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Dependencies: mbed
Magang KRTMI Day 1
Revision 0:7fa27a02504b, committed 2019-03-20
- Comitter:
- D4n1elR
- Date:
- Wed Mar 20 15:30:12 2019 +0000
- Commit message:
- Kelarrr
Changed in this revision
--- /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); +}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Motor.h Wed Mar 20 15:30:12 2019 +0000 @@ -0,0 +1,81 @@ +/* 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 + \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Wed Mar 20 15:30:12 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400 \ No newline at end of file