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Magang KRTMI Day 1 : Program Motor Driver Nucleo
Dependencies: mbed
Diff: Motor.cpp
- Revision:
- 0:7a67707b5b88
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Motor.cpp Wed Mar 20 16:55:17 2019 +0000 @@ -0,0 +1,121 @@ +/*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> + +//--Library--// + +Motor::Motor(PinName pwm, PinName fwd, PinName rev): + _pwm(pwm), _fwd(fwd), _revr(ev) { + + _pwm.period(0.002); + _pwm = 0; + _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; +} + +//--Program Motor--// + +int main() +{ + string arah, rotate; + + Motor depan(); + Motor kiri(); + Motor kanan(); + + do { + getline (cin, arah); + getline (cin, rotate); + + if (arah == "maju"){ //Bergerak ke depan + kiri.speed(-1.0); + kanan.speed(1.0); + depan.speed(0.0); + } + + if (arah == "mundur"){ //Bergerak ke belakang + kanan.speed(-1.0); + kiri.speed(1.0); + depan.speed(0.0); + } + + if (arah == "kiri") { //Bergerak ke kiri + depan.speed(1.0); + kiri.speed(-1.0); + kanan.speed(-1.0); + } + if (arah == "kanan") { //Bergerak ke kanan + depan.speed(-1.0); + kiri.speed(1.0); + kanan.speed(1.0); + } + + if (rotate == "counterclock") { //Bergerak berlawanan jarum jam (pivot kiri) + depan.speed(1.0); + kiri.speed(1.0); + kanan.speed(1.0); + } + + if (rotate == "clockwise") { //Bergerak searah jarum jam (pivot kanan) + depan.speed(-1.0); + kiri.speed(-1.0); + kanan.speed(-1.0); + } + + if (arah == "kanan" && rotate == "clockwise"){ //Berputar sambil maju (kayaknya kak hehe) + depan.speed(1); + kiri.speed(0.75); + kanan.speed(0.5); + } +} while(); +} \ No newline at end of file