Magang KRTMI
Tugas Magang-1
Dependencies: mbed
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
--- /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
--- /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
--- /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
--- /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
--- /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
--- /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
--- /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
--- /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
--- /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