Diff: main.cpp

Revision:

1:91e3b7b265fd

Parent:

0:7bbc230e00d6

--- a/main.cpp	Tue Nov 23 16:19:19 2010 +0000
+++ b/main.cpp	Thu Sep 22 15:16:37 2016 +0000
@@ -3,11 +3,138 @@
 #include "mbed.h"
 #include "Motor.h"
 
-Motor m(p23, p6, p5); // pwm, fwd, rev
+Motor m1(PA_9, PC_2, PC_3); // pwm, fwd, rev
+Motor m2(PA_8, PB_0, PC_15); // pwm, fwd, rev
+Motor m3(PA_11, PA_6, PA_5); // pwm, fwd, rev
+Motor m4(PA_10, PB_5, PB_4); // pwm, fwd, rev
+
 
 int main() {
+/*    float keterangan = -1.0;
+    float fade = 0.01; */
+    char perintah;
+    
+    Serial pc(USBTX,USBRX);
+    Serial data(PA_0,PA_1); // tx,rx
+    
+    data.baud(115200);
+    pc.baud(9600);
+    while (1) {    
+       
+    if (data.readable()){
+        perintah = data.getc();
+        pc.printf("%c\n",perintah);
+        
+    
+    switch (perintah){
+        case '8' : 
+            //Maju
+            
+            m1.speed(0.7);
+            m2.speed(-0.7);
+            m3.speed(-0.7);
+            m4.speed(0.7);
+            pc.printf("Maju"); 
+            break;
+        case '2' : 
+            //Mundur
+            m1.speed(-0.7);
+            m2.speed(0.7);
+            m3.speed(0.7);
+            m4.speed(-0.7); 
+            pc.printf("Mundur");
+            break;
+        case '4' : 
+            //Kiri
+            m1.speed(-0.7);
+            m2.speed(-0.7);
+            m3.speed(0.7);
+            m4.speed(0.7); 
+            pc.printf("Kiri");
+            break;
+        case '6' :
+            //Kanan 
+            m1.speed(0.7);
+            m2.speed(0.7);
+            m3.speed(-0.7);
+            m4.speed(-0.7);
+            pc.printf("Kanan"); 
+            break;
+        case 'E' :
+            //Searah Jarum Jam 
+            m1.speed(0.7);
+            m2.speed(0.7);
+            m3.speed(0.7);
+            m4.speed(0.7);
+            pc.printf("Putar Kanan"); 
+            break;
+        case 'Q' :
+            //Berlawanan Jarum Jam
+            m1.speed(-0.7);
+            m2.speed(-0.7);
+            m3.speed(-0.7);
+            m4.speed(-0.7); 
+            pc.printf("Putar Kiri");
+            break;
+        default  :
+            //Keadaan OFF
+            m1.speed(0);
+            m2.speed(0);
+            m3.speed(0);
+            m4.speed(0); 
+       }
+        }else {
+            m1.speed(0);
+            m2.speed(0);
+            m3.speed(0);
+            m4.speed(0); }
+       
+       
+        }
+        
+}            
+
+/*    
+     //Maju   
+    if ( perintah == 'W') {
+        m1.speed(0.5);
+        wait (5);
+        m1.speed(0);
+        pc.printf("Maju");
+        
+        }       
+     //Mundur
+    if ( perintah == 'S') {
+        m1.speed(-0.5);
+        wait (5);
+        m1.speed(0);
+        pc.printf("Mundur");
+        }       
+        
+     //Kiri
+     
+     
+     //Kanan   
+  
+  */
+  
+  
+      /*  m1.speed(keterangan);
+        keterangan = keterangan +fade;
+        if (keterangan > 1.00 || keterangan <-1.00) {
+             fade = -fade;
+            
+            }
+              
+        wait (0.1);
+        }
+
+*/
+/*    
     for (float s= -1.0; s < 1.0 ; s += 0.01) {
-       m.speed(s); 
+       m1.speed(s); 
        wait(0.02);
     }
-}
+  */  
+    
+