EL4121 Embedded System / Mbed OS odometry_omni_3roda_v1

PID omniwheel 3 roda

Dependencies:   Motor PS_PAD TextLCD mbed-os

Fork of cobaLCDJoyMotor_Thread by EL4121 Embedded System

encoderKRAI.h@4:cd5de3b14797, 2017-12-12 (annotated)

Committer:
be_bryan
Date:
Tue Dec 12 07:48:20 2017 +0000
Revision:
4:cd5de3b14797
llala

Who changed what in which revision?

UserRevisionLine numberNew contents of line
be_bryan 4:cd5de3b14797 1 #ifndef ENCODERKRAI_H
be_bryan 4:cd5de3b14797 2 #define ENCODERKRAI_H
be_bryan 4:cd5de3b14797 3
be_bryan 4:cd5de3b14797 4 /**
be_bryan 4:cd5de3b14797 5 * Includes
be_bryan 4:cd5de3b14797 6 */
be_bryan 4:cd5de3b14797 7 #include "mbed.h"
be_bryan 4:cd5de3b14797 8
be_bryan 4:cd5de3b14797 9 /**
be_bryan 4:cd5de3b14797 10 * Defines
be_bryan 4:cd5de3b14797 11 */
be_bryan 4:cd5de3b14797 12 #define PREV_MASK 0x1 //Mask for the previous state in determining direction
be_bryan 4:cd5de3b14797 13 //of rotation.
be_bryan 4:cd5de3b14797 14 #define CURR_MASK 0x2 //Mask for the current state in determining direction
be_bryan 4:cd5de3b14797 15 //of rotation.
be_bryan 4:cd5de3b14797 16 #define INVALID 0x3 //XORing two states where both bits have changed.
be_bryan 4:cd5de3b14797 17
be_bryan 4:cd5de3b14797 18 /**
be_bryan 4:cd5de3b14797 19 * Quadrature Encoder Interface.
be_bryan 4:cd5de3b14797 20 */
be_bryan 4:cd5de3b14797 21 class encoderKRAI {
be_bryan 4:cd5de3b14797 22
be_bryan 4:cd5de3b14797 23 public:
be_bryan 4:cd5de3b14797 24
be_bryan 4:cd5de3b14797 25 typedef enum Encoding {
be_bryan 4:cd5de3b14797 26
be_bryan 4:cd5de3b14797 27 X2_ENCODING,
be_bryan 4:cd5de3b14797 28 X4_ENCODING
be_bryan 4:cd5de3b14797 29
be_bryan 4:cd5de3b14797 30 } Encoding;
be_bryan 4:cd5de3b14797 31
be_bryan 4:cd5de3b14797 32 /** Membuat interface dari encoder
be_bryan 4:cd5de3b14797 33 *
be_bryan 4:cd5de3b14797 34 * @param inA DigitalIn, out A dari encoder
be_bryan 4:cd5de3b14797 35 * @param inB DigitalIn, out B dari encoder
be_bryan 4:cd5de3b14797 36 */
be_bryan 4:cd5de3b14797 37 encoderKRAI(PinName channelA, PinName channelB, int pulsesPerRev, Encoding encoding = X2_ENCODING);
be_bryan 4:cd5de3b14797 38
be_bryan 4:cd5de3b14797 39 /**
be_bryan 4:cd5de3b14797 40 * Reset encoder.
be_bryan 4:cd5de3b14797 41 *
be_bryan 4:cd5de3b14797 42 * Menset pulse dan revolusi/putaran menjadi 0
be_bryan 4:cd5de3b14797 43 */
be_bryan 4:cd5de3b14797 44 void reset(void);
be_bryan 4:cd5de3b14797 45
be_bryan 4:cd5de3b14797 46 /**
be_bryan 4:cd5de3b14797 47 * Membaca pulse yang didapat oleh encoder
be_bryan 4:cd5de3b14797 48 *
be_bryan 4:cd5de3b14797 49 * @return Nilai pulse yang telah dilalui.
be_bryan 4:cd5de3b14797 50 */
be_bryan 4:cd5de3b14797 51 int getPulses(void);
be_bryan 4:cd5de3b14797 52
be_bryan 4:cd5de3b14797 53 /**
be_bryan 4:cd5de3b14797 54 * Membaca putaran yang didapat oleh encoder
be_bryan 4:cd5de3b14797 55 *
be_bryan 4:cd5de3b14797 56 * @return Nilai revolusi/putaran yang telah dilalui.
be_bryan 4:cd5de3b14797 57 */
be_bryan 4:cd5de3b14797 58 int getRevolutions(void);
be_bryan 4:cd5de3b14797 59
be_bryan 4:cd5de3b14797 60 /**
be_bryan 4:cd5de3b14797 61 * Membaca pulse yang didapat oleh encoder
be_bryan 4:cd5de3b14797 62 *
be_bryan 4:cd5de3b14797 63 * @return Nilai pulse yang telah dilalui.
be_bryan 4:cd5de3b14797 64 */
be_bryan 4:cd5de3b14797 65 //int readDeltaPulses(void);
be_bryan 4:cd5de3b14797 66
be_bryan 4:cd5de3b14797 67 /**
be_bryan 4:cd5de3b14797 68 * Membaca putaran yang didapat oleh encoder
be_bryan 4:cd5de3b14797 69 *
be_bryan 4:cd5de3b14797 70 * @return Nilai revolusi/putaran yang telah dilalui.
be_bryan 4:cd5de3b14797 71 */
be_bryan 4:cd5de3b14797 72 //int readDeltaRevolutions(void);
be_bryan 4:cd5de3b14797 73
be_bryan 4:cd5de3b14797 74 private:
be_bryan 4:cd5de3b14797 75
be_bryan 4:cd5de3b14797 76 /**
be_bryan 4:cd5de3b14797 77 * Menghitung pulse
be_bryan 4:cd5de3b14797 78 *
be_bryan 4:cd5de3b14797 79 * Digunakan setiap rising/falling edge baik channel A atau B
be_bryan 4:cd5de3b14797 80 * Membaca putaran CW atau CCW => mengakibatkan pertambahan/pengurangan pulse
be_bryan 4:cd5de3b14797 81 */
be_bryan 4:cd5de3b14797 82 void encode(void);
be_bryan 4:cd5de3b14797 83
be_bryan 4:cd5de3b14797 84 /**
be_bryan 4:cd5de3b14797 85 * Indeks setiap rising edge untuk menghitung putaran
be_bryan 4:cd5de3b14797 86 * Nilai bertambah 1
be_bryan 4:cd5de3b14797 87 */
be_bryan 4:cd5de3b14797 88 //void index(void);
be_bryan 4:cd5de3b14797 89
be_bryan 4:cd5de3b14797 90 Encoding encoding_;
be_bryan 4:cd5de3b14797 91
be_bryan 4:cd5de3b14797 92 InterruptIn channelA_;
be_bryan 4:cd5de3b14797 93 InterruptIn channelB_;
be_bryan 4:cd5de3b14797 94 //InterruptIn index_;
be_bryan 4:cd5de3b14797 95
be_bryan 4:cd5de3b14797 96 int pulsesPerRev_;
be_bryan 4:cd5de3b14797 97 int prevState_;
be_bryan 4:cd5de3b14797 98 int currState_;
be_bryan 4:cd5de3b14797 99
be_bryan 4:cd5de3b14797 100 volatile int pulses_;
be_bryan 4:cd5de3b14797 101 volatile int revolutions_;
be_bryan 4:cd5de3b14797 102
be_bryan 4:cd5de3b14797 103
be_bryan 4:cd5de3b14797 104 };
be_bryan 4:cd5de3b14797 105
be_bryan 4:cd5de3b14797 106 #endif /* ENCODERKRAI_H */