Motor.cpp

00001 /* mbed simple H-bridge motor controller
00002  * Copyright (c) 2007-2010, sford
00003  *
00004  * Permission is hereby granted, free of charge, to any person obtaining a copy
00005  * of this software and associated documentation files (the "Software"), to deal
00006  * in the Software without restriction, including without limitation the rights
00007  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
00008  * copies of the Software, and to permit persons to whom the Software is
00009  * furnished to do so, subject to the following conditions:
00010  *
00011  * The above copyright notice and this permission notice shall be included in
00012  * all copies or substantial portions of the Software.
00013  *
00014  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
00015  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00016  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
00017  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00018  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00019  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
00020  * THE SOFTWARE.
00021  */
00022 
00023 #include "mbed.h"
00024 #include "Motor.h"
00025 #include<iostream>
00026 
00027 Motor::Motor(PinName pwm, PinName fwd, PinName rev):
00028         _pwm(pwm), _fwd(fwd), _rev(rev) {
00029 
00030     // Set initial condition of PWM
00031     _pwm.period(0.002);
00032     _pwm = 0;
00033 
00034     // Initial condition of output enables
00035     _fwd = 0;
00036     _rev = 0;
00037 }
00038 
00039 void Motor::speed(float speed) {
00040     _fwd = (speed > (float)0.0);
00041     _rev = (speed < (float)0.0);
00042     _pwm = fabs(speed);
00043 }
00044 
00045 void Motor::period(float period){
00046 
00047     _pwm.period(period);
00048 
00049 }
00050 
00051 void Motor::brake(int highLow){
00052 
00053     if(highLow == BRAKE_HIGH){
00054         _fwd = 1;
00055         _rev = 1;
00056     }
00057     else if(highLow == BRAKE_LOW){
00058         _fwd = 0;
00059         _rev = 0;
00060     }
00061 
00062 }
00063 
00064 void Motor::forcebrake(){
00065     _pwm = 1.0;
00066     _fwd = 1;
00067     _rev = 1;
00068 }
00069 
00070 int main() {
00071   string arah, rotate, haha;
00072 
00073   Motor depan(PC_7,PA_9,PA_8);
00074   Motor kiri(PA_7,PA_6,PA_5);
00075   Motor kanan(PB_3,PA_10,PA_2);
00076 
00077   do {
00078     getline (cin, arah);
00079     getline (cin, rotate);
00080     getline (cin, haha);
00081     if (arah == "depan"){
00082       kanan.speed(-1.0);
00083       kiri.speed(1.0);
00084     }
00085     else if (arah == "belakang"){
00086       kiri.speed(-1.0);
00087       kanan.speed(1.0);
00088     }
00089     else if (arah == "kiri") {
00090       depan.speed(-1.0);
00091       kiri.speed(1.0);
00092       kanan.speed(1.0);
00093     }
00094     else if (arah == "kanan") {
00095       depan.speed(1.0);
00096       kiri.speed(-1.0);
00097       kanan.speed(-1.0);
00098     }
00099 
00100     if (rotate == "jam") { //searah jarum jam
00101       depan.speed(0.5);
00102       kiri.speed(0.5);
00103       kanan.speed(0.5);
00104     }
00105     else if (rotate == "nonjam") { //berlawanan jarum jam
00106       depan.speed(-0.5);
00107       kiri.speed(-0.5);
00108       kanan.speed(-0.5);
00109     }
00110 
00111     if (haha == "haha") {  //maju ke depan sambil berotasi berlawan  
00112       depan.speed(-0.9);
00113       kiri.speed(-0.6);
00114       kanan.speed(-0.75);
00115     }
00116 
00117   } while(1 != 0);
00118 }