EL4121 Embedded System
tes library LCD 20x4
Dependencies: TextLCD mbed Motordriver PS_PAD
Fork of
_Tugas_Hybrid_LCD_RizqiCahyoY
by 
KRAI 2016
Revision 4:cd5de3b14797, committed 2017-12-12
- Comitter:
- be_bryan
- Date:
- Tue Dec 12 07:48:20 2017 +0000
- Parent:
- 3:a03ce2084ceb
- Commit message:
- llala
Changed in this revision
--- /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
--- 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
--- /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
--- /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
--- 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
--- /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
--- 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