KRAI 2017 / Mbed 2 deprecated transfer_function_motor

mencari respon motor launcher dengan fungsi step

Dependencies:   Motor mbed millis

encoderKRAI.h@1:3a234ff1442b, 2017-02-16 (annotated)

Committer:
Najib_irvani
Date:
Thu Feb 16 16:25:31 2017 +0000
Revision:
1:3a234ff1442b
Parent:
0:be14d75c8037 
fungsi transfer motor dengan input fungsi step

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Najib_irvani 0:be14d75c8037 1 #ifndef ENCODERKRAI_H
Najib_irvani 0:be14d75c8037 2 #define ENCODERKRAI_H
Najib_irvani 0:be14d75c8037 3
Najib_irvani 0:be14d75c8037 4 /**
Najib_irvani 0:be14d75c8037 5 * Includes
Najib_irvani 0:be14d75c8037 6 */
Najib_irvani 0:be14d75c8037 7 #include "mbed.h"
Najib_irvani 0:be14d75c8037 8
Najib_irvani 0:be14d75c8037 9 /**
Najib_irvani 0:be14d75c8037 10 * Defines
Najib_irvani 0:be14d75c8037 11 */
Najib_irvani 0:be14d75c8037 12 #define PREV_MASK 0x1 //Mask for the previous state in determining direction
Najib_irvani 0:be14d75c8037 13 //of rotation.
Najib_irvani 0:be14d75c8037 14 #define CURR_MASK 0x2 //Mask for the current state in determining direction
Najib_irvani 0:be14d75c8037 15 //of rotation.
Najib_irvani 0:be14d75c8037 16 #define INVALID 0x3 //XORing two states where both bits have changed.
Najib_irvani 0:be14d75c8037 17
Najib_irvani 0:be14d75c8037 18 /**
Najib_irvani 0:be14d75c8037 19 * Quadrature Encoder Interface.
Najib_irvani 0:be14d75c8037 20 */
Najib_irvani 0:be14d75c8037 21 class encoderKRAI {
Najib_irvani 0:be14d75c8037 22
Najib_irvani 0:be14d75c8037 23 public:
Najib_irvani 0:be14d75c8037 24
Najib_irvani 0:be14d75c8037 25 typedef enum Encoding {
Najib_irvani 0:be14d75c8037 26
Najib_irvani 0:be14d75c8037 27 X2_ENCODING,
Najib_irvani 0:be14d75c8037 28 X4_ENCODING
Najib_irvani 0:be14d75c8037 29
Najib_irvani 0:be14d75c8037 30 } Encoding;
Najib_irvani 0:be14d75c8037 31
Najib_irvani 0:be14d75c8037 32 /** Membuat interface dari encoder
Najib_irvani 0:be14d75c8037 33 *
Najib_irvani 0:be14d75c8037 34 * @param inA DigitalIn, out A dari encoder
Najib_irvani 0:be14d75c8037 35 * @param inB DigitalIn, out B dari encoder
Najib_irvani 0:be14d75c8037 36 */
Najib_irvani 0:be14d75c8037 37 encoderKRAI(PinName channelA, PinName channelB, int pulsesPerRev, Encoding encoding = X2_ENCODING);
Najib_irvani 0:be14d75c8037 38
Najib_irvani 0:be14d75c8037 39 /**
Najib_irvani 0:be14d75c8037 40 * Reset encoder.
Najib_irvani 0:be14d75c8037 41 *
Najib_irvani 0:be14d75c8037 42 * Menset pulse dan revolusi/putaran menjadi 0
Najib_irvani 0:be14d75c8037 43 */
Najib_irvani 0:be14d75c8037 44 void reset(void);
Najib_irvani 0:be14d75c8037 45
Najib_irvani 0:be14d75c8037 46 /**
Najib_irvani 0:be14d75c8037 47 * Membaca pulse yang didapat oleh encoder
Najib_irvani 0:be14d75c8037 48 *
Najib_irvani 0:be14d75c8037 49 * @return Nilai pulse yang telah dilalui.
Najib_irvani 0:be14d75c8037 50 */
Najib_irvani 0:be14d75c8037 51 int getPulses(void);
Najib_irvani 0:be14d75c8037 52
Najib_irvani 0:be14d75c8037 53 /**
Najib_irvani 0:be14d75c8037 54 * Membaca putaran yang didapat oleh encoder
Najib_irvani 0:be14d75c8037 55 *
Najib_irvani 0:be14d75c8037 56 * @return Nilai revolusi/putaran yang telah dilalui.
Najib_irvani 0:be14d75c8037 57 */
Najib_irvani 0:be14d75c8037 58 int getRevolutions(void);
Najib_irvani 0:be14d75c8037 59
Najib_irvani 0:be14d75c8037 60 /**
Najib_irvani 0:be14d75c8037 61 * Membaca pulse yang didapat oleh encoder
Najib_irvani 0:be14d75c8037 62 *
Najib_irvani 0:be14d75c8037 63 * @return Nilai pulse yang telah dilalui.
Najib_irvani 0:be14d75c8037 64 */
Najib_irvani 0:be14d75c8037 65 //int readDeltaPulses(void);
Najib_irvani 0:be14d75c8037 66
Najib_irvani 0:be14d75c8037 67 /**
Najib_irvani 0:be14d75c8037 68 * Membaca putaran yang didapat oleh encoder
Najib_irvani 0:be14d75c8037 69 *
Najib_irvani 0:be14d75c8037 70 * @return Nilai revolusi/putaran yang telah dilalui.
Najib_irvani 0:be14d75c8037 71 */
Najib_irvani 0:be14d75c8037 72 //int readDeltaRevolutions(void);
Najib_irvani 0:be14d75c8037 73
Najib_irvani 0:be14d75c8037 74 private:
Najib_irvani 0:be14d75c8037 75
Najib_irvani 0:be14d75c8037 76 /**
Najib_irvani 0:be14d75c8037 77 * Menghitung pulse
Najib_irvani 0:be14d75c8037 78 *
Najib_irvani 0:be14d75c8037 79 * Digunakan setiap rising/falling edge baik channel A atau B
Najib_irvani 0:be14d75c8037 80 * Membaca putaran CW atau CCW => mengakibatkan pertambahan/pengurangan pulse
Najib_irvani 0:be14d75c8037 81 */
Najib_irvani 0:be14d75c8037 82 void encode(void);
Najib_irvani 0:be14d75c8037 83
Najib_irvani 0:be14d75c8037 84 /**
Najib_irvani 0:be14d75c8037 85 * Indeks setiap rising edge untuk menghitung putaran
Najib_irvani 0:be14d75c8037 86 * Nilai bertambah 1
Najib_irvani 0:be14d75c8037 87 */
Najib_irvani 0:be14d75c8037 88 //void index(void);
Najib_irvani 0:be14d75c8037 89
Najib_irvani 0:be14d75c8037 90 Encoding encoding_;
Najib_irvani 0:be14d75c8037 91
Najib_irvani 0:be14d75c8037 92 InterruptIn channelA_;
Najib_irvani 0:be14d75c8037 93 InterruptIn channelB_;
Najib_irvani 0:be14d75c8037 94 //InterruptIn index_;
Najib_irvani 0:be14d75c8037 95
Najib_irvani 0:be14d75c8037 96 int pulsesPerRev_;
Najib_irvani 0:be14d75c8037 97 int prevState_;
Najib_irvani 0:be14d75c8037 98 int currState_;
Najib_irvani 0:be14d75c8037 99
Najib_irvani 0:be14d75c8037 100 volatile int pulses_;
Najib_irvani 0:be14d75c8037 101 volatile int revolutions_;
Najib_irvani 0:be14d75c8037 102
Najib_irvani 0:be14d75c8037 103
Najib_irvani 0:be14d75c8037 104 };
Najib_irvani 0:be14d75c8037 105
Najib_irvani 0:be14d75c8037 106 #endif /* ENCODERKRAI_H */