KRAI 2017
prototype encoder launcher
Dependencies: Motor mbed millis
Revision 0:bc9c90c7b357, committed 2017-02-08
- Comitter:
- Najib_irvani
- Date:
- Wed Feb 08 13:55:01 2017 +0000
- Commit message:
- prototype encoder launcher
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Motor.lib Wed Feb 08 13:55:01 2017 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/aberk/code/Motor/#c75b234558af
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/encoderKRAI.cpp Wed Feb 08 13:55:01 2017 +0000
@@ -0,0 +1,126 @@
+/********************************************************/
+/* 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
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/encoderKRAI.h Wed Feb 08 13:55:01 2017 +0000
@@ -0,0 +1,106 @@
+#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
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Feb 08 13:55:01 2017 +0000
@@ -0,0 +1,62 @@
+#include "mbed.h"
+#include "encoderKRAI.h"
+#include "Motor.h"
+#include "millis.h"
+
+double speed, maxSpeed = 0.8, minSpeed = -0.8, last_speed = 0.0;
+double kp=0.0005, kd=0.005, ki=0.000005;
+double p,i,d;
+double last_error = 0, current_error, sum_error = 0;
+double rpm, target_rpm = 1500.0;
+
+encoderKRAI encoder( PB_14, PB_13, 14, encoderKRAI::X2_ENCODING);
+Serial pc(USBTX,USBRX);
+Motor motor(PA_8,PC_1,PC_2);
+
+unsigned long int previousMillis = 0;
+unsigned long int currentMillis;
+
+void init_speed (){
+ if (speed>maxSpeed){
+ speed = maxSpeed;
+ }
+
+ if (speed<minSpeed){
+ speed = minSpeed;
+ }
+}
+
+
+
+
+int main() {
+
+startMillis();
+
+
+ while(1) {
+ current_error = target_rpm - rpm;
+ sum_error += current_error;
+ p = current_error*kp;
+ d = (current_error-last_error)*kd;
+ i = sum_error*ki;
+
+ speed = last_speed + p + d;
+ init_speed();
+ motor.speed(speed);
+ currentMillis = millis();
+
+
+ if (currentMillis-previousMillis>=50)
+ {
+ rpm = (double)encoder.getPulses()*60000/(double)(14.0*50.0);
+ previousMillis = currentMillis;
+ encoder.reset();
+ pc.printf("%.04lf\n",rpm);
+
+ }
+ //last_speed = speed;
+ last_error = current_error;
+
+ }
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Wed Feb 08 13:55:01 2017 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/176b8275d35d \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/millis.lib Wed Feb 08 13:55:01 2017 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/teams/DFRobot/code/millis/#736e6cc31bcd