KRAI 2017
/
Riset-Odometry
hadah
Fork of Riset-Odometry by
encoderKRAI.cpp@0:b455cd43929c, 2016-11-07 (annotated)
- Committer:
- gustavaditya
- Date:
- Mon Nov 07 12:24:01 2016 +0000
- Revision:
- 0:b455cd43929c
Coba-riset-PID
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
gustavaditya | 0:b455cd43929c | 1 | /********************************************************/ |
gustavaditya | 0:b455cd43929c | 2 | /* Library untuk pembacaan Encoder */ |
gustavaditya | 0:b455cd43929c | 3 | /* Adapsi dari QEI */ |
gustavaditya | 0:b455cd43929c | 4 | /* */ |
gustavaditya | 0:b455cd43929c | 5 | /* Encoder yang sudah dicoba : */ |
gustavaditya | 0:b455cd43929c | 6 | /* 1. Autonics */ |
gustavaditya | 0:b455cd43929c | 7 | /* 2. Encoder bawaan Motor */ |
gustavaditya | 0:b455cd43929c | 8 | /* */ |
gustavaditya | 0:b455cd43929c | 9 | /* ______________________ */ |
gustavaditya | 0:b455cd43929c | 10 | /* |______Autonics______| */ |
gustavaditya | 0:b455cd43929c | 11 | /* | Out A = Input 1 | */ |
gustavaditya | 0:b455cd43929c | 12 | /* | Out B = Input 2 | */ |
gustavaditya | 0:b455cd43929c | 13 | /* | 5V | */ |
gustavaditya | 0:b455cd43929c | 14 | /* |_Gnd________________| */ |
gustavaditya | 0:b455cd43929c | 15 | /* */ |
gustavaditya | 0:b455cd43929c | 16 | /********************************************************/ |
gustavaditya | 0:b455cd43929c | 17 | |
gustavaditya | 0:b455cd43929c | 18 | #include "mbed.h" |
gustavaditya | 0:b455cd43929c | 19 | |
gustavaditya | 0:b455cd43929c | 20 | #include "encoderKRAI.h" |
gustavaditya | 0:b455cd43929c | 21 | |
gustavaditya | 0:b455cd43929c | 22 | encoderKRAI::encoderKRAI(PinName channelA, |
gustavaditya | 0:b455cd43929c | 23 | PinName channelB, |
gustavaditya | 0:b455cd43929c | 24 | int pulsesPerRev, |
gustavaditya | 0:b455cd43929c | 25 | Encoding encoding) : channelA_(channelA), channelB_(channelB) |
gustavaditya | 0:b455cd43929c | 26 | { |
gustavaditya | 0:b455cd43929c | 27 | pulses_ = 0; |
gustavaditya | 0:b455cd43929c | 28 | revolutions_ = 0; |
gustavaditya | 0:b455cd43929c | 29 | pulsesPerRev_ = pulsesPerRev; |
gustavaditya | 0:b455cd43929c | 30 | encoding_ = encoding; |
gustavaditya | 0:b455cd43929c | 31 | |
gustavaditya | 0:b455cd43929c | 32 | //Workout what the current state is. |
gustavaditya | 0:b455cd43929c | 33 | int chanA = channelA_.read(); |
gustavaditya | 0:b455cd43929c | 34 | int chanB = channelB_.read(); |
gustavaditya | 0:b455cd43929c | 35 | |
gustavaditya | 0:b455cd43929c | 36 | //2-bit state. |
gustavaditya | 0:b455cd43929c | 37 | currState_ = (chanA << 1) | (chanB); |
gustavaditya | 0:b455cd43929c | 38 | prevState_ = currState_; |
gustavaditya | 0:b455cd43929c | 39 | |
gustavaditya | 0:b455cd43929c | 40 | //X2 encoding uses interrupts on only channel A. |
gustavaditya | 0:b455cd43929c | 41 | //X4 encoding uses interrupts on channel A, |
gustavaditya | 0:b455cd43929c | 42 | //and on channel B. |
gustavaditya | 0:b455cd43929c | 43 | channelA_.rise(this, &encoderKRAI::encode); |
gustavaditya | 0:b455cd43929c | 44 | channelA_.fall(this, &encoderKRAI::encode); |
gustavaditya | 0:b455cd43929c | 45 | |
gustavaditya | 0:b455cd43929c | 46 | //If we're using X4 encoding, then attach interrupts to channel B too. |
gustavaditya | 0:b455cd43929c | 47 | if (encoding == X4_ENCODING) { |
gustavaditya | 0:b455cd43929c | 48 | channelB_.rise(this, &encoderKRAI::encode); |
gustavaditya | 0:b455cd43929c | 49 | channelB_.fall(this, &encoderKRAI::encode); |
gustavaditya | 0:b455cd43929c | 50 | } |
gustavaditya | 0:b455cd43929c | 51 | } |
gustavaditya | 0:b455cd43929c | 52 | |
gustavaditya | 0:b455cd43929c | 53 | void encoderKRAI::reset(void) { |
gustavaditya | 0:b455cd43929c | 54 | |
gustavaditya | 0:b455cd43929c | 55 | pulses_ = 0; |
gustavaditya | 0:b455cd43929c | 56 | revolutions_ = 0; |
gustavaditya | 0:b455cd43929c | 57 | |
gustavaditya | 0:b455cd43929c | 58 | } |
gustavaditya | 0:b455cd43929c | 59 | |
gustavaditya | 0:b455cd43929c | 60 | /*int encoderKRAI::getCurrentState(void) { |
gustavaditya | 0:b455cd43929c | 61 | |
gustavaditya | 0:b455cd43929c | 62 | return currState_; |
gustavaditya | 0:b455cd43929c | 63 | |
gustavaditya | 0:b455cd43929c | 64 | }*/ |
gustavaditya | 0:b455cd43929c | 65 | |
gustavaditya | 0:b455cd43929c | 66 | int encoderKRAI::getPulses(void) { |
gustavaditya | 0:b455cd43929c | 67 | |
gustavaditya | 0:b455cd43929c | 68 | return pulses_; |
gustavaditya | 0:b455cd43929c | 69 | |
gustavaditya | 0:b455cd43929c | 70 | } |
gustavaditya | 0:b455cd43929c | 71 | |
gustavaditya | 0:b455cd43929c | 72 | int encoderKRAI::getRevolutions(void) { |
gustavaditya | 0:b455cd43929c | 73 | |
gustavaditya | 0:b455cd43929c | 74 | revolutions_ = pulses_ / pulsesPerRev_; |
gustavaditya | 0:b455cd43929c | 75 | return revolutions_; |
gustavaditya | 0:b455cd43929c | 76 | |
gustavaditya | 0:b455cd43929c | 77 | } |
gustavaditya | 0:b455cd43929c | 78 | |
gustavaditya | 0:b455cd43929c | 79 | //////////////////////////////////////////////////////// |
gustavaditya | 0:b455cd43929c | 80 | |
gustavaditya | 0:b455cd43929c | 81 | void encoderKRAI::encode(void) { |
gustavaditya | 0:b455cd43929c | 82 | |
gustavaditya | 0:b455cd43929c | 83 | int change = 0; |
gustavaditya | 0:b455cd43929c | 84 | int chanA = channelA_.read(); |
gustavaditya | 0:b455cd43929c | 85 | int chanB = channelB_.read(); |
gustavaditya | 0:b455cd43929c | 86 | |
gustavaditya | 0:b455cd43929c | 87 | //2-bit state. |
gustavaditya | 0:b455cd43929c | 88 | currState_ = (chanA << 1) | (chanB); |
gustavaditya | 0:b455cd43929c | 89 | |
gustavaditya | 0:b455cd43929c | 90 | if (encoding_ == X2_ENCODING) { |
gustavaditya | 0:b455cd43929c | 91 | |
gustavaditya | 0:b455cd43929c | 92 | //11->00->11->00 is counter clockwise rotation or "forward". |
gustavaditya | 0:b455cd43929c | 93 | if ((prevState_ == 0x3 && currState_ == 0x0) || |
gustavaditya | 0:b455cd43929c | 94 | (prevState_ == 0x0 && currState_ == 0x3)) { |
gustavaditya | 0:b455cd43929c | 95 | |
gustavaditya | 0:b455cd43929c | 96 | pulses_++; |
gustavaditya | 0:b455cd43929c | 97 | |
gustavaditya | 0:b455cd43929c | 98 | } |
gustavaditya | 0:b455cd43929c | 99 | //10->01->10->01 is clockwise rotation or "backward". |
gustavaditya | 0:b455cd43929c | 100 | else if ((prevState_ == 0x2 && currState_ == 0x1) || |
gustavaditya | 0:b455cd43929c | 101 | (prevState_ == 0x1 && currState_ == 0x2)) { |
gustavaditya | 0:b455cd43929c | 102 | |
gustavaditya | 0:b455cd43929c | 103 | pulses_--; |
gustavaditya | 0:b455cd43929c | 104 | |
gustavaditya | 0:b455cd43929c | 105 | } |
gustavaditya | 0:b455cd43929c | 106 | |
gustavaditya | 0:b455cd43929c | 107 | } else if (encoding_ == X4_ENCODING) { |
gustavaditya | 0:b455cd43929c | 108 | |
gustavaditya | 0:b455cd43929c | 109 | //Entered a new valid state. |
gustavaditya | 0:b455cd43929c | 110 | if (((currState_ ^ prevState_) != INVALID) && (currState_ != prevState_)) { |
gustavaditya | 0:b455cd43929c | 111 | //2 bit state. Right hand bit of prev XOR left hand bit of current |
gustavaditya | 0:b455cd43929c | 112 | //gives 0 if clockwise rotation and 1 if counter clockwise rotation. |
gustavaditya | 0:b455cd43929c | 113 | change = (prevState_ & PREV_MASK) ^ ((currState_ & CURR_MASK) >> 1); |
gustavaditya | 0:b455cd43929c | 114 | |
gustavaditya | 0:b455cd43929c | 115 | if (change == 0) { |
gustavaditya | 0:b455cd43929c | 116 | change = -1; |
gustavaditya | 0:b455cd43929c | 117 | } |
gustavaditya | 0:b455cd43929c | 118 | |
gustavaditya | 0:b455cd43929c | 119 | pulses_ -= change; |
gustavaditya | 0:b455cd43929c | 120 | } |
gustavaditya | 0:b455cd43929c | 121 | |
gustavaditya | 0:b455cd43929c | 122 | } |
gustavaditya | 0:b455cd43929c | 123 | |
gustavaditya | 0:b455cd43929c | 124 | prevState_ = currState_; |
gustavaditya | 0:b455cd43929c | 125 | |
gustavaditya | 0:b455cd43929c | 126 | } |