Magang KRTMI / Mbed 2 deprecated CONTROL_16518314_FerozFernando

Tugas Magang-1

Dependencies:   mbed

PivotKiri.cpp@0:8e7dd2d20e4a, 2019-03-20 (annotated)

Committer:
ferozfernando
Date:
Wed Mar 20 16:44:22 2019 +0000
Revision:
0:8e7dd2d20e4a
Tugas Magang KRTMI-1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ferozfernando 0:8e7dd2d20e4a 1 #include <iostream>
ferozfernando 0:8e7dd2d20e4a 2 #include "Motor.h"
ferozfernando 0:8e7dd2d20e4a 3 #include "mbed.h"
ferozfernando 0:8e7dd2d20e4a 4
ferozfernando 0:8e7dd2d20e4a 5 bool loop = true;
ferozfernando 0:8e7dd2d20e4a 6
ferozfernando 0:8e7dd2d20e4a 7 Motor::Motor(PinName pwm, PinName fwd, PinName rev):
ferozfernando 0:8e7dd2d20e4a 8 _pwm(pwm), _fwd(fwd), _rev(rev) {
ferozfernando 0:8e7dd2d20e4a 9
ferozfernando 0:8e7dd2d20e4a 10 // Set initial condition of PWM
ferozfernando 0:8e7dd2d20e4a 11 _pwm.period(0.002);
ferozfernando 0:8e7dd2d20e4a 12 _pwm = 0;
ferozfernando 0:8e7dd2d20e4a 13
ferozfernando 0:8e7dd2d20e4a 14 // Initial condition of output enables
ferozfernando 0:8e7dd2d20e4a 15 _fwd = 0;
ferozfernando 0:8e7dd2d20e4a 16 _rev = 0;
ferozfernando 0:8e7dd2d20e4a 17 }
ferozfernando 0:8e7dd2d20e4a 18
ferozfernando 0:8e7dd2d20e4a 19 void Motor::speed(float speed) {
ferozfernando 0:8e7dd2d20e4a 20 _fwd = (speed > (float)0.0);
ferozfernando 0:8e7dd2d20e4a 21 _rev = (speed < (float)0.0);
ferozfernando 0:8e7dd2d20e4a 22 _pwm = fabs(speed);
ferozfernando 0:8e7dd2d20e4a 23 }
ferozfernando 0:8e7dd2d20e4a 24
ferozfernando 0:8e7dd2d20e4a 25 void Motor::period(float period){
ferozfernando 0:8e7dd2d20e4a 26 _pwm.period(period);
ferozfernando 0:8e7dd2d20e4a 27 }
ferozfernando 0:8e7dd2d20e4a 28
ferozfernando 0:8e7dd2d20e4a 29 // Ilustrasi Kondisi Motor :
ferozfernando 0:8e7dd2d20e4a 30 /*
ferozfernando 0:8e7dd2d20e4a 31 +__________- -- > Motor 3
ferozfernando 0:8e7dd2d20e4a 32
ferozfernando 0:8e7dd2d20e4a 33
ferozfernando 0:8e7dd2d20e4a 34 - +
ferozfernando 0:8e7dd2d20e4a 35 \ /
ferozfernando 0:8e7dd2d20e4a 36 \ / --- > Kiri : Motor 1, Kanan : Motor 2
ferozfernando 0:8e7dd2d20e4a 37 \ /
ferozfernando 0:8e7dd2d20e4a 38 + -
ferozfernando 0:8e7dd2d20e4a 39 */
ferozfernando 0:8e7dd2d20e4a 40
ferozfernando 0:8e7dd2d20e4a 41
ferozfernando 0:8e7dd2d20e4a 42 int main () {
ferozfernando 0:8e7dd2d20e4a 43 Motor Motor1 (PC_7, PA_9, PA_8); // Deklarasi objek motor
ferozfernando 0:8e7dd2d20e4a 44 Motor Motor2 (PA_7, PA_6, PA_5);
ferozfernando 0:8e7dd2d20e4a 45 Motor Motor3 (PB_3, PA_10, PA_2);
ferozfernando 0:8e7dd2d20e4a 46
ferozfernando 0:8e7dd2d20e4a 47 while (loop == true) {
ferozfernando 0:8e7dd2d20e4a 48 Motor1.speed(0.5);
ferozfernando 0:8e7dd2d20e4a 49 Motor2.speed(0.5);
ferozfernando 0:8e7dd2d20e4a 50 Motor3.speed(0.5);
ferozfernando 0:8e7dd2d20e4a 51 }
ferozfernando 0:8e7dd2d20e4a 52 return 0;
ferozfernando 0:8e7dd2d20e4a 53 }