File content as of revision 0:7a67707b5b88:

/*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();
}