Diff: main.cpp

Revision:

11:c682c965f781

Parent:

10:a478ba07ed33

Child:

12:9f56ff893897

--- a/main.cpp	Sat May 26 05:04:32 2018 +0000
+++ b/main.cpp	Sat May 26 05:52:03 2018 +0000
@@ -39,7 +39,7 @@
 #define MOTOR_LIMIT_MIN -1
 
 // Set 1 untuk aktifkan fitur pc.print
-#define DEBUG   0
+#define DEBUG   1
 
 ////////////////////////////////////////////////////////////////////////////////
 // Object Program                                                               //
@@ -262,37 +262,61 @@
     }
     
     // Linier
-    if ((stick.atas)&&(!stick.bawah)&&(!stick.kanan)&&(!stick.kiri)){
-        a = -90/RAD_TO_DEG; // Maju
+    if ((stick.atas)&&(!stick.bawah)&&(!stick.kanan)&&(!stick.kiri)){    
+        a = 90/RAD_TO_DEG; // Maju
         Vr_max = 0.7;
+        if (stick.R2){
+            Vr_max = 0.9;
+        }
     }
     else if ((!stick.atas)&&(stick.bawah)&&(!stick.kanan)&&(!stick.kiri)){
-        a = 90/RAD_TO_DEG; // Mundur
+        a = -90/RAD_TO_DEG; // Mundur
         Vr_max = 0.7;
+        if (stick.R2){
+            Vr_max = 0.9;
+        }
     }
     else if ((stick.atas)&&(!stick.bawah)&&(!stick.kiri)&&(stick.kanan)){
         a = -135/RAD_TO_DEG; // Serong Atas Kanan
         Vr_max = 0.7;
+        if (stick.R2){
+            Vr_max = 0.9;
+        }
     }
     else if ((!stick.atas)&&(stick.bawah)&&(!stick.kiri)&&(stick.kanan)){
         a = 135/RAD_TO_DEG; // Serong Bawah Kanan
         Vr_max = 0.7;
+        if (stick.R2){
+            Vr_max = 0.9;
+        }
     }
     else if ((stick.atas)&&(!stick.bawah)&&(stick.kiri)&&(!stick.kanan)){
         a = -45/RAD_TO_DEG; // Serong Atas Kiri
         Vr_max = 0.7;
+        if (stick.R2){
+            Vr_max = 0.9;
+        }
     }
     else if ((!stick.atas)&&(stick.bawah)&&(stick.kiri)&&(!stick.kanan)){
         a = 45/RAD_TO_DEG; // Serong Bawah Kiri
         Vr_max = 0.7;
+        if (stick.R2){
+            Vr_max = 0.9;
+        }
     }
     else if ((!stick.atas)&&(!stick.bawah)&&(stick.kanan)&&(!stick.kiri)){
         a = 180/RAD_TO_DEG; // Kanan
         Vr_max = 0.7;
+        if (stick.R2){
+            Vr_max = 0.9;
+        }
     }
     else if ((!stick.atas)&&(!stick.bawah)&&(!stick.kanan)&&(stick.kiri)){
         a = 0/RAD_TO_DEG; // Kiri
         Vr_max = 0.7;
+        if (stick.R2){
+            Vr_max = 0.9;
+        }
     }
     else {
         Vr_max = 0;