Diff: encoderKRAI.cpp

Revision:

19:bb304933a9f8

Parent:

18:23412e950394

diff -r 23412e950394 -r bb304933a9f8 encoderKRAI.cpp
--- a/encoderKRAI.cpp	Wed Jan 18 10:28:01 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,126 +0,0 @@
-/********************************************************/
-/*          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