(maxSpeed);
             }
+            else if ( speed < minSpeed){
+                launcherDpn.speed(minSpeed);
+            }
             else{
                 launcherDpn.speed(speed2);
             }
@@ -491,7 +496,7 @@
             case_joy = case_joystick();
             aktuator();
             launcher();
-            reloader();
+            //reloader();
             if ((millis()-previousMillis3 >= 425)&&(flag_Pneu)){
                 pneumatik = 1;
                 flag_Pneu = false;