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dear josh
Dependencies: DigitDisplay Motor PID Ping mbed millis
Fork of DagonFly__RoadToJapan_15Mei by
encoderKRAI.cpp
- Committer:
- Najib_irvani
- Date:
- 2017-05-15
- Revision:
- 51:292c5807a93f
- Parent:
- 5:3aa203218306
File content as of revision 51:292c5807a93f:
/********************************************************/ /* 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_; }