Diff: main.cpp

Revision:

49:0c9148ab8585

Parent:

48:3006386dc8df

Child:

50:8bc9dbca2ffa

diff -r 3006386dc8df -r 0c9148ab8585 main.cpp
--- a/main.cpp	Sat May 13 07:27:51 2017 +0000
+++ b/main.cpp	Sat May 13 15:17:23 2017 +0000
@@ -57,8 +57,8 @@
 // indek 2 untuk motor depan, 1 untuk motor belakang
 double speed, speed2;
 const double maxSpeed = 0.95, minSpeed = -0.95, Ts = 12.5;
-const double kpA1=0.1478, kdA1=0.9295, kiA1=0.0004226;
-const double kpA2=0.13978, kdA2=0.9222, kiA2=0.00038636;
+const double kpA1=0.19982, kdA1=0.91824, kiA1=0.00072609;
+const double kpA2=0.20481, kdA2=0.92191, kiA2=0.00076326;
 double a1,b1,c1;
 double a2,b2,c2;
 double current_error1, previous_error1_1 = 0, previous_error1_2 = 0;
@@ -131,9 +131,6 @@
 joysticknucleo joystick(PA_0,PA_1);
 Serial pc(USBTX,USBRX);
 
-/* Deklarasi Encoder Base */
-encoderKRAI encoderBase(PC_4, PB_15, 2000, encoderKRAI::X2_ENCODING);   //inA, inB, pin Indeks (NC = tak ada), 2xresolusi, mode pembacaan
-
 /* Deklarasi Encoder Launcher */
 encoderKRAI encLauncherDpn( PC_10, PC_11, 28, encoderKRAI::X4_ENCODING);
 encoderKRAI encLauncherBlk( PC_12, PD_2, 28, encoderKRAI::X4_ENCODING);