Marchio Kevin / Mbed 2 deprecated Robo_Taker_Nasional_2018

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Dependencies:   Motor_1 encoderKRAI mbed millis

Fork of Robo_Taker_Nasional_2018 by KRAI 2018

main.cpp@5:4a70c53d7f86, 2018-03-08 (annotated)

Committer:
Fathoni17
Date:
Thu Mar 08 08:45:09 2018 +0000
Revision:
5:4a70c53d7f86
Parent:
3:b1403fcdaeb1
Child:
6:bb7e29420efd
Akselerasi+Deselerasi OK; Rotasi Close Loop; Default mode Close Loop; mode open loop tidak dipake(?)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Fathoni17 0:22acd37ed695 1 #include "mbed.h"
Fathoni17 0:22acd37ed695 2 #include "Motor.h"
Fathoni17 0:22acd37ed695 3 #include "encoderKRAI.h"
Fathoni17 0:22acd37ed695 4 #include "JoystickPS3.h"
Fathoni17 0:22acd37ed695 5 #include "pinList.h"
Fathoni17 2:863436c840bf 6 #include "millis.h"
Fathoni17 0:22acd37ed695 7
Fathoni17 0:22acd37ed695 8 #define PI 3.141592653593
Fathoni17 0:22acd37ed695 9 #define RAD_TO_DEG 57.2957795131
Fathoni17 2:863436c840bf 10 #define MAX_W_SPEED 15000 //max angular speed of robot
Fathoni17 2:863436c840bf 11
MarchioKevin 3:b1403fcdaeb1 12 #define TOLERANCET 0.8 //theta tolerance
Fathoni17 2:863436c840bf 13 #define PULSE_TO_JARAK 0.581776 //kll roda / pulses
Fathoni17 2:863436c840bf 14 #define L 298.0 //roda to center of robot
Fathoni17 2:863436c840bf 15 #define TS 2.0 //time sampling
Fathoni17 2:863436c840bf 16 #define LIMITPWM 0.4 //limit pwm motor
Fathoni17 2:863436c840bf 17
Fathoni17 2:863436c840bf 18 //Konstanta PID Sudut
MarchioKevin 3:b1403fcdaeb1 19 #define KP_W 1.0
MarchioKevin 3:b1403fcdaeb1 20 #define KI_W 0.0065
Fathoni17 5:4a70c53d7f86 21 #define KD_W 175
Fathoni17 0:22acd37ed695 22
Fathoni17 0:22acd37ed695 23 #define MOTOR_LIMIT_MAX 1
Fathoni17 0:22acd37ed695 24 #define MOTOR_LIMIT_MIN -1
Fathoni17 0:22acd37ed695 25
Fathoni17 0:22acd37ed695 26 #define DEBUG 1
Fathoni17 0:22acd37ed695 27
Fathoni17 0:22acd37ed695 28 // Serial
Fathoni17 0:22acd37ed695 29 Serial pc(USBTX,USBRX);
Fathoni17 0:22acd37ed695 30 joysticknucleo stick(PIN_TX, PIN_RX);
Fathoni17 0:22acd37ed695 31
Fathoni17 0:22acd37ed695 32 // Pneumatik
Fathoni17 0:22acd37ed695 33 DigitalOut pneumatik(PIN_PNEUMATIK);
Fathoni17 0:22acd37ed695 34
Fathoni17 0:22acd37ed695 35 // Encoder
Fathoni17 0:22acd37ed695 36 encoderKRAI encoder_A(PIN_A_CHANNEL_A, PIN_A_CHANNEL_B, 540, encoderKRAI::X4_ENCODING);
Fathoni17 0:22acd37ed695 37 encoderKRAI encoder_B(PIN_B_CHANNEL_A, PIN_B_CHANNEL_B, 540, encoderKRAI::X4_ENCODING);
Fathoni17 0:22acd37ed695 38 encoderKRAI encoder_C(PIN_C_CHANNEL_A, PIN_C_CHANNEL_B, 540, encoderKRAI::X4_ENCODING);
Fathoni17 0:22acd37ed695 39
Fathoni17 0:22acd37ed695 40 // Motor
Fathoni17 0:22acd37ed695 41 Motor motor1(PIN_PWM_A, PIN_FWD_A, PIN_REV_A);
Fathoni17 0:22acd37ed695 42 Motor motor2(PIN_PWM_B, PIN_FWD_B, PIN_REV_B);
Fathoni17 0:22acd37ed695 43 Motor motor3(PIN_PWM_C, PIN_FWD_C, PIN_REV_C);
Fathoni17 0:22acd37ed695 44
Fathoni17 0:22acd37ed695 45 // Fungsi dan Prosedur
Fathoni17 0:22acd37ed695 46 void gerakMotor();
Fathoni17 2:863436c840bf 47 void hitungPID(float theta_s);
Fathoni17 5:4a70c53d7f86 48 void hitungParameter();
Fathoni17 0:22acd37ed695 49 void printPulse();
Fathoni17 0:22acd37ed695 50 void case_gerak();
MarchioKevin 3:b1403fcdaeb1 51 float compute_Alpha(float x_s, float y_s, float x, float y,float theta);
Fathoni17 0:22acd37ed695 52
Fathoni17 0:22acd37ed695 53 // Variable-variable
Fathoni17 0:22acd37ed695 54 int joystick;
Fathoni17 2:863436c840bf 55 float pulse_A=0;
Fathoni17 2:863436c840bf 56 float pulse_B=0;
Fathoni17 2:863436c840bf 57 float pulse_C=0;
Fathoni17 0:22acd37ed695 58 float Vr = 0;
Fathoni17 5:4a70c53d7f86 59 float Vr_max = 0;
Fathoni17 0:22acd37ed695 60 float Vw = 0;
Fathoni17 0:22acd37ed695 61 float a = 0;
Fathoni17 2:863436c840bf 62 float w = 0;
MarchioKevin 3:b1403fcdaeb1 63 float x =0;
MarchioKevin 3:b1403fcdaeb1 64 float x_s = 0;
MarchioKevin 3:b1403fcdaeb1 65 float y =0;
MarchioKevin 3:b1403fcdaeb1 66 float y_s = 0;
MarchioKevin 3:b1403fcdaeb1 67 float x_prev=0;
MarchioKevin 3:b1403fcdaeb1 68 float y_prev=0;
Fathoni17 2:863436c840bf 69 float theta_s = 0;
Fathoni17 2:863436c840bf 70 float theta = 0;
Fathoni17 2:863436c840bf 71 float theta_prev = 0;
Fathoni17 2:863436c840bf 72 float theta_error_prev = 0;
Fathoni17 2:863436c840bf 73 float sum_theta_error = 0;
Fathoni17 2:863436c840bf 74 float theta_error;
Fathoni17 5:4a70c53d7f86 75 unsigned long last_mt_print, last_mt_pid, last_mt_aksel, last_mt_desel, last_mt_rotasi;
Fathoni17 2:863436c840bf 76 bool print_pulse = 0;
Fathoni17 5:4a70c53d7f86 77 bool modeauto = 1;
Fathoni17 0:22acd37ed695 78
Fathoni17 0:22acd37ed695 79 int main(){
Fathoni17 0:22acd37ed695 80 encoder_A.reset();
Fathoni17 0:22acd37ed695 81 encoder_B.reset();
Fathoni17 0:22acd37ed695 82 encoder_C.reset();
Fathoni17 2:863436c840bf 83 pc.baud(115200);
Fathoni17 0:22acd37ed695 84 stick.setup();
Fathoni17 0:22acd37ed695 85 stick.idle();
Fathoni17 0:22acd37ed695 86 pneumatik = 0;
Fathoni17 2:863436c840bf 87 startMillis();
Fathoni17 0:22acd37ed695 88
Fathoni17 0:22acd37ed695 89 while(1){
Fathoni17 0:22acd37ed695 90 // do nothing
Fathoni17 2:863436c840bf 91 if(stick.readable() ) {
Fathoni17 0:22acd37ed695 92 // Panggil fungsi pembacaan joystik
Fathoni17 0:22acd37ed695 93 stick.baca_data();
Fathoni17 0:22acd37ed695 94 // Panggil fungsi pengolahan data joystik
Fathoni17 0:22acd37ed695 95 stick.olah_data();
Fathoni17 2:863436c840bf 96 // Ambil data joystick
Fathoni17 2:863436c840bf 97 case_gerak();
Fathoni17 2:863436c840bf 98
Fathoni17 2:863436c840bf 99 gerakMotor();
Fathoni17 5:4a70c53d7f86 100 if (millis() - last_mt_pid > TS){
Fathoni17 5:4a70c53d7f86 101 hitungParameter();
Fathoni17 5:4a70c53d7f86 102 last_mt_pid = millis();
Fathoni17 5:4a70c53d7f86 103 }
Fathoni17 5:4a70c53d7f86 104 if (!(fabs(theta_s - (theta*RAD_TO_DEG))<TOLERANCET) && modeauto ){
Fathoni17 2:863436c840bf 105 hitungPID(theta_s);
Fathoni17 1:735173a3b218 106 }
MarchioKevin 3:b1403fcdaeb1 107 if (fabs(theta_s - (theta*RAD_TO_DEG))<TOLERANCET || !modeauto){
MarchioKevin 3:b1403fcdaeb1 108 if(modeauto) Vw = 0;
Fathoni17 2:863436c840bf 109 }
Fathoni17 2:863436c840bf 110 if (millis() - last_mt_print > TS+5){
Fathoni17 2:863436c840bf 111 if (print_pulse && DEBUG)
Fathoni17 2:863436c840bf 112 printPulse();
Fathoni17 2:863436c840bf 113 last_mt_print = millis();
Fathoni17 2:863436c840bf 114 }
Fathoni17 2:863436c840bf 115 }
Fathoni17 1:735173a3b218 116 }
Fathoni17 0:22acd37ed695 117 }
Fathoni17 0:22acd37ed695 118
Fathoni17 5:4a70c53d7f86 119 void hitungParameter(){
Fathoni17 2:863436c840bf 120 pulse_A = encoder_A.getPulses()*PULSE_TO_JARAK;
Fathoni17 2:863436c840bf 121 pulse_B = encoder_B.getPulses()*PULSE_TO_JARAK;
Fathoni17 2:863436c840bf 122 pulse_C = encoder_C.getPulses()*PULSE_TO_JARAK;
Fathoni17 2:863436c840bf 123
Fathoni17 2:863436c840bf 124 //Compute value
MarchioKevin 3:b1403fcdaeb1 125 x = x_prev + (2*pulse_A - pulse_C - pulse_B)/3*cos(theta_prev) - (-pulse_C+pulse_B)*0.5773*sin(theta_prev);
MarchioKevin 3:b1403fcdaeb1 126 y = y_prev + (2*pulse_A - pulse_C - pulse_B)/3*sin(theta_prev) + (-pulse_C+pulse_B)*0.5773*cos(theta_prev);
Fathoni17 2:863436c840bf 127 theta = theta_prev + (pulse_A + pulse_C + pulse_B)/(3.0*L);
Fathoni17 2:863436c840bf 128
Fathoni17 2:863436c840bf 129 //Update value
MarchioKevin 3:b1403fcdaeb1 130 x_prev = x;
MarchioKevin 3:b1403fcdaeb1 131 y_prev = y;
Fathoni17 2:863436c840bf 132 theta_prev = theta;
Fathoni17 2:863436c840bf 133
Fathoni17 2:863436c840bf 134 encoder_A.reset();
Fathoni17 2:863436c840bf 135 encoder_B.reset();
Fathoni17 2:863436c840bf 136 encoder_C.reset();
Fathoni17 5:4a70c53d7f86 137 }
Fathoni17 5:4a70c53d7f86 138 void hitungPID(float theta_s){
Fathoni17 2:863436c840bf 139 //theta_s = theta_s/RAD_TO_DEG;
Fathoni17 2:863436c840bf 140 //menghitung error jarak x,y terhaadap xs,ys
Fathoni17 2:863436c840bf 141 theta_error = theta_s - (theta*RAD_TO_DEG);
Fathoni17 2:863436c840bf 142 sum_theta_error += theta_error;
Fathoni17 2:863436c840bf 143
Fathoni17 2:863436c840bf 144 //kalkulasi PID Theta
Fathoni17 2:863436c840bf 145 w = KP_W*theta_error + KI_W*TS*sum_theta_error + KD_W*(theta_error - theta_error_prev)/TS;
MarchioKevin 3:b1403fcdaeb1 146 Vw += (w*L/MAX_W_SPEED)*LIMITPWM;
Fathoni17 2:863436c840bf 147
Fathoni17 2:863436c840bf 148 //update
Fathoni17 2:863436c840bf 149 theta_error_prev = theta_error;
Fathoni17 2:863436c840bf 150 //saturasi vw
MarchioKevin 3:b1403fcdaeb1 151 if (Vw > 0.2){
MarchioKevin 3:b1403fcdaeb1 152 Vw = 0.2;
Fathoni17 0:22acd37ed695 153 }
MarchioKevin 3:b1403fcdaeb1 154 else if ( Vw < -0.2){
MarchioKevin 3:b1403fcdaeb1 155 Vw = -0.2;
Fathoni17 2:863436c840bf 156 }
Fathoni17 0:22acd37ed695 157 }
Fathoni17 0:22acd37ed695 158
Fathoni17 0:22acd37ed695 159 void gerakMotor(){
Fathoni17 5:4a70c53d7f86 160 if ((Vw == 0) && (Vr_max == 0)){
Fathoni17 5:4a70c53d7f86 161 if (Vr >= 0.05){
Fathoni17 5:4a70c53d7f86 162 if (millis() - last_mt_desel > 70){
Fathoni17 5:4a70c53d7f86 163 Vr -= 0.1;
Fathoni17 5:4a70c53d7f86 164 last_mt_desel = millis();
Fathoni17 5:4a70c53d7f86 165 }
Fathoni17 5:4a70c53d7f86 166 } else {
Fathoni17 5:4a70c53d7f86 167 motor1.brake(BRAKE_HIGH);
Fathoni17 5:4a70c53d7f86 168 motor2.brake(BRAKE_HIGH);
Fathoni17 5:4a70c53d7f86 169 motor3.brake(BRAKE_HIGH);
Fathoni17 5:4a70c53d7f86 170 print_pulse = 0;
Fathoni17 5:4a70c53d7f86 171 Vr = 0;
Fathoni17 5:4a70c53d7f86 172 }
Fathoni17 2:863436c840bf 173 } else {
Fathoni17 5:4a70c53d7f86 174 if ((millis() - last_mt_aksel > 150) && Vr < Vr_max){
Fathoni17 5:4a70c53d7f86 175 if (Vr < 0.275)
Fathoni17 5:4a70c53d7f86 176 Vr = 0.275;
Fathoni17 5:4a70c53d7f86 177 else
Fathoni17 5:4a70c53d7f86 178 Vr += 0.05;
Fathoni17 5:4a70c53d7f86 179 last_mt_aksel = millis();
Fathoni17 5:4a70c53d7f86 180 }
Fathoni17 5:4a70c53d7f86 181 if (Vr > Vr_max && Vr_max >= 0.000)
Fathoni17 5:4a70c53d7f86 182 Vr = Vr_max;
Fathoni17 2:863436c840bf 183 motor1.speed((-1*Vr*cos(a) + Vw));
Fathoni17 2:863436c840bf 184 motor2.speed((Vr*(0.5*cos(a) + 0.866*sin(a)) + Vw));
Fathoni17 2:863436c840bf 185 motor3.speed((Vr*(0.5*cos(a) - 0.866*sin(a)) + Vw));
Fathoni17 2:863436c840bf 186 print_pulse = 1;
Fathoni17 2:863436c840bf 187 }
Fathoni17 0:22acd37ed695 188 }
Fathoni17 0:22acd37ed695 189
Fathoni17 0:22acd37ed695 190 void printPulse(){
MarchioKevin 3:b1403fcdaeb1 191 pc.printf("%.2f\t%.2f\n", theta*RAD_TO_DEG, theta_s);
MarchioKevin 3:b1403fcdaeb1 192 }
MarchioKevin 3:b1403fcdaeb1 193
MarchioKevin 3:b1403fcdaeb1 194 float compute_Alpha(float x_s, float y_s, float x, float y,float theta){
MarchioKevin 3:b1403fcdaeb1 195 //fungsi untuk menghitung alpha sebagai arah gerak robot
MarchioKevin 3:b1403fcdaeb1 196 float temp = atan((y_s - y)/(x_s - x)) - theta;
MarchioKevin 3:b1403fcdaeb1 197
MarchioKevin 3:b1403fcdaeb1 198 if (x_s < x) return temp + PI;
MarchioKevin 3:b1403fcdaeb1 199 else return temp;
Fathoni17 0:22acd37ed695 200 }
Fathoni17 0:22acd37ed695 201
Fathoni17 0:22acd37ed695 202 void case_gerak(){
Fathoni17 0:22acd37ed695 203 // Rotasi
MarchioKevin 3:b1403fcdaeb1 204 if(modeauto){
Fathoni17 5:4a70c53d7f86 205 if (!stick.L1 && stick.R1){ // Pivot Kanan
Fathoni17 5:4a70c53d7f86 206 theta = 0.0;
Fathoni17 5:4a70c53d7f86 207 theta_prev = 0.0;
Fathoni17 5:4a70c53d7f86 208 theta_s = 0;
Fathoni17 5:4a70c53d7f86 209 theta_error_prev = 0;
Fathoni17 5:4a70c53d7f86 210 sum_theta_error = 0;
Fathoni17 5:4a70c53d7f86 211 theta_error = 0;
Fathoni17 5:4a70c53d7f86 212 Vw = 0.2;
Fathoni17 5:4a70c53d7f86 213 }
Fathoni17 5:4a70c53d7f86 214 else if (!stick.R1 && stick.L1){ // Pivot Kiri
Fathoni17 5:4a70c53d7f86 215 theta = 0.0;
Fathoni17 5:4a70c53d7f86 216 theta_prev = 0.0;
Fathoni17 5:4a70c53d7f86 217 theta_s = 0;
Fathoni17 5:4a70c53d7f86 218 theta_error_prev = 0;
Fathoni17 5:4a70c53d7f86 219 sum_theta_error = 0;
Fathoni17 5:4a70c53d7f86 220 theta_error = 0;
Fathoni17 5:4a70c53d7f86 221 Vw = -0.2;
Fathoni17 5:4a70c53d7f86 222 }
MarchioKevin 3:b1403fcdaeb1 223 }
MarchioKevin 3:b1403fcdaeb1 224 else if(!modeauto){
MarchioKevin 3:b1403fcdaeb1 225 if (!stick.L1 && stick.R1) // Pivot Kanan
MarchioKevin 3:b1403fcdaeb1 226 Vw = 0.3;
MarchioKevin 3:b1403fcdaeb1 227 else if (!stick.R1 && stick.L1) // Pivot Kiri
MarchioKevin 3:b1403fcdaeb1 228 Vw = -0.3;
MarchioKevin 3:b1403fcdaeb1 229 else
MarchioKevin 3:b1403fcdaeb1 230 Vw = 0.0;
MarchioKevin 3:b1403fcdaeb1 231 }
MarchioKevin 3:b1403fcdaeb1 232
MarchioKevin 3:b1403fcdaeb1 233 if(stick.START_click){
MarchioKevin 3:b1403fcdaeb1 234 modeauto = !modeauto;
MarchioKevin 3:b1403fcdaeb1 235 theta = 0.0;
MarchioKevin 3:b1403fcdaeb1 236 theta_prev = 0.0;
MarchioKevin 3:b1403fcdaeb1 237 theta_s = 0;
MarchioKevin 3:b1403fcdaeb1 238 theta_error_prev = 0;
MarchioKevin 3:b1403fcdaeb1 239 sum_theta_error = 0;
Fathoni17 5:4a70c53d7f86 240 theta_error = 0;
MarchioKevin 3:b1403fcdaeb1 241 }
Fathoni17 0:22acd37ed695 242
Fathoni17 0:22acd37ed695 243 // Linier
MarchioKevin 3:b1403fcdaeb1 244 if ((stick.atas)&&(!stick.bawah)&&(!stick.kanan)&&(!stick.kiri)){
Fathoni17 0:22acd37ed695 245 a = -90/RAD_TO_DEG; // Maju
Fathoni17 5:4a70c53d7f86 246 Vr_max = 0.8;
MarchioKevin 3:b1403fcdaeb1 247 // x_s = 0;// Maju
MarchioKevin 3:b1403fcdaeb1 248 // y_s = 10000;
MarchioKevin 3:b1403fcdaeb1 249 }
MarchioKevin 3:b1403fcdaeb1 250 else if ((!stick.atas)&&(stick.bawah)&&(!stick.kanan)&&(!stick.kiri)){
Fathoni17 0:22acd37ed695 251 a = 90/RAD_TO_DEG; // Mundur
Fathoni17 5:4a70c53d7f86 252 Vr_max = 0.8;
MarchioKevin 3:b1403fcdaeb1 253 // x_s = 0; // Mundur
MarchioKevin 3:b1403fcdaeb1 254 // y_s = -10000;
MarchioKevin 3:b1403fcdaeb1 255 }
MarchioKevin 3:b1403fcdaeb1 256 else if ((stick.atas)&&(!stick.bawah)&&(!stick.kiri)&&(stick.kanan)){
Fathoni17 0:22acd37ed695 257 a = -135/RAD_TO_DEG; // Serong Atas Kanan
Fathoni17 5:4a70c53d7f86 258 Vr_max = 0.7;
MarchioKevin 3:b1403fcdaeb1 259 // x_s = 50000; // Maju+Kanan
MarchioKevin 3:b1403fcdaeb1 260 // y_s = 50000;
MarchioKevin 3:b1403fcdaeb1 261 }
MarchioKevin 3:b1403fcdaeb1 262 else if ((!stick.atas)&&(stick.bawah)&&(!stick.kiri)&&(stick.kanan)){
Fathoni17 0:22acd37ed695 263 a = 135/RAD_TO_DEG; // Serong Bawah Kanan
Fathoni17 5:4a70c53d7f86 264 Vr_max = 0.7;
MarchioKevin 3:b1403fcdaeb1 265 // x_s = 50000; // Mundur+Kanan
MarchioKevin 3:b1403fcdaeb1 266 // y_s = -50000;
MarchioKevin 3:b1403fcdaeb1 267 }
MarchioKevin 3:b1403fcdaeb1 268 else if ((stick.atas)&&(!stick.bawah)&&(stick.kiri)&&(!stick.kanan)){
Fathoni17 0:22acd37ed695 269 a = -45/RAD_TO_DEG; // Serong Atas Kiri
Fathoni17 5:4a70c53d7f86 270 Vr_max = 0.7;
MarchioKevin 3:b1403fcdaeb1 271 // x_s = 50000; // Maju+Kiri
MarchioKevin 3:b1403fcdaeb1 272 // y_s = -50000;
MarchioKevin 3:b1403fcdaeb1 273 }
MarchioKevin 3:b1403fcdaeb1 274 else if ((!stick.atas)&&(stick.bawah)&&(stick.kiri)&&(!stick.kanan)){
Fathoni17 0:22acd37ed695 275 a = 45/RAD_TO_DEG; // Serong Bawah Kiri
Fathoni17 5:4a70c53d7f86 276 Vr_max = 0.7;
MarchioKevin 3:b1403fcdaeb1 277 // x_s = -50000; // Mundur+Kiri
MarchioKevin 3:b1403fcdaeb1 278 // y_s = -50000;
MarchioKevin 3:b1403fcdaeb1 279 }
MarchioKevin 3:b1403fcdaeb1 280 else if ((!stick.atas)&&(!stick.bawah)&&(stick.kanan)&&(!stick.kiri)){
Fathoni17 0:22acd37ed695 281 a = 180/RAD_TO_DEG; // Kanan
Fathoni17 5:4a70c53d7f86 282 Vr_max = 0.5;
MarchioKevin 3:b1403fcdaeb1 283 // x_s = 50000; // Kanan
MarchioKevin 3:b1403fcdaeb1 284 // y_s = 0;
MarchioKevin 3:b1403fcdaeb1 285 }
MarchioKevin 3:b1403fcdaeb1 286 else if ((!stick.atas)&&(!stick.bawah)&&(!stick.kanan)&&(stick.kiri)){
Fathoni17 0:22acd37ed695 287 a = 0/RAD_TO_DEG; // Kiri
Fathoni17 5:4a70c53d7f86 288 Vr_max = 0.5;
MarchioKevin 3:b1403fcdaeb1 289 // x_s = -50000; // Kiri
MarchioKevin 3:b1403fcdaeb1 290 // y_s = 0;
MarchioKevin 3:b1403fcdaeb1 291 }
Fathoni17 0:22acd37ed695 292 else {
Fathoni17 5:4a70c53d7f86 293 Vr_max = 0;
Fathoni17 5:4a70c53d7f86 294 //a = 0;
Fathoni17 0:22acd37ed695 295 }
Fathoni17 0:22acd37ed695 296
Fathoni17 0:22acd37ed695 297 if ((stick.silang_click)&&(!stick.kotak)&&(!stick.segitiga)&&(!stick.lingkaran))
Fathoni17 0:22acd37ed695 298 pneumatik = !pneumatik; // Silang = Toggle pneumatik
Fathoni17 0:22acd37ed695 299 }