![](/media/cache/img/default_profile.jpg.50x50_q85.jpg)
Buat agip
Dependencies: Motor_1 encoderKRAI mbed millis
Fork of Robo_Taker_Nasional_2018 by
Diff: main.cpp
- Revision:
- 9:65dcd45cea6c
- Parent:
- 8:8072ee4f1740
- Child:
- 10:a478ba07ed33
--- a/main.cpp Fri Apr 27 15:09:03 2018 +0000 +++ b/main.cpp Sat May 26 04:32:01 2018 +0000 @@ -25,7 +25,7 @@ #define RAD_TO_DEG 57.2957795131 #define MAX_W_SPEED 15000 //max angular speed of robot #define TOLERANCET 0.8 //theta tolerance -#define PULSE_TO_JARAK 0.581776 //kll roda / pulses +#define PULSE_TO_JARAK 0.73885605 //kll roda / pulses #define L 298.0 //roda to center of robot #define TS 2.0 //time sampling #define LIMITPWM 0.4 //limit pwm motor @@ -262,41 +262,7 @@ } // Linier - if ((stick.atas)&&(!stick.bawah)&&(!stick.kanan)&&(!stick.kiri)){ - a = -90/RAD_TO_DEG; // Maju - Vr_max = 0.7; - } - else if ((!stick.atas)&&(stick.bawah)&&(!stick.kanan)&&(!stick.kiri)){ - a = 90/RAD_TO_DEG; // Mundur - Vr_max = 0.7; - } - else if ((stick.atas)&&(!stick.bawah)&&(!stick.kiri)&&(stick.kanan)){ - a = -135/RAD_TO_DEG; // Serong Atas Kanan - Vr_max = 0.7; - } - else if ((!stick.atas)&&(stick.bawah)&&(!stick.kiri)&&(stick.kanan)){ - a = 135/RAD_TO_DEG; // Serong Bawah Kanan - Vr_max = 0.7; - } - else if ((stick.atas)&&(!stick.bawah)&&(stick.kiri)&&(!stick.kanan)){ - a = -45/RAD_TO_DEG; // Serong Atas Kiri - Vr_max = 0.7; - } - else if ((!stick.atas)&&(stick.bawah)&&(stick.kiri)&&(!stick.kanan)){ - a = 45/RAD_TO_DEG; // Serong Bawah Kiri - Vr_max = 0.7; - } - else if ((!stick.atas)&&(!stick.bawah)&&(stick.kanan)&&(!stick.kiri)){ - a = 180/RAD_TO_DEG; // Kanan - Vr_max = 0.7; - } - else if ((!stick.atas)&&(!stick.bawah)&&(!stick.kanan)&&(stick.kiri)){ - a = 0/RAD_TO_DEG; // Kiri - Vr_max = 0.7; - } - else { - Vr_max = 0; - } + // Control Pneumatic if ((stick.silang_click)&&(!stick.kotak)&&(!stick.segitiga)&&(!stick.lingkaran)){