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dear josh
Dependencies: DigitDisplay Motor PID Ping mbed millis
Fork of DagonFly__RoadToJapan_15Mei by
encoderKRAI.cpp@51:292c5807a93f, 2017-05-15 (annotated)
- Committer:
- Najib_irvani
- Date:
- Mon May 15 12:51:35 2017 +0000
- Revision:
- 51:292c5807a93f
- Parent:
- 5:3aa203218306
dear josh
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
rahmadirizki18 | 5:3aa203218306 | 1 | /********************************************************/ |
rahmadirizki18 | 5:3aa203218306 | 2 | /* Library untuk pembacaan Encoder */ |
rahmadirizki18 | 5:3aa203218306 | 3 | /* Adapsi dari QEI */ |
rahmadirizki18 | 5:3aa203218306 | 4 | /* */ |
rahmadirizki18 | 5:3aa203218306 | 5 | /* Encoder yang sudah dicoba : */ |
rahmadirizki18 | 5:3aa203218306 | 6 | /* 1. Autonics */ |
rahmadirizki18 | 5:3aa203218306 | 7 | /* 2. Encoder bawaan Motor */ |
rahmadirizki18 | 5:3aa203218306 | 8 | /* */ |
rahmadirizki18 | 5:3aa203218306 | 9 | /* ______________________ */ |
rahmadirizki18 | 5:3aa203218306 | 10 | /* |______Autonics______| */ |
rahmadirizki18 | 5:3aa203218306 | 11 | /* | Out A = Input 1 | */ |
rahmadirizki18 | 5:3aa203218306 | 12 | /* | Out B = Input 2 | */ |
rahmadirizki18 | 5:3aa203218306 | 13 | /* | 5V | */ |
rahmadirizki18 | 5:3aa203218306 | 14 | /* |_Gnd________________| */ |
rahmadirizki18 | 5:3aa203218306 | 15 | /* */ |
rahmadirizki18 | 5:3aa203218306 | 16 | /********************************************************/ |
rahmadirizki18 | 5:3aa203218306 | 17 | |
rahmadirizki18 | 5:3aa203218306 | 18 | #include "mbed.h" |
rahmadirizki18 | 5:3aa203218306 | 19 | |
rahmadirizki18 | 5:3aa203218306 | 20 | #include "encoderKRAI.h" |
rahmadirizki18 | 5:3aa203218306 | 21 | |
rahmadirizki18 | 5:3aa203218306 | 22 | encoderKRAI::encoderKRAI(PinName channelA, |
rahmadirizki18 | 5:3aa203218306 | 23 | PinName channelB, |
rahmadirizki18 | 5:3aa203218306 | 24 | int pulsesPerRev, |
rahmadirizki18 | 5:3aa203218306 | 25 | Encoding encoding) : channelA_(channelA), channelB_(channelB) |
rahmadirizki18 | 5:3aa203218306 | 26 | { |
rahmadirizki18 | 5:3aa203218306 | 27 | pulses_ = 0; |
rahmadirizki18 | 5:3aa203218306 | 28 | revolutions_ = 0; |
rahmadirizki18 | 5:3aa203218306 | 29 | pulsesPerRev_ = pulsesPerRev; |
rahmadirizki18 | 5:3aa203218306 | 30 | encoding_ = encoding; |
rahmadirizki18 | 5:3aa203218306 | 31 | |
rahmadirizki18 | 5:3aa203218306 | 32 | //Workout what the current state is. |
rahmadirizki18 | 5:3aa203218306 | 33 | int chanA = channelA_.read(); |
rahmadirizki18 | 5:3aa203218306 | 34 | int chanB = channelB_.read(); |
rahmadirizki18 | 5:3aa203218306 | 35 | |
rahmadirizki18 | 5:3aa203218306 | 36 | //2-bit state. |
rahmadirizki18 | 5:3aa203218306 | 37 | currState_ = (chanA << 1) | (chanB); |
rahmadirizki18 | 5:3aa203218306 | 38 | prevState_ = currState_; |
rahmadirizki18 | 5:3aa203218306 | 39 | |
rahmadirizki18 | 5:3aa203218306 | 40 | //X2 encoding uses interrupts on only channel A. |
rahmadirizki18 | 5:3aa203218306 | 41 | //X4 encoding uses interrupts on channel A, |
rahmadirizki18 | 5:3aa203218306 | 42 | //and on channel B. |
rahmadirizki18 | 5:3aa203218306 | 43 | channelA_.rise(this, &encoderKRAI::encode); |
rahmadirizki18 | 5:3aa203218306 | 44 | channelA_.fall(this, &encoderKRAI::encode); |
rahmadirizki18 | 5:3aa203218306 | 45 | |
rahmadirizki18 | 5:3aa203218306 | 46 | //If we're using X4 encoding, then attach interrupts to channel B too. |
rahmadirizki18 | 5:3aa203218306 | 47 | if (encoding == X4_ENCODING) { |
rahmadirizki18 | 5:3aa203218306 | 48 | channelB_.rise(this, &encoderKRAI::encode); |
rahmadirizki18 | 5:3aa203218306 | 49 | channelB_.fall(this, &encoderKRAI::encode); |
rahmadirizki18 | 5:3aa203218306 | 50 | } |
rahmadirizki18 | 5:3aa203218306 | 51 | } |
rahmadirizki18 | 5:3aa203218306 | 52 | |
rahmadirizki18 | 5:3aa203218306 | 53 | void encoderKRAI::reset(void) { |
rahmadirizki18 | 5:3aa203218306 | 54 | |
rahmadirizki18 | 5:3aa203218306 | 55 | pulses_ = 0; |
rahmadirizki18 | 5:3aa203218306 | 56 | revolutions_ = 0; |
rahmadirizki18 | 5:3aa203218306 | 57 | |
rahmadirizki18 | 5:3aa203218306 | 58 | } |
rahmadirizki18 | 5:3aa203218306 | 59 | |
rahmadirizki18 | 5:3aa203218306 | 60 | /*int encoderKRAI::getCurrentState(void) { |
rahmadirizki18 | 5:3aa203218306 | 61 | |
rahmadirizki18 | 5:3aa203218306 | 62 | return currState_; |
rahmadirizki18 | 5:3aa203218306 | 63 | |
rahmadirizki18 | 5:3aa203218306 | 64 | }*/ |
rahmadirizki18 | 5:3aa203218306 | 65 | |
rahmadirizki18 | 5:3aa203218306 | 66 | int encoderKRAI::getPulses(void) { |
rahmadirizki18 | 5:3aa203218306 | 67 | |
rahmadirizki18 | 5:3aa203218306 | 68 | return pulses_; |
rahmadirizki18 | 5:3aa203218306 | 69 | |
rahmadirizki18 | 5:3aa203218306 | 70 | } |
rahmadirizki18 | 5:3aa203218306 | 71 | |
rahmadirizki18 | 5:3aa203218306 | 72 | int encoderKRAI::getRevolutions(void) { |
rahmadirizki18 | 5:3aa203218306 | 73 | |
rahmadirizki18 | 5:3aa203218306 | 74 | revolutions_ = pulses_ / pulsesPerRev_; |
rahmadirizki18 | 5:3aa203218306 | 75 | return revolutions_; |
rahmadirizki18 | 5:3aa203218306 | 76 | |
rahmadirizki18 | 5:3aa203218306 | 77 | } |
rahmadirizki18 | 5:3aa203218306 | 78 | |
rahmadirizki18 | 5:3aa203218306 | 79 | //////////////////////////////////////////////////////// |
rahmadirizki18 | 5:3aa203218306 | 80 | |
rahmadirizki18 | 5:3aa203218306 | 81 | void encoderKRAI::encode(void) { |
rahmadirizki18 | 5:3aa203218306 | 82 | |
rahmadirizki18 | 5:3aa203218306 | 83 | int change = 0; |
rahmadirizki18 | 5:3aa203218306 | 84 | int chanA = channelA_.read(); |
rahmadirizki18 | 5:3aa203218306 | 85 | int chanB = channelB_.read(); |
rahmadirizki18 | 5:3aa203218306 | 86 | |
rahmadirizki18 | 5:3aa203218306 | 87 | //2-bit state. |
rahmadirizki18 | 5:3aa203218306 | 88 | currState_ = (chanA << 1) | (chanB); |
rahmadirizki18 | 5:3aa203218306 | 89 | |
rahmadirizki18 | 5:3aa203218306 | 90 | if (encoding_ == X2_ENCODING) { |
rahmadirizki18 | 5:3aa203218306 | 91 | |
rahmadirizki18 | 5:3aa203218306 | 92 | //11->00->11->00 is counter clockwise rotation or "forward". |
rahmadirizki18 | 5:3aa203218306 | 93 | if ((prevState_ == 0x3 && currState_ == 0x0) || |
rahmadirizki18 | 5:3aa203218306 | 94 | (prevState_ == 0x0 && currState_ == 0x3)) { |
rahmadirizki18 | 5:3aa203218306 | 95 | |
rahmadirizki18 | 5:3aa203218306 | 96 | pulses_++; |
rahmadirizki18 | 5:3aa203218306 | 97 | |
rahmadirizki18 | 5:3aa203218306 | 98 | } |
rahmadirizki18 | 5:3aa203218306 | 99 | //10->01->10->01 is clockwise rotation or "backward". |
rahmadirizki18 | 5:3aa203218306 | 100 | else if ((prevState_ == 0x2 && currState_ == 0x1) || |
rahmadirizki18 | 5:3aa203218306 | 101 | (prevState_ == 0x1 && currState_ == 0x2)) { |
rahmadirizki18 | 5:3aa203218306 | 102 | |
rahmadirizki18 | 5:3aa203218306 | 103 | pulses_--; |
rahmadirizki18 | 5:3aa203218306 | 104 | |
rahmadirizki18 | 5:3aa203218306 | 105 | } |
rahmadirizki18 | 5:3aa203218306 | 106 | |
rahmadirizki18 | 5:3aa203218306 | 107 | } else if (encoding_ == X4_ENCODING) { |
rahmadirizki18 | 5:3aa203218306 | 108 | |
rahmadirizki18 | 5:3aa203218306 | 109 | //Entered a new valid state. |
rahmadirizki18 | 5:3aa203218306 | 110 | if (((currState_ ^ prevState_) != INVALID) && (currState_ != prevState_)) { |
rahmadirizki18 | 5:3aa203218306 | 111 | //2 bit state. Right hand bit of prev XOR left hand bit of current |
rahmadirizki18 | 5:3aa203218306 | 112 | //gives 0 if clockwise rotation and 1 if counter clockwise rotation. |
rahmadirizki18 | 5:3aa203218306 | 113 | change = (prevState_ & PREV_MASK) ^ ((currState_ & CURR_MASK) >> 1); |
rahmadirizki18 | 5:3aa203218306 | 114 | |
rahmadirizki18 | 5:3aa203218306 | 115 | if (change == 0) { |
rahmadirizki18 | 5:3aa203218306 | 116 | change = -1; |
rahmadirizki18 | 5:3aa203218306 | 117 | } |
rahmadirizki18 | 5:3aa203218306 | 118 | |
rahmadirizki18 | 5:3aa203218306 | 119 | pulses_ -= change; |
rahmadirizki18 | 5:3aa203218306 | 120 | } |
rahmadirizki18 | 5:3aa203218306 | 121 | |
rahmadirizki18 | 5:3aa203218306 | 122 | } |
rahmadirizki18 | 5:3aa203218306 | 123 | |
rahmadirizki18 | 5:3aa203218306 | 124 | prevState_ = currState_; |
rahmadirizki18 | 5:3aa203218306 | 125 | |
rahmadirizki18 | 5:3aa203218306 | 126 | } |