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Dependencies: mbed
Magang KRTMI Day 1
Motor.cpp
- Committer:
- D4n1elR
- Date:
- 2019-03-20
- Revision:
- 0:7fa27a02504b
File content as of revision 0:7fa27a02504b:
/* 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); }