Revision 0:8e7dd2d20e4a, committed 2019-03-20

Comitter:

ferozfernando

Date:

Wed Mar 20 16:44:22 2019 +0000

Commit message:

Tugas Magang KRTMI-1

Changed in this revision

diff -r 000000000000 -r 8e7dd2d20e4a ForwardRotation.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ForwardRotation.cpp	Wed Mar 20 16:44:22 2019 +0000
@@ -0,0 +1,51 @@
+#include <iostream>
+#include "Motor.h"
+#include "mbed.h"
+#include "math.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);
+// Cara untuk menemukan perbandingan kecepatan sudut yang diperlukan tidak dapat saya temukan
+// Kecepatan sudut setiap roda seharusnya berubah ubah seiring waktu
+// Orientasi sebagai acuan arah juga berubah ubah seiring terjadinya rotasi
+    return 0;
+}
\ No newline at end of file

diff -r 000000000000 -r 8e7dd2d20e4a Maju.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Maju.cpp	Wed Mar 20 16:44:22 2019 +0000
@@ -0,0 +1,53 @@
+#include <iostream>
+#include "mbed.h"
+#include "Motor.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 dan letak pin
+    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);
+        }
+    
+    return 0;
+    }
\ No newline at end of file

diff -r 000000000000 -r 8e7dd2d20e4a Motor.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Motor.h	Wed Mar 20 16:44:22 2019 +0000
@@ -0,0 +1,80 @@
+/* mbed simple H-bridge motor controller
+ * Copyright (c) 2007-2010, sford
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#ifndef MBED_MOTOR_H
+#define MBED_MOTOR_H
+
+#include "mbed.h"
+
+#define BRAKE_HIGH 1
+#define BRAKE_LOW  0
+
+/** Interface to control a standard DC motor 
+ * with an H-bridge using a PwmOut and 2 DigitalOuts
+ */
+class Motor {
+public:
+
+    /** Create a motor control interface    
+     *
+     * @param pwm A PwmOut pin, driving the H-bridge enable line to control the speed
+     * @param fwd A DigitalOut, set high when the motor should go forward
+     * @param rev A DigitalOut, set high when the motor should go backwards
+     */
+    Motor(PinName pwm, PinName fwd, PinName rev);
+    
+    /** Set the speed of the motor
+     * 
+     * @param speed The speed of the motor as a normalised value between -1.0 and 1.0
+     */
+    void speed(float speed);
+    
+    /** Set the period of the pwm duty cycle.
+     *
+     * Wrapper for PwmOut::period()
+     *
+     * @param seconds - Pwm duty cycle in seconds.
+     */
+    void period(float period);
+    
+    /** Brake the H-bridge to GND or VCC.
+     * 
+     * Defaults to breaking to VCC.
+     *
+     * Brake to GND => inA = inB = 0
+     * Brake to VCC => inA = inB = 1
+     */
+    void brake(int highLow = BRAKE_HIGH);
+    
+    /**
+    *Brake lebih baik
+    **/
+    void forcebrake();
+
+protected:
+    PwmOut _pwm;
+    DigitalOut _fwd;
+    DigitalOut _rev;
+
+};
+
+#endif

diff -r 000000000000 -r 8e7dd2d20e4a Mundur.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Mundur.cpp	Wed Mar 20 16:44:22 2019 +0000
@@ -0,0 +1,52 @@
+#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);
+    }    
+    return 0;
+}
\ No newline at end of file

diff -r 000000000000 -r 8e7dd2d20e4a PivotKanan.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PivotKanan.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;
+}
\ No newline at end of file

diff -r 000000000000 -r 8e7dd2d20e4a PivotKiri.cpp
--- /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;
+}
\ No newline at end of file

diff -r 000000000000 -r 8e7dd2d20e4a TranslasiKanan.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/TranslasiKanan.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;
+}
\ No newline at end of file

diff -r 000000000000 -r 8e7dd2d20e4a TranslasiKiri.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/TranslasiKiri.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;
+}
\ No newline at end of file

diff -r 000000000000 -r 8e7dd2d20e4a mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Wed Mar 20 16:44:22 2019 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400
\ No newline at end of file