KRAI 2017
/
TestMotor
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Revision 0:fd1d9eb5ab5f, committed 2017-06-11
- Comitter:
- danielgoodies
- Date:
- Sun Jun 11 19:20:35 2017 +0000
- Commit message:
- LImit
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Motor.lib Sun Jun 11 19:20:35 2017 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/aberk/code/Motor/#c75b234558af
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Sun Jun 11 19:20:35 2017 +0000
@@ -0,0 +1,64 @@
+#include "Motor.h"
+#include "mbed.h"
+
+DigitalIn limitAtasLifter(PB_3, PullUp); // Vertikal Atas: Lifter
+DigitalIn limitAtasSaucer(PB_2, PullUp); // Vertikal Atas: Saucer
+DigitalIn limitBawah(PB_10, PullUp); // Vertikal Bawah
+DigitalIn limitKiri(PA_5, PullUp); // Horizontal Kiri
+DigitalIn limitTengah(PC_9, PullUp);// Horizontal Tengah
+DigitalIn limitKanan(PC_8, PullUp); // Horizontal Kanan (Frisbee keluar)
+
+Motor powerScrew(PA_8, PC_1, PC_2); // pwm, fwd, rev
+Motor pulley(PA_10, PC_3, PC_0);
+
+int state = 0;
+int up = 0;
+
+int main()
+{
+ float pwmPower = -1.0;
+ while(1) {
+ /* limit switch atas */
+ if ((!limitAtasLifter) && (up)){
+ if(state == 0){
+ state = 1;
+ }
+ up = 0;
+ pwmPower = -1.0;
+ }
+
+ /* limit switch bawah */
+ if (!limitBawah){
+ if(state == 0){
+ state = 1;
+ }
+ else if ((state == 1)||(up == 0)){
+ state = 0;
+ }
+
+ up = 1;
+ pwmPower = 1.0;
+ }
+
+ /* limit switch saucer */
+ if ((!limitAtasSaucer) && (up)){
+ state = 0;
+ pwmPower = 1.0;
+ }
+ /*
+ else if ((limitAtasSaucer) && (up))
+ {
+ state = 1;
+ pwmPower = 1.0;
+ }
+ */
+
+ /* motor */
+ if (state == 1){
+ powerScrew.speed(pwmPower);
+ }
+ else if (state == 0){
+ powerScrew.brake(1);
+ }
+ }
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Sun Jun 11 19:20:35 2017 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/abea610beb85 \ No newline at end of file