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Buat agip
Dependencies: Motor_1 encoderKRAI mbed millis
Fork of Robo_Taker_Nasional_2018 by
Diff: main.cpp
- Revision:
- 8:8072ee4f1740
- Parent:
- 7:8d8eb4676356
- Child:
- 9:65dcd45cea6c
diff -r 8d8eb4676356 -r 8072ee4f1740 main.cpp --- a/main.cpp Fri Mar 23 17:09:28 2018 +0000 +++ b/main.cpp Fri Apr 27 15:09:03 2018 +0000 @@ -49,7 +49,7 @@ joysticknucleo stick(PIN_TX, PIN_RX); // Pneumatik -DigitalOut pneumatik[3]{PIN_PNEUMATIK_1, PIN_PNEUMATIK_2, PIN_PNEUMATIK_3}; +DigitalOut pneumatik[5]{PIN_PNEUMATIK_1, PIN_PNEUMATIK_2, PIN_PNEUMATIK_3, PIN_PNEUMATIK_4, PIN_PNEUMATIK_5}; //DigitalOut pneumatik2(PIN_PNEUMATIK_2); //DigitalOut pneumatik3(PIN_PNEUMATIK_3); @@ -200,7 +200,7 @@ if (Vr < 0.35) Vr = 0.35; else - Vr += 0.05; + Vr += 0.07; last_mt_aksel = millis(); } // Limit @@ -264,11 +264,11 @@ // Linier if ((stick.atas)&&(!stick.bawah)&&(!stick.kanan)&&(!stick.kiri)){ a = -90/RAD_TO_DEG; // Maju - Vr_max = 0.8; + Vr_max = 0.7; } else if ((!stick.atas)&&(stick.bawah)&&(!stick.kanan)&&(!stick.kiri)){ a = 90/RAD_TO_DEG; // Mundur - Vr_max = 0.8; + Vr_max = 0.7; } else if ((stick.atas)&&(!stick.bawah)&&(!stick.kiri)&&(stick.kanan)){ a = -135/RAD_TO_DEG; // Serong Atas Kanan @@ -288,11 +288,11 @@ } else if ((!stick.atas)&&(!stick.bawah)&&(stick.kanan)&&(!stick.kiri)){ a = 180/RAD_TO_DEG; // Kanan - Vr_max = 0.5; + Vr_max = 0.7; } else if ((!stick.atas)&&(!stick.bawah)&&(!stick.kanan)&&(stick.kiri)){ a = 0/RAD_TO_DEG; // Kiri - Vr_max = 0.5; + Vr_max = 0.7; } else { Vr_max = 0; @@ -302,20 +302,20 @@ if ((stick.silang_click)&&(!stick.kotak)&&(!stick.segitiga)&&(!stick.lingkaran)){ pneumatik[pn] = 1; pn++; - if (pn > 2) pn = 2; + if (pn > 4) pn = 2; } if ((!stick.silang_click)&&(!stick.kotak)&&(!stick.segitiga)&&(stick.lingkaran)){ - pneumatik[pn] = 0; - pn--; + //pneumatik[pn] = 0; + //pn--; if (pn < 0) pn = 0; } if ((!stick.silang_click)&&(!stick.kotak)&&(stick.segitiga)&&(!stick.lingkaran)) - for (int i = 0; i<3; i++){ + for (int i = 0; i<5; i++){ pneumatik[i] = 0; pn = 0; } if ((!stick.silang_click)&&(stick.kotak)&&(!stick.segitiga)&&(!stick.lingkaran)) - for (int i = 0; i<3; i++){ + for (int i = 0; i<5; i++){ pneumatik[i] = 1; pn = 0; }