tes library LCD 20x4

Dependencies:   TextLCD mbed Motordriver PS_PAD

Fork of _Tugas_Hybrid_LCD_RizqiCahyoY by KRAI 2016

Files at this revision

API Documentation at this revision

Comitter:
be_bryan
Date:
Tue Dec 12 07:48:20 2017 +0000
Parent:
3:a03ce2084ceb
Commit message:
llala

Changed in this revision

Motor.lib Show annotated file Show diff for this revision Revisions of this file
Motordriver.lib Show diff for this revision Revisions of this file
encoderKRAI.cpp Show annotated file Show diff for this revision Revisions of this file
encoderKRAI.h Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file
mbed-os.lib Show annotated file Show diff for this revision Revisions of this file
mbed.bld Show diff for this revision Revisions of this file
diff -r a03ce2084ceb -r cd5de3b14797 Motor.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Motor.lib	Tue Dec 12 07:48:20 2017 +0000
@@ -0,0 +1,1 @@
+http://developer.mbed.org/users/aberk/code/Motor/#c75b234558af
diff -r a03ce2084ceb -r cd5de3b14797 Motordriver.lib
--- a/Motordriver.lib	Sat Dec 09 10:20:20 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-http://mbed.org/users/osmeest/code/Motordriver/#83245b45ea70
diff -r a03ce2084ceb -r cd5de3b14797 encoderKRAI.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/encoderKRAI.cpp	Tue Dec 12 07:48:20 2017 +0000
@@ -0,0 +1,126 @@
+/********************************************************/
+/*          Library untuk pembacaan Encoder             */
+/*                  Adapsi dari QEI                     */
+/*                                                      */
+/*  Encoder yang sudah dicoba :                         */
+/*  1. Autonics                                         */
+/*  2. Encoder bawaan Motor                             */
+/*                                                      */
+/*  ______________________                              */
+/*  |______Autonics______|                              */
+/*  | Out A = Input 1    |                              */
+/*  | Out B = Input 2    |                              */
+/*  | 5V                 |                              */
+/*  |_Gnd________________|                              */
+/*                                                      */
+/********************************************************/
+
+#include "mbed.h"
+
+#include "encoderKRAI.h"
+
+encoderKRAI::encoderKRAI(PinName channelA,
+                         PinName channelB,
+                         int pulsesPerRev,
+                         Encoding encoding) : channelA_(channelA), channelB_(channelB)
+{
+    pulses_       = 0;
+    revolutions_  = 0;
+    pulsesPerRev_ = pulsesPerRev;
+    encoding_     = encoding;
+
+    //Workout what the current state is.
+    int chanA = channelA_.read();
+    int chanB = channelB_.read();
+
+    //2-bit state.
+    currState_ = (chanA << 1) | (chanB);
+    prevState_ = currState_;
+
+    //X2 encoding uses interrupts on only channel A.
+    //X4 encoding uses interrupts on      channel A,
+    //and on channel B.
+    channelA_.rise(this, &encoderKRAI::encode);
+    channelA_.fall(this, &encoderKRAI::encode);
+
+    //If we're using X4 encoding, then attach interrupts to channel B too.
+    if (encoding == X4_ENCODING) {
+        channelB_.rise(this, &encoderKRAI::encode);
+        channelB_.fall(this, &encoderKRAI::encode);
+    }
+}
+
+void encoderKRAI::reset(void) {
+
+    pulses_      = 0;
+    revolutions_ = 0;
+
+}
+
+/*int encoderKRAI::getCurrentState(void) {
+
+    return currState_;
+
+}*/
+
+int encoderKRAI::getPulses(void) {
+
+    return pulses_;
+
+}
+
+int encoderKRAI::getRevolutions(void) {
+
+    revolutions_ = pulses_ / pulsesPerRev_;
+    return revolutions_;
+
+}
+
+////////////////////////////////////////////////////////
+
+void encoderKRAI::encode(void) {
+
+    int change = 0;
+    int chanA  = channelA_.read();
+    int chanB  = channelB_.read();
+
+    //2-bit state.
+    currState_ = (chanA << 1) | (chanB);
+
+    if (encoding_ == X2_ENCODING) {
+
+        //11->00->11->00 is counter clockwise rotation or "forward".
+        if ((prevState_ == 0x3 && currState_ == 0x0) ||
+                (prevState_ == 0x0 && currState_ == 0x3)) {
+
+            pulses_++;
+
+        }
+        //10->01->10->01 is clockwise rotation or "backward".
+        else if ((prevState_ == 0x2 && currState_ == 0x1) ||
+                 (prevState_ == 0x1 && currState_ == 0x2)) {
+
+            pulses_--;
+
+        }
+
+    } else if (encoding_ == X4_ENCODING) {
+
+        //Entered a new valid state.
+        if (((currState_ ^ prevState_) != INVALID) && (currState_ != prevState_)) {
+            //2 bit state. Right hand bit of prev XOR left hand bit of current
+            //gives 0 if clockwise rotation and 1 if counter clockwise rotation.
+            change = (prevState_ & PREV_MASK) ^ ((currState_ & CURR_MASK) >> 1);
+
+            if (change == 0) {
+                change = -1;
+            }
+
+            pulses_ -= change;
+        }
+
+    }
+
+    prevState_ = currState_;
+
+}
\ No newline at end of file
diff -r a03ce2084ceb -r cd5de3b14797 encoderKRAI.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/encoderKRAI.h	Tue Dec 12 07:48:20 2017 +0000
@@ -0,0 +1,106 @@
+#ifndef ENCODERKRAI_H
+#define ENCODERKRAI_H
+
+/**
+ * Includes
+ */
+#include "mbed.h"
+
+/**
+ * Defines
+ */
+#define PREV_MASK 0x1 //Mask for the previous state in determining direction
+//of rotation.
+#define CURR_MASK 0x2 //Mask for the current state in determining direction
+//of rotation.
+#define INVALID   0x3 //XORing two states where both bits have changed.
+
+/**
+ * Quadrature Encoder Interface.
+ */
+class encoderKRAI {
+
+public:
+
+    typedef enum Encoding {
+
+        X2_ENCODING,
+        X4_ENCODING
+
+    } Encoding;
+    
+    /** Membuat interface dari encoder    
+     *
+     * @param inA DigitalIn, out A dari encoder
+     * @param inB DigitalIn, out B dari encoder
+     */
+    encoderKRAI(PinName channelA, PinName channelB, int pulsesPerRev, Encoding encoding = X2_ENCODING);
+    
+    /**
+     * Reset encoder.
+     *
+     * Menset pulse dan revolusi/putaran menjadi 0
+     */
+    void reset(void);
+    
+    /**
+     * Membaca pulse yang didapat oleh encoder
+     *
+     * @return Nilai pulse yang telah dilalui.
+     */
+    int getPulses(void);
+    
+    /**
+     * Membaca putaran yang didapat oleh encoder
+     *
+     * @return Nilai revolusi/putaran yang telah dilalui.
+     */
+    int getRevolutions(void);
+    
+    /**
+     * Membaca pulse yang didapat oleh encoder
+     *
+     * @return Nilai pulse yang telah dilalui.
+     */
+    //int readDeltaPulses(void);
+    
+    /**
+     * Membaca putaran yang didapat oleh encoder
+     *
+     * @return Nilai revolusi/putaran yang telah dilalui.
+     */
+    //int readDeltaRevolutions(void);
+
+private:
+
+    /**
+     * Menghitung pulse
+     *
+     * Digunakan setiap rising/falling edge baik channel A atau B
+     * Membaca putaran CW atau CCW => mengakibatkan pertambahan/pengurangan pulse
+     */
+    void encode(void);
+
+    /**
+     * Indeks setiap rising edge untuk menghitung putaran
+     * Nilai bertambah 1
+     */
+    //void index(void);
+
+    Encoding encoding_;
+
+    InterruptIn channelA_;
+    InterruptIn channelB_;
+    //InterruptIn index_;
+
+    int          pulsesPerRev_;
+    int          prevState_;
+    int          currState_;
+
+    volatile int pulses_;
+    volatile int revolutions_;
+
+
+};
+
+#endif /* ENCODERKRAI_H */
\ No newline at end of file
diff -r a03ce2084ceb -r cd5de3b14797 main.cpp
--- a/main.cpp	Sat Dec 09 10:20:20 2017 +0000
+++ b/main.cpp	Tue Dec 12 07:48:20 2017 +0000
@@ -2,23 +2,31 @@
 #include "mbed.h"
 #include "TextLCD.h"
 #include "PS_PAD.h"
-#include "motordriver.h"
+#include "Motor.h"
+#include "encoderKRAI.h"
 
 #include <string>
 using namespace std;
 
+Thread thread2(osPriorityNormal, OS_STACK_SIZE, NULL);
+Thread thread1(osPriorityNormal, OS_STACK_SIZE, NULL);
+Thread thread3(osPriorityNormal, OS_STACK_SIZE, NULL);
 
-TextLCD lcd(PB_7, PA_15, PA_14, PB_8, PB_1, PA_13, TextLCD::LCD20x4); //rs,e,d4-d7
-
+TextLCD lcd(PA_9, PC_3, PC_2, PA_8, PB_0, PC_15, TextLCD::LCD20x4); //rs,e,d4-d7
+encoderKRAI enc1 (PC_14, PC_13, 11, encoderKRAI::X4_ENCODING);
+encoderKRAI enc2 (PC_0, PC_1, 11, encoderKRAI::X4_ENCODING);
+encoderKRAI enc3 (PB_10, PB_3, 11, encoderKRAI::X4_ENCODING);
 PS_PAD ps2(PB_15,PB_14,PB_13, PC_4); //(mosi, miso, sck, ss)
 
-/* motor
-    Motor motor3(PA_8, PB_0, PC_15, 1); //motor1
-    Motor motor1(PA_11, PA_6, PA_5, 1); //motor2
-    Motor motor4(PA_9, PC_2, PC_3, 1);   //motor_slider
-    Motor motor2(PA_10, PB_5, PB_4, 1);  //motor_griper
-*/
-
+    Motor motor3(PB_7, PA_14, PA_15); //motor4
+    Motor motor2(PA_11, PA_6, PA_5); //motor2
+    //Motor motor1(PA_10, PB_5, PB_4);  //motor_griper
+    Motor motor1(PB_6, PA_7, PB_12); //motor 3
+string a;
+    
+void dataJoystick();
+void lcdPrint();
+void motorP();
 
 Serial pc(USBTX,USBRX);
 
@@ -26,20 +34,21 @@
 {    
     pc.baud(115200);
     ps2.init();
-    
-    string a;
+    thread1.start(dataJoystick);
+    thread2.start(lcdPrint);
+    thread3.start(motorP);
     while (1)
     {      
         // baca input
+/*      
         ps2.poll();
-        
         if(ps2.read(PS_PAD::PAD_X)==1)                   a = "silang";
         else if(ps2.read(PS_PAD::PAD_CIRCLE)==1)         a = "lingkaran";
         else if(ps2.read(PS_PAD::PAD_TRIANGLE)==1)       a = "segitiga";
         else if(ps2.read(PS_PAD::PAD_SQUARE)==1)         a = "kotak";
         else                                             a = "NULL";
-    
-        
+ */   
+/*        
         //tampilkan LCD
         lcd.locate(0,0);
         lcd.printf("input joystik :");
@@ -48,6 +57,48 @@
     
         wait_ms(10);
         lcd.cls();
+*/
+    }
+}
+
+void dataJoystick(){
+    while(true){
+    ps2.poll();
+    if(ps2.read(PS_PAD::PAD_X)==1)                   a =  "silang";
+    else if(ps2.read(PS_PAD::PAD_CIRCLE)==1)         a = "lingkaran";
+    else if(ps2.read(PS_PAD::PAD_TRIANGLE)==1)       a = "segitiga";
+    else if(ps2.read(PS_PAD::PAD_SQUARE)==1)         a = "kotak";
+    else                                             a = "NULL";    
     }
 }
-        
\ No newline at end of file
+
+void lcdPrint(){
+    while (true){
+    lcd.cls(); 
+    int pulse1 = enc1.getPulses();
+    int pulse2 = enc2.getPulses();
+    int pulse3 = enc3.getPulses();
+    lcd.locate(0,0);
+    lcd.printf("input : %s", a);
+    lcd.locate(0,1);
+    lcd.printf("enc1 = %d", pulse1);
+    lcd.locate(0,2);
+    lcd.printf("enc2 = %d", pulse2);
+    lcd.locate(0,3);
+    lcd.printf("enc3 = %d", pulse3);
+    Thread::wait(20);
+    }
+}
+
+void motorP() {
+        while(true){
+            motor1.speed(0.5);
+            motor2.speed(0.5);
+            motor3.speed(0.5);
+            Thread::wait(2000);
+            motor1.speed(-0.5);
+            motor2.speed(-0.5);
+            motor3.speed(-0.5);
+            Thread::wait(2000);
+        }  
+}      
\ No newline at end of file
diff -r a03ce2084ceb -r cd5de3b14797 mbed-os.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed-os.lib	Tue Dec 12 07:48:20 2017 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/teams/EL4121-Embedded-System/code/mbed-os/#b74591d5ab33
diff -r a03ce2084ceb -r cd5de3b14797 mbed.bld
--- a/mbed.bld	Sat Dec 09 10:20:20 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-http://mbed.org/users/mbed_official/code/mbed/builds/9296ab0bfc11
\ No newline at end of file