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

--- 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

--- 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

--- 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 {