Magang KRTMI / Mbed 2 deprecated AndreSubagjaManurung-16518254

Magang KRTMI Day 1 : Program Motor Driver Nucleo

Dependencies:   Motornew mbed

ProgramMotor.cpp@3:1f003e4a9c8d, 2019-03-20 (annotated)

Committer:
andremanurung
Date:
Wed Mar 20 13:35:50 2019 +0000
Revision:
3:1f003e4a9c8d
AndreSubagjaManurung-16518254

Who changed what in which revision?

UserRevisionLine numberNew contents of line
andremanurung 3:1f003e4a9c8d 1 #include "Motor.h"
andremanurung 3:1f003e4a9c8d 2
andremanurung 3:1f003e4a9c8d 3 //-------------------------------------------------------------------------------------
andremanurung 3:1f003e4a9c8d 4 Motor::Motor(D5, D8, D7):
andremanurung 3:1f003e4a9c8d 5 _pwm(D5), _fwd(D8), _rev(D7) {
andremanurung 3:1f003e4a9c8d 6
andremanurung 3:1f003e4a9c8d 7 _pwm.period(0.002);
andremanurung 3:1f003e4a9c8d 8 _pwm = 0;
andremanurung 3:1f003e4a9c8d 9 _fwd = 0;
andremanurung 3:1f003e4a9c8d 10 _rev = 0;
andremanurung 3:1f003e4a9c8d 11 }
andremanurung 3:1f003e4a9c8d 12 void Motor::speed(float speed) {
andremanurung 3:1f003e4a9c8d 13 _fwd = (speed > (float)0.0);
andremanurung 3:1f003e4a9c8d 14 _rev = (speed < (float)0.0);
andremanurung 3:1f003e4a9c8d 15 _pwm = fabs(speed);
andremanurung 3:1f003e4a9c8d 16 }
andremanurung 3:1f003e4a9c8d 17 void Motor::period(float period){
andremanurung 3:1f003e4a9c8d 18 _pwm.period(period);
andremanurung 3:1f003e4a9c8d 19
andremanurung 3:1f003e4a9c8d 20 }
andremanurung 3:1f003e4a9c8d 21 void Motor::brake(int highLow){
andremanurung 3:1f003e4a9c8d 22 if(highLow == BRAKE_HIGH){
andremanurung 3:1f003e4a9c8d 23 _fwd = 1;
andremanurung 3:1f003e4a9c8d 24 _rev = 1;
andremanurung 3:1f003e4a9c8d 25 }
andremanurung 3:1f003e4a9c8d 26 else if(highLow == BRAKE_LOW){
andremanurung 3:1f003e4a9c8d 27 _fwd = 0;
andremanurung 3:1f003e4a9c8d 28 _rev = 0;
andremanurung 3:1f003e4a9c8d 29 }
andremanurung 3:1f003e4a9c8d 30 }
andremanurung 3:1f003e4a9c8d 31 void Motor::forcebrake(){
andremanurung 3:1f003e4a9c8d 32 _pwm = 1.0;
andremanurung 3:1f003e4a9c8d 33 _fwd = 1;
andremanurung 3:1f003e4a9c8d 34 _rev = 1;
andremanurung 3:1f003e4a9c8d 35 }
andremanurung 3:1f003e4a9c8d 36 //-------------------------------------------------------------------------------------
andremanurung 3:1f003e4a9c8d 37
andremanurung 3:1f003e4a9c8d 38
andremanurung 3:1f003e4a9c8d 39 //------------------Ke Depan----------------------------
andremanurung 3:1f003e4a9c8d 40 //---------------------^^-----------------------------
andremanurung 3:1f003e4a9c8d 41 //---------------------||-----------------------------
andremanurung 3:1f003e4a9c8d 42 //----------------------------------------------------
andremanurung 3:1f003e4a9c8d 43 //----Motor depan-----OOOO----------------------------
andremanurung 3:1f003e4a9c8d 44 //---------------------||--------------__>------------
andremanurung 3:1f003e4a9c8d 45 //---------------------||--------------__>---Ke Kanan-----
andremanurung 3:1f003e4a9c8d 46 //-------------------//--\\----------------------------
andremanurung 3:1f003e4a9c8d 47 //------------------//----\\--------------------------
andremanurung 3:1f003e4a9c8d 48 //-----Motor kiri--OOO----OOO----Motor Kanan----------
andremanurung 3:1f003e4a9c8d 49
andremanurung 3:1f003e4a9c8d 50 int main() {
andremanurung 3:1f003e4a9c8d 51 string arah, rotate;
andremanurung 3:1f003e4a9c8d 52
andremanurung 3:1f003e4a9c8d 53 Motor depan();
andremanurung 3:1f003e4a9c8d 54 Motor kiri();
andremanurung 3:1f003e4a9c8d 55 Motor kanan();
andremanurung 3:1f003e4a9c8d 56
andremanurung 3:1f003e4a9c8d 57 //Kekuatan motor-yang-berotasi-dan-menyebabkan-base-bergerak-clockwise adalah positif
andremanurung 3:1f003e4a9c8d 58 //Kekuatan motor-yang-berotasi-dan-menyebabkan-base-bergerak-clockwise adalah positif
andremanurung 3:1f003e4a9c8d 59 //Kekuatan motor-yang-berotasi-dan-menyebabkan-base-bergerak-clockwise adalah positif
andremanurung 3:1f003e4a9c8d 60
andremanurung 3:1f003e4a9c8d 61 do {
andremanurung 3:1f003e4a9c8d 62 getline (cin, arah);
andremanurung 3:1f003e4a9c8d 63 getline (cin, rotate);
andremanurung 3:1f003e4a9c8d 64
andremanurung 3:1f003e4a9c8d 65 if (arah == "depan"){ //Base bergerak ke depan
andremanurung 3:1f003e4a9c8d 66 kanan.speed(-1.0);
andremanurung 3:1f003e4a9c8d 67 kiri.speed(1.0);
andremanurung 3:1f003e4a9c8d 68 }
andremanurung 3:1f003e4a9c8d 69
andremanurung 3:1f003e4a9c8d 70 if (arah == "belakang"){ //Base bergerak ke belakang
andremanurung 3:1f003e4a9c8d 71 kiri.speed(-1.0);
andremanurung 3:1f003e4a9c8d 72 kanan.speed(1.0);
andremanurung 3:1f003e4a9c8d 73 }
andremanurung 3:1f003e4a9c8d 74
andremanurung 3:1f003e4a9c8d 75 if (arah == "kiri") { //Base bergerak ke kiri
andremanurung 3:1f003e4a9c8d 76 depan.speed(-1.0);
andremanurung 3:1f003e4a9c8d 77 kiri.speed(1.0);
andremanurung 3:1f003e4a9c8d 78 kanan.speed(-1.0);
andremanurung 3:1f003e4a9c8d 79 }
andremanurung 3:1f003e4a9c8d 80
andremanurung 3:1f003e4a9c8d 81 if (arah == "kanan") { //Base bergerak ke kanan
andremanurung 3:1f003e4a9c8d 82 depan.speed(1.0);
andremanurung 3:1f003e4a9c8d 83 kiri.speed(-1.0);
andremanurung 3:1f003e4a9c8d 84 kanan.speed(1.0);
andremanurung 3:1f003e4a9c8d 85 }
andremanurung 3:1f003e4a9c8d 86
andremanurung 3:1f003e4a9c8d 87 if (rotate == "clockwise") { //Base begerak searah jarum jam (pivot kanan)
andremanurung 3:1f003e4a9c8d 88 depan.speed(1.0);
andremanurung 3:1f003e4a9c8d 89 kiri.speed(1.0);
andremanurung 3:1f003e4a9c8d 90 kanan.speed(1.0);
andremanurung 3:1f003e4a9c8d 91 }
andremanurung 3:1f003e4a9c8d 92
andremanurung 3:1f003e4a9c8d 93 if (rotate == "counterclock") { //Base begerak searah jarum jam (pivot kanan)
andremanurung 3:1f003e4a9c8d 94 depan.speed(-1.0);
andremanurung 3:1f003e4a9c8d 95 kiri.speed(-1.0);
andremanurung 3:1f003e4a9c8d 96 kanan.speed(-1.0);
andremanurung 3:1f003e4a9c8d 97 }
andremanurung 3:1f003e4a9c8d 98
andremanurung 3:1f003e4a9c8d 99 if (arah == "kanan" && rotate == "clockwise"){ //Base begerak searah jarum jam dan translasi ke kanan (belum berhasil)
andremanurung 3:1f003e4a9c8d 100 depan.speed(1.0);
andremanurung 3:1f003e4a9c8d 101 kiri.speed(0.75);
andremanurung 3:1f003e4a9c8d 102 kanan.speed(-0.5);
andremanurung 3:1f003e4a9c8d 103 }
andremanurung 3:1f003e4a9c8d 104 } while();
andremanurung 3:1f003e4a9c8d 105 }