Diff: Motor.cpp

Revision:

0:7fa27a02504b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Motor.cpp	Wed Mar 20 15:30:12 2019 +0000
@@ -0,0 +1,118 @@
+/* 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.
+ */
+
+#include "mbed.h"
+#include "Motor.h"
+#include<iostream>
+
+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);
+
+}
+
+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;
+}
+
+int main() {
+  string arah, rotate, haha;
+
+  Motor depan(PC_7,PA_9,PA_8);
+  Motor kiri(PA_7,PA_6,PA_5);
+  Motor kanan(PB_3,PA_10,PA_2);
+
+  do {
+    getline (cin, arah);
+    getline (cin, rotate);
+    getline (cin, haha);
+    if (arah == "depan"){
+      kanan.speed(-1.0);
+      kiri.speed(1.0);
+    }
+    else if (arah == "belakang"){
+      kiri.speed(-1.0);
+      kanan.speed(1.0);
+    }
+    else if (arah == "kiri") {
+      depan.speed(-1.0);
+      kiri.speed(1.0);
+      kanan.speed(1.0);
+    }
+    else if (arah == "kanan") {
+      depan.speed(1.0);
+      kiri.speed(-1.0);
+      kanan.speed(-1.0);
+    }
+
+    if (rotate == "jam") { //searah jarum jam
+      depan.speed(0.5);
+      kiri.speed(0.5);
+      kanan.speed(0.5);
+    }
+    else if (rotate == "nonjam") { //berlawanan jarum jam
+      depan.speed(-0.5);
+      kiri.speed(-0.5);
+      kanan.speed(-0.5);
+    }
+
+    if (haha == "haha") {  //maju ke depan sambil berotasi berlawan  
+      depan.speed(-0.9);
+      kiri.speed(-0.6);
+      kanan.speed(-0.75);
+    }
+
+  } while(1 != 0);
+}