code encoderKRTMI 2019
Revision 0:fd29d4db8c40, committed 2019-02-23
- Comitter:
- SalbiFaza
- Date:
- Sat Feb 23 11:15:53 2019 +0000
- Commit message:
- Bismillah
Changed in this revision
encoderKRTMI.cpp | Show annotated file Show diff for this revision Revisions of this file |
encoderKRTMI.h | Show annotated file Show diff for this revision Revisions of this file |
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/encoderKRTMI.cpp Sat Feb 23 11:15:53 2019 +0000 @@ -0,0 +1,126 @@ +/********************************************************/ +/* Library untuk pembacaan Encoder */ +/* Adapsi dari encoderKRAI */ +/* */ +/* 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 "encoderKRTMI.h" + +encoderKRTMI::encoderKRTMI(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, &encoderKRTMI::encode); + channelA_.fall(this, &encoderKRTMI::encode); + + //If we're using X4 encoding, then attach interrupts to channel B too. + if (encoding == X4_ENCODING) { + channelB_.rise(this, &encoderKRTMI::encode); + channelB_.fall(this, &encoderKRTMI::encode); + } +} + +void encoderKRTMI::reset(void) { + + pulses_ = 0; + revolutions_ = 0; + +} + +/*int encoderKRTMI::getCurrentState(void) { + + return currState_; + +}*/ + +int encoderKRTMI::getPulses(void) { + + return pulses_; + +} + +int encoderKRTMI::getRevolutions(void) { + + revolutions_ = pulses_ / pulsesPerRev_; + return revolutions_; + +} + +//////////////////////////////////////////////////////// + +void encoderKRTMI::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_; + +}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/encoderKRTMI.h Sat Feb 23 11:15:53 2019 +0000 @@ -0,0 +1,106 @@ +#ifndef ENCODERKRTMI_H +#define ENCODERKRTMI_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 encoderKRTMI { + +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 + */ + encoderKRTMI(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 /* ENCODERKRTMI_H */