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Buat agip
Dependencies: Motor_1 encoderKRAI mbed millis
Fork of Robo_Taker_Nasional_2018 by
Diff: main.cpp
- Revision:
- 11:c682c965f781
- Parent:
- 10:a478ba07ed33
- Child:
- 12:9f56ff893897
diff -r a478ba07ed33 -r c682c965f781 main.cpp --- 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;