File content as of revision 1:91e3b7b265fd:

// Sweep the motor speed from full-speed reverse (-1.0) to full speed forwards (1.0)

#include "mbed.h"
#include "Motor.h"

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) {
       m1.speed(s); 
       wait(0.02);
    }
  */