Kodingan KRAI 2017
Dependencies: mbed DigitDisplay PID Motor Ping millis
encoderKRAI.cpp@0:dd4c20b9a83e, 2019-02-24 (annotated)
- Committer:
- SalbiFaza
- Date:
- Sun Feb 24 10:39:24 2019 +0000
- Revision:
- 0:dd4c20b9a83e
bismillah
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
SalbiFaza | 0:dd4c20b9a83e | 1 | /********************************************************/ |
SalbiFaza | 0:dd4c20b9a83e | 2 | /* Library untuk pembacaan Encoder */ |
SalbiFaza | 0:dd4c20b9a83e | 3 | /* Adapsi dari QEI */ |
SalbiFaza | 0:dd4c20b9a83e | 4 | /* */ |
SalbiFaza | 0:dd4c20b9a83e | 5 | /* Encoder yang sudah dicoba : */ |
SalbiFaza | 0:dd4c20b9a83e | 6 | /* 1. Autonics */ |
SalbiFaza | 0:dd4c20b9a83e | 7 | /* 2. Encoder bawaan Motor */ |
SalbiFaza | 0:dd4c20b9a83e | 8 | /* */ |
SalbiFaza | 0:dd4c20b9a83e | 9 | /* ______________________ */ |
SalbiFaza | 0:dd4c20b9a83e | 10 | /* |______Autonics______| */ |
SalbiFaza | 0:dd4c20b9a83e | 11 | /* | Out A = Input 1 | */ |
SalbiFaza | 0:dd4c20b9a83e | 12 | /* | Out B = Input 2 | */ |
SalbiFaza | 0:dd4c20b9a83e | 13 | /* | 5V | */ |
SalbiFaza | 0:dd4c20b9a83e | 14 | /* |_Gnd________________| */ |
SalbiFaza | 0:dd4c20b9a83e | 15 | /* */ |
SalbiFaza | 0:dd4c20b9a83e | 16 | /********************************************************/ |
SalbiFaza | 0:dd4c20b9a83e | 17 | |
SalbiFaza | 0:dd4c20b9a83e | 18 | #include "mbed.h" |
SalbiFaza | 0:dd4c20b9a83e | 19 | |
SalbiFaza | 0:dd4c20b9a83e | 20 | #include "encoderKRAI.h" |
SalbiFaza | 0:dd4c20b9a83e | 21 | |
SalbiFaza | 0:dd4c20b9a83e | 22 | encoderKRAI::encoderKRAI(PinName channelA, |
SalbiFaza | 0:dd4c20b9a83e | 23 | PinName channelB, |
SalbiFaza | 0:dd4c20b9a83e | 24 | int pulsesPerRev, |
SalbiFaza | 0:dd4c20b9a83e | 25 | Encoding encoding) : channelA_(channelA), channelB_(channelB) |
SalbiFaza | 0:dd4c20b9a83e | 26 | { |
SalbiFaza | 0:dd4c20b9a83e | 27 | pulses_ = 0; |
SalbiFaza | 0:dd4c20b9a83e | 28 | revolutions_ = 0; |
SalbiFaza | 0:dd4c20b9a83e | 29 | pulsesPerRev_ = pulsesPerRev; |
SalbiFaza | 0:dd4c20b9a83e | 30 | encoding_ = encoding; |
SalbiFaza | 0:dd4c20b9a83e | 31 | |
SalbiFaza | 0:dd4c20b9a83e | 32 | //Workout what the current state is. |
SalbiFaza | 0:dd4c20b9a83e | 33 | int chanA = channelA_.read(); |
SalbiFaza | 0:dd4c20b9a83e | 34 | int chanB = channelB_.read(); |
SalbiFaza | 0:dd4c20b9a83e | 35 | |
SalbiFaza | 0:dd4c20b9a83e | 36 | //2-bit state. |
SalbiFaza | 0:dd4c20b9a83e | 37 | currState_ = (chanA << 1) | (chanB); |
SalbiFaza | 0:dd4c20b9a83e | 38 | prevState_ = currState_; |
SalbiFaza | 0:dd4c20b9a83e | 39 | |
SalbiFaza | 0:dd4c20b9a83e | 40 | //X2 encoding uses interrupts on only channel A. |
SalbiFaza | 0:dd4c20b9a83e | 41 | //X4 encoding uses interrupts on channel A, |
SalbiFaza | 0:dd4c20b9a83e | 42 | //and on channel B. |
SalbiFaza | 0:dd4c20b9a83e | 43 | channelA_.rise(this, &encoderKRAI::encode); |
SalbiFaza | 0:dd4c20b9a83e | 44 | channelA_.fall(this, &encoderKRAI::encode); |
SalbiFaza | 0:dd4c20b9a83e | 45 | |
SalbiFaza | 0:dd4c20b9a83e | 46 | //If we're using X4 encoding, then attach interrupts to channel B too. |
SalbiFaza | 0:dd4c20b9a83e | 47 | if (encoding == X4_ENCODING) { |
SalbiFaza | 0:dd4c20b9a83e | 48 | channelB_.rise(this, &encoderKRAI::encode); |
SalbiFaza | 0:dd4c20b9a83e | 49 | channelB_.fall(this, &encoderKRAI::encode); |
SalbiFaza | 0:dd4c20b9a83e | 50 | } |
SalbiFaza | 0:dd4c20b9a83e | 51 | } |
SalbiFaza | 0:dd4c20b9a83e | 52 | |
SalbiFaza | 0:dd4c20b9a83e | 53 | void encoderKRAI::reset(void) { |
SalbiFaza | 0:dd4c20b9a83e | 54 | |
SalbiFaza | 0:dd4c20b9a83e | 55 | pulses_ = 0; |
SalbiFaza | 0:dd4c20b9a83e | 56 | revolutions_ = 0; |
SalbiFaza | 0:dd4c20b9a83e | 57 | |
SalbiFaza | 0:dd4c20b9a83e | 58 | } |
SalbiFaza | 0:dd4c20b9a83e | 59 | |
SalbiFaza | 0:dd4c20b9a83e | 60 | /*int encoderKRAI::getCurrentState(void) { |
SalbiFaza | 0:dd4c20b9a83e | 61 | |
SalbiFaza | 0:dd4c20b9a83e | 62 | return currState_; |
SalbiFaza | 0:dd4c20b9a83e | 63 | |
SalbiFaza | 0:dd4c20b9a83e | 64 | }*/ |
SalbiFaza | 0:dd4c20b9a83e | 65 | |
SalbiFaza | 0:dd4c20b9a83e | 66 | int encoderKRAI::getPulses(void) { |
SalbiFaza | 0:dd4c20b9a83e | 67 | |
SalbiFaza | 0:dd4c20b9a83e | 68 | return pulses_; |
SalbiFaza | 0:dd4c20b9a83e | 69 | |
SalbiFaza | 0:dd4c20b9a83e | 70 | } |
SalbiFaza | 0:dd4c20b9a83e | 71 | |
SalbiFaza | 0:dd4c20b9a83e | 72 | int encoderKRAI::getRevolutions(void) { |
SalbiFaza | 0:dd4c20b9a83e | 73 | |
SalbiFaza | 0:dd4c20b9a83e | 74 | revolutions_ = pulses_ / pulsesPerRev_; |
SalbiFaza | 0:dd4c20b9a83e | 75 | return revolutions_; |
SalbiFaza | 0:dd4c20b9a83e | 76 | |
SalbiFaza | 0:dd4c20b9a83e | 77 | } |
SalbiFaza | 0:dd4c20b9a83e | 78 | |
SalbiFaza | 0:dd4c20b9a83e | 79 | //////////////////////////////////////////////////////// |
SalbiFaza | 0:dd4c20b9a83e | 80 | |
SalbiFaza | 0:dd4c20b9a83e | 81 | void encoderKRAI::encode(void) { |
SalbiFaza | 0:dd4c20b9a83e | 82 | |
SalbiFaza | 0:dd4c20b9a83e | 83 | int change = 0; |
SalbiFaza | 0:dd4c20b9a83e | 84 | int chanA = channelA_.read(); |
SalbiFaza | 0:dd4c20b9a83e | 85 | int chanB = channelB_.read(); |
SalbiFaza | 0:dd4c20b9a83e | 86 | |
SalbiFaza | 0:dd4c20b9a83e | 87 | //2-bit state. |
SalbiFaza | 0:dd4c20b9a83e | 88 | currState_ = (chanA << 1) | (chanB); |
SalbiFaza | 0:dd4c20b9a83e | 89 | |
SalbiFaza | 0:dd4c20b9a83e | 90 | if (encoding_ == X2_ENCODING) { |
SalbiFaza | 0:dd4c20b9a83e | 91 | |
SalbiFaza | 0:dd4c20b9a83e | 92 | //11->00->11->00 is counter clockwise rotation or "forward". |
SalbiFaza | 0:dd4c20b9a83e | 93 | if ((prevState_ == 0x3 && currState_ == 0x0) || |
SalbiFaza | 0:dd4c20b9a83e | 94 | (prevState_ == 0x0 && currState_ == 0x3)) { |
SalbiFaza | 0:dd4c20b9a83e | 95 | |
SalbiFaza | 0:dd4c20b9a83e | 96 | pulses_++; |
SalbiFaza | 0:dd4c20b9a83e | 97 | |
SalbiFaza | 0:dd4c20b9a83e | 98 | } |
SalbiFaza | 0:dd4c20b9a83e | 99 | //10->01->10->01 is clockwise rotation or "backward". |
SalbiFaza | 0:dd4c20b9a83e | 100 | else if ((prevState_ == 0x2 && currState_ == 0x1) || |
SalbiFaza | 0:dd4c20b9a83e | 101 | (prevState_ == 0x1 && currState_ == 0x2)) { |
SalbiFaza | 0:dd4c20b9a83e | 102 | |
SalbiFaza | 0:dd4c20b9a83e | 103 | pulses_--; |
SalbiFaza | 0:dd4c20b9a83e | 104 | |
SalbiFaza | 0:dd4c20b9a83e | 105 | } |
SalbiFaza | 0:dd4c20b9a83e | 106 | |
SalbiFaza | 0:dd4c20b9a83e | 107 | } else if (encoding_ == X4_ENCODING) { |
SalbiFaza | 0:dd4c20b9a83e | 108 | |
SalbiFaza | 0:dd4c20b9a83e | 109 | //Entered a new valid state. |
SalbiFaza | 0:dd4c20b9a83e | 110 | if (((currState_ ^ prevState_) != INVALID) && (currState_ != prevState_)) { |
SalbiFaza | 0:dd4c20b9a83e | 111 | //2 bit state. Right hand bit of prev XOR left hand bit of current |
SalbiFaza | 0:dd4c20b9a83e | 112 | //gives 0 if clockwise rotation and 1 if counter clockwise rotation. |
SalbiFaza | 0:dd4c20b9a83e | 113 | change = (prevState_ & PREV_MASK) ^ ((currState_ & CURR_MASK) >> 1); |
SalbiFaza | 0:dd4c20b9a83e | 114 | |
SalbiFaza | 0:dd4c20b9a83e | 115 | if (change == 0) { |
SalbiFaza | 0:dd4c20b9a83e | 116 | change = -1; |
SalbiFaza | 0:dd4c20b9a83e | 117 | } |
SalbiFaza | 0:dd4c20b9a83e | 118 | |
SalbiFaza | 0:dd4c20b9a83e | 119 | pulses_ -= change; |
SalbiFaza | 0:dd4c20b9a83e | 120 | } |
SalbiFaza | 0:dd4c20b9a83e | 121 | |
SalbiFaza | 0:dd4c20b9a83e | 122 | } |
SalbiFaza | 0:dd4c20b9a83e | 123 | |
SalbiFaza | 0:dd4c20b9a83e | 124 | prevState_ = currState_; |
SalbiFaza | 0:dd4c20b9a83e | 125 | |
SalbiFaza | 0:dd4c20b9a83e | 126 | } |