KRAI ITB GARUDAGO / Mbed 2 deprecated TAKER_KABEL

Kode Taker 2018

Dependencies:   mbed PS_PAD encoderKRAI Motor_1 millis

Files at this revision

API Documentation at this revision

Revision 1:1dc7c9cb4f8c, committed 2018-07-03

Comitter:
gatulz
Date:
Tue Jul 03 13:52:06 2018 +0000
Parent:
0:8c6f29487664
Commit message:
tambah pad lingkaran.

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Tue Jul 03 05:45:18 2018 +0000
+++ b/main.cpp	Tue Jul 03 13:52:06 2018 +0000
@@ -428,7 +428,8 @@
     
     if (countX>5 && countX<=300) {
         pn2=0;
-        countX=325;
+        pn3=0;
+        countX=375;
         if (pn<5 && pn>=0)
             pn++;
         else    
@@ -465,7 +466,8 @@
     
     if (countKotak>5 && countKotak<300){
         pn=0;
-        countKotak=325;
+        pn3=0;
+        countKotak=575;
         if (pn2<5 && pn2>=0)
             pn2++;
         else
@@ -496,27 +498,42 @@
 
     if (ps2.read(PS_PAD::PAD_TRIANGLE)==1 && countSegitiga<400)
         countSegitiga++;
-    if (countSegitiga>=7 && countSegitiga<300){
+    if (countSegitiga>=5 && countSegitiga<300){
         //SEGITIGA :  buka tutup kedua gripper
-        countSegitiga=500;
+        countSegitiga=575;
         pneumatik[0]=!pneumatik[0];
         pneumatik[1]=!pneumatik[1];
         pneumatik[2]=1;
         pneumatik[3]=1;
         pn=0;
         pn2=0;
+        pn3=0;
     } 
         
         
     if (ps2.read(PS_PAD::PAD_CIRCLE)==1  && countCircle<400)
         countCircle++;
-    if (countCircle>=5 && countCircle<200){
+    if (countCircle>=5 && countCircle<300){
         //LINGKARAN : glider AB mundur, gripper AB buka, (kombinasikan dg kotak utk passing golde sc)
-        countCircle=500;
-        pneumatik[0]=0; //gripA
-        pneumatik[1]=0; //gripB
-        pneumatik[2]=1; //sliderA
-        pneumatik[3]=1; //sliderB
+        countCircle=575;
+        if (pn3<2 && pn3>=0)
+            pn3++;
+        else
+            pn3=0;
+        
+            if(pn3==0){
+                pneumatik[0]=1;
+                pneumatik[1]=1;
+                pneumatik[2]=1;
+                pneumatik[3]=1;
+            } else if(pn3==1){
+                pneumatik[3]=0;
+            } else if(pn3==2){
+                pneumatik[1]=0;
+                wait_ms(50);
+                pneumatik[1]=0;
+                pneumatik[3]=1;
+            }   
         pn=0;
         pn2=0;
     }