KRTMI 2019 / Mbed 2 deprecated Inverse_Kine_Lengan3

Boleh bisa langsung dicoba, tap servo base belum dikalibrasi

Dependencies:   mbed Servo

Diff: main.cpp

Revision:
10:e3e8d52b8083
Parent:
9:cc9c6244cb76
Child:
11:b84501ec1c12
diff -r cc9c6244cb76 -r e3e8d52b8083 main.cpp
--- a/main.cpp	Tue May 14 13:34:13 2019 +0000
+++ b/main.cpp	Tue May 14 16:39:58 2019 +0000
@@ -100,7 +100,7 @@
         while (deg<T1) {
             deg+=0.1;
             rad=deg*pi/180;
-            if(kons>diffe(rad,xt,yt,zt,r1,r2)){     //jika diffe mendekati 0 (<0.01) dan bukan nan, 
+            if(kons>abs(diffe(rad,xt,yt,zt,r1,r2))){     //jika diffe mendekati 0 (<0.01) dan bukan nan, 
                 break;                              //maka sudut tersebut memenuhi
             }
         }