aman semoga
Dependencies: Motor PID Joystick_OrdoV5 mbed
Fork of Joystick_ManualV2 by
Revision 19:bb304933a9f8, committed 2017-01-18
- Comitter:
- rahmadirizki18
- Date:
- Wed Jan 18 14:08:37 2017 +0000
- Parent:
- 18:23412e950394
- Commit message:
- aman semoga
Changed in this revision
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
diff -r 23412e950394 -r bb304933a9f8 encoderKRAI.h --- a/encoderKRAI.h Wed Jan 18 10:28:01 2017 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,106 +0,0 @@ -#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
diff -r 23412e950394 -r bb304933a9f8 main.cpp --- a/main.cpp Wed Jan 18 10:28:01 2017 +0000 +++ b/main.cpp Wed Jan 18 14:08:37 2017 +0000 @@ -42,7 +42,7 @@ float speed2=0.6; float speed3=0.6; float speed4=0.6; -float speedB=0.43 ; +float speedB=0.23 ; float speedL=0.4; @@ -65,7 +65,7 @@ // Inisialisasi Pin TX-RX Joystik dan PC joysticknucleo joystick(PA_0,PA_1); -Serial pc(USBTX,USBRX); +Serial pc(PA_2,PA_3); //encoder variable float errX, errY, errT, Vt, Vx, Vy; @@ -647,7 +647,7 @@ { // Set baud rate - 115200 joystick.setup(); - pc.baud(115200); + pc.baud(57600); wait_ms(500); pc.printf("Ready...\n"); @@ -677,6 +677,9 @@ if (joystick.lingkaran_click){ ServoGo = true; } + if (joystick.silang) { + pc.printf("Depan = %.3f \t Belakang = %.3f \n",speedB,speedL); + } speedLauncher(); } else {