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Motor omni
Fork of Motor_HelloWorld by
Revision 1:91e3b7b265fd, committed 2016-09-22
- Comitter:
- rahmadirizki18
- Date:
- Thu Sep 22 15:16:37 2016 +0000
- Parent:
- 0:7bbc230e00d6
- Commit message:
- motor1
Changed in this revision
main.cpp | Show annotated file Show diff for this revision Revisions of this file |
mbed.bld | Show annotated file Show diff for this revision Revisions of this file |
diff -r 7bbc230e00d6 -r 91e3b7b265fd main.cpp --- 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); } -} + */ + +
diff -r 7bbc230e00d6 -r 91e3b7b265fd mbed.bld --- a/mbed.bld Tue Nov 23 16:19:19 2010 +0000 +++ b/mbed.bld Thu Sep 22 15:16:37 2016 +0000 @@ -1,1 +1,1 @@ -http://mbed.org/users/mbed_official/code/mbed/builds/e2ac27c8e93e +http://mbed.org/users/mbed_official/code/mbed/builds/abea610beb85 \ No newline at end of file