Diff: PivotKiri.cpp

Revision:

0:8e7dd2d20e4a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PivotKiri.cpp	Wed Mar 20 16:44:22 2019 +0000
@@ -0,0 +1,53 @@
+#include <iostream>
+#include "Motor.h"
+#include "mbed.h"
+
+bool loop = true;
+
+Motor::Motor(PinName pwm, PinName fwd, PinName rev):
+        _pwm(pwm), _fwd(fwd), _rev(rev) {
+
+    // Set initial condition of PWM
+    _pwm.period(0.002);
+    _pwm = 0;
+
+    // Initial condition of output enables
+    _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);
+}
+
+// Ilustrasi Kondisi Motor :
+/* 
+          +__________-     -- > Motor 3
+
+
+    -                      +
+     \                    /
+      \                  /   --- > Kiri : Motor 1, Kanan : Motor 2
+       \                /
+        +              -
+*/
+
+
+int main () {
+    Motor Motor1 (PC_7, PA_9, PA_8);   // Deklarasi objek motor
+    Motor Motor2 (PA_7, PA_6, PA_5);
+    Motor Motor3 (PB_3, PA_10, PA_2);
+        
+    while (loop == true) {
+    Motor1.speed(0.5);
+    Motor2.speed(0.5);
+    Motor3.speed(0.5);
+    }    
+    return 0;
+}
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