Diff: ProgramMotor.cpp

Revision:

3:1f003e4a9c8d

diff -r a90224b69d0b -r 1f003e4a9c8d ProgramMotor.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ProgramMotor.cpp	Wed Mar 20 13:35:50 2019 +0000
@@ -0,0 +1,105 @@
+#include "Motor.h"
+
+//-------------------------------------------------------------------------------------
+Motor::Motor(D5, D8, D7):
+        _pwm(D5), _fwd(D8), _rev(D7) {
+
+    _pwm.period(0.002);
+    _pwm = 0;
+    _fwd = 0;
+    _rev = 0;
+}
+void Motor::speed(float speed) {
+    _fwd = (speed > (float)0.0);
+    _rev = (speed < (float)0.0);
+    _pwm = fabs(speed);
+}
+void Motor::period(float period){
+    _pwm.period(period);
+
+}
+void Motor::brake(int highLow){
+    if(highLow == BRAKE_HIGH){
+        _fwd = 1;
+        _rev = 1;
+    }
+    else if(highLow == BRAKE_LOW){
+        _fwd = 0;
+        _rev = 0;
+    }
+}
+void Motor::forcebrake(){
+    _pwm = 1.0;
+    _fwd = 1;
+    _rev = 1;
+}
+//-------------------------------------------------------------------------------------
+
+
+//------------------Ke Depan----------------------------
+//---------------------^^-----------------------------
+//---------------------||-----------------------------
+//----------------------------------------------------
+//----Motor depan-----OOOO----------------------------
+//---------------------||--------------__>------------
+//---------------------||--------------__>---Ke Kanan-----
+//-------------------//--\\----------------------------
+//------------------//----\\--------------------------
+//-----Motor kiri--OOO----OOO----Motor Kanan----------
+
+int main() {
+  string arah, rotate;
+
+  Motor depan();
+  Motor kiri();
+  Motor kanan();
+
+//Kekuatan motor-yang-berotasi-dan-menyebabkan-base-bergerak-clockwise adalah positif
+//Kekuatan motor-yang-berotasi-dan-menyebabkan-base-bergerak-clockwise adalah positif
+//Kekuatan motor-yang-berotasi-dan-menyebabkan-base-bergerak-clockwise adalah positif
+
+  do {
+    getline (cin, arah);
+    getline (cin, rotate);
+    
+    if (arah == "depan"){       //Base bergerak ke depan
+      kanan.speed(-1.0);
+      kiri.speed(1.0);
+    }
+    
+    if (arah == "belakang"){    //Base bergerak ke belakang
+      kiri.speed(-1.0);
+      kanan.speed(1.0);
+    }
+    
+    if (arah == "kiri") {       //Base bergerak ke kiri
+      depan.speed(-1.0);
+      kiri.speed(1.0);
+      kanan.speed(-1.0);
+    }
+    
+    if (arah == "kanan") {      //Base bergerak ke kanan
+      depan.speed(1.0);
+      kiri.speed(-1.0);
+      kanan.speed(1.0);
+    }
+
+    if (rotate == "clockwise") {        //Base begerak searah jarum jam (pivot kanan)
+      depan.speed(1.0);
+      kiri.speed(1.0);
+      kanan.speed(1.0);
+    }
+    
+    if (rotate == "counterclock") {     //Base begerak searah jarum jam (pivot kanan)
+      depan.speed(-1.0);
+      kiri.speed(-1.0);
+      kanan.speed(-1.0);
+    }
+    
+    if (arah == "kanan" && rotate == "clockwise"){ //Base begerak searah jarum jam dan translasi ke kanan (belum berhasil)
+      depan.speed(1.0);                
+      kiri.speed(0.75);
+      kanan.speed(-0.5);
+    }
+  } while();
+}
\ No newline at end of file