Diff: main.cpp

Revision:

24:b3e632cc4533

Parent:

23:023b522977b2

Child:

25:054d3048dd03

--- a/main.cpp	Wed Feb 01 15:00:08 2017 +0000
+++ b/main.cpp	Thu Feb 02 11:12:43 2017 +0000
@@ -27,8 +27,10 @@
 /*  Tombol lingkaran=> Aktif servo Launcher                                 */
 /*  Tombol L1       => Pivot Kiri                                           */
 /*  Tombol R1       => Pivot Kanan                                          */
-/*  Tombol L3       => PWM Launcher Belakang dikurangin                     */
-/*  Tombol R3       => PWM Launcher Belakang ditambahin                     */
+/*  Tombol L3       => PWM Motor Belakang Dikurangi                         */
+/*  Tombol R3       => PWM Motor Belakang Ditambah                          */
+/*  Tombol L2       => PWM Motor Depan Dikurangi                            */
+/*  Tombol R2       => PWM Motor Depan Ditambah                             */
 /*                                                                          */
 /*  Bismillahirahmanirrahim                                                 */
 /*  Jagalah Kebersihan Kodingan                                             */
@@ -184,13 +186,13 @@
         case (3) : {
             // Kanan
             motor1.speed(-VMAX-vpid);
-            motor2.speed(VMAX+vpid);
+            motor2.speed(0.2+vpid);
             break;
             }
         case (4) : {
             // Kiri
             motor1.speed(VMAX-vpid);
-            motor2.speed(-VMAX+vpid);
+            motor2.speed(-0.2+vpid);
             break;
             }
         default : {
@@ -233,7 +235,7 @@
     }
 }
 
-void speedLauncher(){
+void speedKalibrasiMotor(){
 /* Fungsi untuk speed launcher */
     if (joystick.R3_click and speedL < 0.8){
         speedL = speedL + 0.01; // PWM++ Motor Belakang
@@ -246,7 +248,8 @@
     }  
     if (joystick.L2_click and speedB > 0.1 ){
         speedB = speedB - 0.01; // PWM-- Motor Depan
-    }    
+    }
+    // pc.printf("Pwm depan = %.3f\t  Pwm belakang = %.3f\n", speedL, speedB);    
 }
    
 /*********************************************************/
@@ -283,7 +286,7 @@
 
             if (joystick.segitiga_click)    launcher    = !launcher;
             if (joystick.lingkaran_click)   servoGo     = true;
-            speedLauncher();
+            speedKalibrasiMotor();
         } 
         else {
             joystick.idle();