KRAI 2017
/
Riset-Odometry
hadah
Fork of Riset-Odometry by
encoderKRAI.h@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 | #ifndef ENCODERKRAI_H |
gustavaditya | 0:b455cd43929c | 2 | #define ENCODERKRAI_H |
gustavaditya | 0:b455cd43929c | 3 | |
gustavaditya | 0:b455cd43929c | 4 | /** |
gustavaditya | 0:b455cd43929c | 5 | * Includes |
gustavaditya | 0:b455cd43929c | 6 | */ |
gustavaditya | 0:b455cd43929c | 7 | #include "mbed.h" |
gustavaditya | 0:b455cd43929c | 8 | |
gustavaditya | 0:b455cd43929c | 9 | /** |
gustavaditya | 0:b455cd43929c | 10 | * Defines |
gustavaditya | 0:b455cd43929c | 11 | */ |
gustavaditya | 0:b455cd43929c | 12 | #define PREV_MASK 0x1 //Mask for the previous state in determining direction |
gustavaditya | 0:b455cd43929c | 13 | //of rotation. |
gustavaditya | 0:b455cd43929c | 14 | #define CURR_MASK 0x2 //Mask for the current state in determining direction |
gustavaditya | 0:b455cd43929c | 15 | //of rotation. |
gustavaditya | 0:b455cd43929c | 16 | #define INVALID 0x3 //XORing two states where both bits have changed. |
gustavaditya | 0:b455cd43929c | 17 | |
gustavaditya | 0:b455cd43929c | 18 | /** |
gustavaditya | 0:b455cd43929c | 19 | * Quadrature Encoder Interface. |
gustavaditya | 0:b455cd43929c | 20 | */ |
gustavaditya | 0:b455cd43929c | 21 | class encoderKRAI { |
gustavaditya | 0:b455cd43929c | 22 | |
gustavaditya | 0:b455cd43929c | 23 | public: |
gustavaditya | 0:b455cd43929c | 24 | |
gustavaditya | 0:b455cd43929c | 25 | typedef enum Encoding { |
gustavaditya | 0:b455cd43929c | 26 | |
gustavaditya | 0:b455cd43929c | 27 | X2_ENCODING, |
gustavaditya | 0:b455cd43929c | 28 | X4_ENCODING |
gustavaditya | 0:b455cd43929c | 29 | |
gustavaditya | 0:b455cd43929c | 30 | } Encoding; |
gustavaditya | 0:b455cd43929c | 31 | |
gustavaditya | 0:b455cd43929c | 32 | /** Membuat interface dari encoder |
gustavaditya | 0:b455cd43929c | 33 | * |
gustavaditya | 0:b455cd43929c | 34 | * @param inA DigitalIn, out A dari encoder |
gustavaditya | 0:b455cd43929c | 35 | * @param inB DigitalIn, out B dari encoder |
gustavaditya | 0:b455cd43929c | 36 | */ |
gustavaditya | 0:b455cd43929c | 37 | encoderKRAI(PinName channelA, PinName channelB, int pulsesPerRev, Encoding encoding = X2_ENCODING); |
gustavaditya | 0:b455cd43929c | 38 | |
gustavaditya | 0:b455cd43929c | 39 | /** |
gustavaditya | 0:b455cd43929c | 40 | * Reset encoder. |
gustavaditya | 0:b455cd43929c | 41 | * |
gustavaditya | 0:b455cd43929c | 42 | * Menset pulse dan revolusi/putaran menjadi 0 |
gustavaditya | 0:b455cd43929c | 43 | */ |
gustavaditya | 0:b455cd43929c | 44 | void reset(void); |
gustavaditya | 0:b455cd43929c | 45 | |
gustavaditya | 0:b455cd43929c | 46 | /** |
gustavaditya | 0:b455cd43929c | 47 | * Membaca pulse yang didapat oleh encoder |
gustavaditya | 0:b455cd43929c | 48 | * |
gustavaditya | 0:b455cd43929c | 49 | * @return Nilai pulse yang telah dilalui. |
gustavaditya | 0:b455cd43929c | 50 | */ |
gustavaditya | 0:b455cd43929c | 51 | int getPulses(void); |
gustavaditya | 0:b455cd43929c | 52 | |
gustavaditya | 0:b455cd43929c | 53 | /** |
gustavaditya | 0:b455cd43929c | 54 | * Membaca putaran yang didapat oleh encoder |
gustavaditya | 0:b455cd43929c | 55 | * |
gustavaditya | 0:b455cd43929c | 56 | * @return Nilai revolusi/putaran yang telah dilalui. |
gustavaditya | 0:b455cd43929c | 57 | */ |
gustavaditya | 0:b455cd43929c | 58 | int getRevolutions(void); |
gustavaditya | 0:b455cd43929c | 59 | |
gustavaditya | 0:b455cd43929c | 60 | /** |
gustavaditya | 0:b455cd43929c | 61 | * Membaca pulse yang didapat oleh encoder |
gustavaditya | 0:b455cd43929c | 62 | * |
gustavaditya | 0:b455cd43929c | 63 | * @return Nilai pulse yang telah dilalui. |
gustavaditya | 0:b455cd43929c | 64 | */ |
gustavaditya | 0:b455cd43929c | 65 | //int readDeltaPulses(void); |
gustavaditya | 0:b455cd43929c | 66 | |
gustavaditya | 0:b455cd43929c | 67 | /** |
gustavaditya | 0:b455cd43929c | 68 | * Membaca putaran yang didapat oleh encoder |
gustavaditya | 0:b455cd43929c | 69 | * |
gustavaditya | 0:b455cd43929c | 70 | * @return Nilai revolusi/putaran yang telah dilalui. |
gustavaditya | 0:b455cd43929c | 71 | */ |
gustavaditya | 0:b455cd43929c | 72 | //int readDeltaRevolutions(void); |
gustavaditya | 0:b455cd43929c | 73 | |
gustavaditya | 0:b455cd43929c | 74 | private: |
gustavaditya | 0:b455cd43929c | 75 | |
gustavaditya | 0:b455cd43929c | 76 | /** |
gustavaditya | 0:b455cd43929c | 77 | * Menghitung pulse |
gustavaditya | 0:b455cd43929c | 78 | * |
gustavaditya | 0:b455cd43929c | 79 | * Digunakan setiap rising/falling edge baik channel A atau B |
gustavaditya | 0:b455cd43929c | 80 | * Membaca putaran CW atau CCW => mengakibatkan pertambahan/pengurangan pulse |
gustavaditya | 0:b455cd43929c | 81 | */ |
gustavaditya | 0:b455cd43929c | 82 | void encode(void); |
gustavaditya | 0:b455cd43929c | 83 | |
gustavaditya | 0:b455cd43929c | 84 | /** |
gustavaditya | 0:b455cd43929c | 85 | * Indeks setiap rising edge untuk menghitung putaran |
gustavaditya | 0:b455cd43929c | 86 | * Nilai bertambah 1 |
gustavaditya | 0:b455cd43929c | 87 | */ |
gustavaditya | 0:b455cd43929c | 88 | //void index(void); |
gustavaditya | 0:b455cd43929c | 89 | |
gustavaditya | 0:b455cd43929c | 90 | Encoding encoding_; |
gustavaditya | 0:b455cd43929c | 91 | |
gustavaditya | 0:b455cd43929c | 92 | InterruptIn channelA_; |
gustavaditya | 0:b455cd43929c | 93 | InterruptIn channelB_; |
gustavaditya | 0:b455cd43929c | 94 | //InterruptIn index_; |
gustavaditya | 0:b455cd43929c | 95 | |
gustavaditya | 0:b455cd43929c | 96 | int pulsesPerRev_; |
gustavaditya | 0:b455cd43929c | 97 | int prevState_; |
gustavaditya | 0:b455cd43929c | 98 | int currState_; |
gustavaditya | 0:b455cd43929c | 99 | |
gustavaditya | 0:b455cd43929c | 100 | volatile int pulses_; |
gustavaditya | 0:b455cd43929c | 101 | volatile int revolutions_; |
gustavaditya | 0:b455cd43929c | 102 | |
gustavaditya | 0:b455cd43929c | 103 | |
gustavaditya | 0:b455cd43929c | 104 | }; |
gustavaditya | 0:b455cd43929c | 105 | |
gustavaditya | 0:b455cd43929c | 106 | #endif /* ENCODERKRAI_H */ |