Magang KRTMI / Mbed 2 deprecated Kontrol_DanielRiyanto_16518296

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Dependencies:   mbed

Motor.cpp@0:7fa27a02504b, 2019-03-20 (annotated)

Committer:
D4n1elR
Date:
Wed Mar 20 15:30:12 2019 +0000
Revision:
0:7fa27a02504b
Kelarrr

Who changed what in which revision?

UserRevisionLine numberNew contents of line
D4n1elR 0:7fa27a02504b 1 /* mbed simple H-bridge motor controller
D4n1elR 0:7fa27a02504b 2 * Copyright (c) 2007-2010, sford
D4n1elR 0:7fa27a02504b 3 *
D4n1elR 0:7fa27a02504b 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
D4n1elR 0:7fa27a02504b 5 * of this software and associated documentation files (the "Software"), to deal
D4n1elR 0:7fa27a02504b 6 * in the Software without restriction, including without limitation the rights
D4n1elR 0:7fa27a02504b 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
D4n1elR 0:7fa27a02504b 8 * copies of the Software, and to permit persons to whom the Software is
D4n1elR 0:7fa27a02504b 9 * furnished to do so, subject to the following conditions:
D4n1elR 0:7fa27a02504b 10 *
D4n1elR 0:7fa27a02504b 11 * The above copyright notice and this permission notice shall be included in
D4n1elR 0:7fa27a02504b 12 * all copies or substantial portions of the Software.
D4n1elR 0:7fa27a02504b 13 *
D4n1elR 0:7fa27a02504b 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
D4n1elR 0:7fa27a02504b 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
D4n1elR 0:7fa27a02504b 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
D4n1elR 0:7fa27a02504b 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
D4n1elR 0:7fa27a02504b 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
D4n1elR 0:7fa27a02504b 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
D4n1elR 0:7fa27a02504b 20 * THE SOFTWARE.
D4n1elR 0:7fa27a02504b 21 */
D4n1elR 0:7fa27a02504b 22
D4n1elR 0:7fa27a02504b 23 #include "mbed.h"
D4n1elR 0:7fa27a02504b 24 #include "Motor.h"
D4n1elR 0:7fa27a02504b 25 #include<iostream>
D4n1elR 0:7fa27a02504b 26
D4n1elR 0:7fa27a02504b 27 Motor::Motor(PinName pwm, PinName fwd, PinName rev):
D4n1elR 0:7fa27a02504b 28 _pwm(pwm), _fwd(fwd), _rev(rev) {
D4n1elR 0:7fa27a02504b 29
D4n1elR 0:7fa27a02504b 30 // Set initial condition of PWM
D4n1elR 0:7fa27a02504b 31 _pwm.period(0.002);
D4n1elR 0:7fa27a02504b 32 _pwm = 0;
D4n1elR 0:7fa27a02504b 33
D4n1elR 0:7fa27a02504b 34 // Initial condition of output enables
D4n1elR 0:7fa27a02504b 35 _fwd = 0;
D4n1elR 0:7fa27a02504b 36 _rev = 0;
D4n1elR 0:7fa27a02504b 37 }
D4n1elR 0:7fa27a02504b 38
D4n1elR 0:7fa27a02504b 39 void Motor::speed(float speed) {
D4n1elR 0:7fa27a02504b 40 _fwd = (speed > (float)0.0);
D4n1elR 0:7fa27a02504b 41 _rev = (speed < (float)0.0);
D4n1elR 0:7fa27a02504b 42 _pwm = fabs(speed);
D4n1elR 0:7fa27a02504b 43 }
D4n1elR 0:7fa27a02504b 44
D4n1elR 0:7fa27a02504b 45 void Motor::period(float period){
D4n1elR 0:7fa27a02504b 46
D4n1elR 0:7fa27a02504b 47 _pwm.period(period);
D4n1elR 0:7fa27a02504b 48
D4n1elR 0:7fa27a02504b 49 }
D4n1elR 0:7fa27a02504b 50
D4n1elR 0:7fa27a02504b 51 void Motor::brake(int highLow){
D4n1elR 0:7fa27a02504b 52
D4n1elR 0:7fa27a02504b 53 if(highLow == BRAKE_HIGH){
D4n1elR 0:7fa27a02504b 54 _fwd = 1;
D4n1elR 0:7fa27a02504b 55 _rev = 1;
D4n1elR 0:7fa27a02504b 56 }
D4n1elR 0:7fa27a02504b 57 else if(highLow == BRAKE_LOW){
D4n1elR 0:7fa27a02504b 58 _fwd = 0;
D4n1elR 0:7fa27a02504b 59 _rev = 0;
D4n1elR 0:7fa27a02504b 60 }
D4n1elR 0:7fa27a02504b 61
D4n1elR 0:7fa27a02504b 62 }
D4n1elR 0:7fa27a02504b 63
D4n1elR 0:7fa27a02504b 64 void Motor::forcebrake(){
D4n1elR 0:7fa27a02504b 65 _pwm = 1.0;
D4n1elR 0:7fa27a02504b 66 _fwd = 1;
D4n1elR 0:7fa27a02504b 67 _rev = 1;
D4n1elR 0:7fa27a02504b 68 }
D4n1elR 0:7fa27a02504b 69
D4n1elR 0:7fa27a02504b 70 int main() {
D4n1elR 0:7fa27a02504b 71 string arah, rotate, haha;
D4n1elR 0:7fa27a02504b 72
D4n1elR 0:7fa27a02504b 73 Motor depan(PC_7,PA_9,PA_8);
D4n1elR 0:7fa27a02504b 74 Motor kiri(PA_7,PA_6,PA_5);
D4n1elR 0:7fa27a02504b 75 Motor kanan(PB_3,PA_10,PA_2);
D4n1elR 0:7fa27a02504b 76
D4n1elR 0:7fa27a02504b 77 do {
D4n1elR 0:7fa27a02504b 78 getline (cin, arah);
D4n1elR 0:7fa27a02504b 79 getline (cin, rotate);
D4n1elR 0:7fa27a02504b 80 getline (cin, haha);
D4n1elR 0:7fa27a02504b 81 if (arah == "depan"){
D4n1elR 0:7fa27a02504b 82 kanan.speed(-1.0);
D4n1elR 0:7fa27a02504b 83 kiri.speed(1.0);
D4n1elR 0:7fa27a02504b 84 }
D4n1elR 0:7fa27a02504b 85 else if (arah == "belakang"){
D4n1elR 0:7fa27a02504b 86 kiri.speed(-1.0);
D4n1elR 0:7fa27a02504b 87 kanan.speed(1.0);
D4n1elR 0:7fa27a02504b 88 }
D4n1elR 0:7fa27a02504b 89 else if (arah == "kiri") {
D4n1elR 0:7fa27a02504b 90 depan.speed(-1.0);
D4n1elR 0:7fa27a02504b 91 kiri.speed(1.0);
D4n1elR 0:7fa27a02504b 92 kanan.speed(1.0);
D4n1elR 0:7fa27a02504b 93 }
D4n1elR 0:7fa27a02504b 94 else if (arah == "kanan") {
D4n1elR 0:7fa27a02504b 95 depan.speed(1.0);
D4n1elR 0:7fa27a02504b 96 kiri.speed(-1.0);
D4n1elR 0:7fa27a02504b 97 kanan.speed(-1.0);
D4n1elR 0:7fa27a02504b 98 }
D4n1elR 0:7fa27a02504b 99
D4n1elR 0:7fa27a02504b 100 if (rotate == "jam") { //searah jarum jam
D4n1elR 0:7fa27a02504b 101 depan.speed(0.5);
D4n1elR 0:7fa27a02504b 102 kiri.speed(0.5);
D4n1elR 0:7fa27a02504b 103 kanan.speed(0.5);
D4n1elR 0:7fa27a02504b 104 }
D4n1elR 0:7fa27a02504b 105 else if (rotate == "nonjam") { //berlawanan jarum jam
D4n1elR 0:7fa27a02504b 106 depan.speed(-0.5);
D4n1elR 0:7fa27a02504b 107 kiri.speed(-0.5);
D4n1elR 0:7fa27a02504b 108 kanan.speed(-0.5);
D4n1elR 0:7fa27a02504b 109 }
D4n1elR 0:7fa27a02504b 110
D4n1elR 0:7fa27a02504b 111 if (haha == "haha") { //maju ke depan sambil berotasi berlawan
D4n1elR 0:7fa27a02504b 112 depan.speed(-0.9);
D4n1elR 0:7fa27a02504b 113 kiri.speed(-0.6);
D4n1elR 0:7fa27a02504b 114 kanan.speed(-0.75);
D4n1elR 0:7fa27a02504b 115 }
D4n1elR 0:7fa27a02504b 116
D4n1elR 0:7fa27a02504b 117 } while(1 != 0);
D4n1elR 0:7fa27a02504b 118 }