Yolanda Tania / Mbed 2 deprecated PID_tangan

udah bisa looo

Dependencies:   mbed

motor/Motor.cpp@0:aa8e05bc0533, 2020-02-27 (annotated)

Committer:
Yolandataniaa
Date:
Thu Feb 27 12:40:03 2020 +0000
Revision:
0:aa8e05bc0533
good pid

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Yolandataniaa 0:aa8e05bc0533 1 /* mbed simple H-bridge motor controller
Yolandataniaa 0:aa8e05bc0533 2 * Copyright (c) 2007-2010, sford
Yolandataniaa 0:aa8e05bc0533 3 *
Yolandataniaa 0:aa8e05bc0533 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
Yolandataniaa 0:aa8e05bc0533 5 * of this software and associated documentation files (the "Software"), to deal
Yolandataniaa 0:aa8e05bc0533 6 * in the Software without restriction, including without limitation the rights
Yolandataniaa 0:aa8e05bc0533 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
Yolandataniaa 0:aa8e05bc0533 8 * copies of the Software, and to permit persons to whom the Software is
Yolandataniaa 0:aa8e05bc0533 9 * furnished to do so, subject to the following conditions:
Yolandataniaa 0:aa8e05bc0533 10 *
Yolandataniaa 0:aa8e05bc0533 11 * The above copyright notice and this permission notice shall be included in
Yolandataniaa 0:aa8e05bc0533 12 * all copies or substantial portions of the Software.
Yolandataniaa 0:aa8e05bc0533 13 *
Yolandataniaa 0:aa8e05bc0533 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
Yolandataniaa 0:aa8e05bc0533 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
Yolandataniaa 0:aa8e05bc0533 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
Yolandataniaa 0:aa8e05bc0533 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
Yolandataniaa 0:aa8e05bc0533 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
Yolandataniaa 0:aa8e05bc0533 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
Yolandataniaa 0:aa8e05bc0533 20 * THE SOFTWARE.
Yolandataniaa 0:aa8e05bc0533 21 */
Yolandataniaa 0:aa8e05bc0533 22
Yolandataniaa 0:aa8e05bc0533 23 #include "Motor.h"
Yolandataniaa 0:aa8e05bc0533 24
Yolandataniaa 0:aa8e05bc0533 25 Motor::Motor(PinName pwm, PinName fwd, PinName rev):
Yolandataniaa 0:aa8e05bc0533 26 _pwm(pwm), _fwd(fwd), _rev(rev) {
Yolandataniaa 0:aa8e05bc0533 27
Yolandataniaa 0:aa8e05bc0533 28 // Set initial condition of PWM
Yolandataniaa 0:aa8e05bc0533 29 _pwm.period(0.002);
Yolandataniaa 0:aa8e05bc0533 30 _pwm = 0;
Yolandataniaa 0:aa8e05bc0533 31
Yolandataniaa 0:aa8e05bc0533 32 // Initial condition of output enables
Yolandataniaa 0:aa8e05bc0533 33 _fwd = 0;
Yolandataniaa 0:aa8e05bc0533 34 _rev = 0;
Yolandataniaa 0:aa8e05bc0533 35 }
Yolandataniaa 0:aa8e05bc0533 36
Yolandataniaa 0:aa8e05bc0533 37 void Motor::speed(float speed) {
Yolandataniaa 0:aa8e05bc0533 38 _fwd = (speed > (float)0.0);
Yolandataniaa 0:aa8e05bc0533 39 _rev = (speed < (float)0.0);
Yolandataniaa 0:aa8e05bc0533 40 _pwm = fabs(speed);
Yolandataniaa 0:aa8e05bc0533 41 }
Yolandataniaa 0:aa8e05bc0533 42
Yolandataniaa 0:aa8e05bc0533 43 void Motor::period(float period){
Yolandataniaa 0:aa8e05bc0533 44
Yolandataniaa 0:aa8e05bc0533 45 _pwm.period(period);
Yolandataniaa 0:aa8e05bc0533 46
Yolandataniaa 0:aa8e05bc0533 47 }
Yolandataniaa 0:aa8e05bc0533 48
Yolandataniaa 0:aa8e05bc0533 49 void Motor::brake(int highLow){
Yolandataniaa 0:aa8e05bc0533 50
Yolandataniaa 0:aa8e05bc0533 51 if(highLow == BRAKE_HIGH){
Yolandataniaa 0:aa8e05bc0533 52 _pwm = 1;
Yolandataniaa 0:aa8e05bc0533 53 _fwd = 1;
Yolandataniaa 0:aa8e05bc0533 54 _rev = 1;
Yolandataniaa 0:aa8e05bc0533 55 }
Yolandataniaa 0:aa8e05bc0533 56 else if(highLow == BRAKE_LOW){
Yolandataniaa 0:aa8e05bc0533 57 _fwd = 0;
Yolandataniaa 0:aa8e05bc0533 58 _rev = 0;
Yolandataniaa 0:aa8e05bc0533 59 }
Yolandataniaa 0:aa8e05bc0533 60
Yolandataniaa 0:aa8e05bc0533 61 }
Yolandataniaa 0:aa8e05bc0533 62
Yolandataniaa 0:aa8e05bc0533 63 void Motor::forcebrake(){
Yolandataniaa 0:aa8e05bc0533 64 _pwm = 1;
Yolandataniaa 0:aa8e05bc0533 65 _fwd = 1;
Yolandataniaa 0:aa8e05bc0533 66 _rev = 1;
Yolandataniaa 0:aa8e05bc0533 67 }