Diff: main.cpp

Revision:

10:a478ba07ed33

Parent:

9:65dcd45cea6c

Child:

11:c682c965f781

--- a/main.cpp	Sat May 26 04:32:01 2018 +0000
+++ b/main.cpp	Sat May 26 05:04:32 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 0.73885605   //kll roda / pulses
+#define PULSE_TO_JARAK 0.58148148   //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
@@ -262,7 +262,41 @@
     }
     
     // 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)){