library encoder
Dependents: Project_Plum OnMotor DataMotor bacaencoder
encoderKRAI.cpp@0:8a7fb008561c, 2019-02-03 (annotated)
- Committer:
- yafieabdillah
- Date:
- Sun Feb 03 15:51:54 2019 +0000
- Revision:
- 0:8a7fb008561c
ghgy
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
yafieabdillah | 0:8a7fb008561c | 1 | /********************************************************/ |
yafieabdillah | 0:8a7fb008561c | 2 | /* Library untuk pembacaan Encoder */ |
yafieabdillah | 0:8a7fb008561c | 3 | /* Adapsi dari QEI */ |
yafieabdillah | 0:8a7fb008561c | 4 | /* */ |
yafieabdillah | 0:8a7fb008561c | 5 | /* Encoder yang sudah dicoba : */ |
yafieabdillah | 0:8a7fb008561c | 6 | /* 1. Autonics */ |
yafieabdillah | 0:8a7fb008561c | 7 | /* 2. Encoder bawaan Motor */ |
yafieabdillah | 0:8a7fb008561c | 8 | /* */ |
yafieabdillah | 0:8a7fb008561c | 9 | /* ______________________ */ |
yafieabdillah | 0:8a7fb008561c | 10 | /* |______Autonics______| */ |
yafieabdillah | 0:8a7fb008561c | 11 | /* | Out A = Input 1 | */ |
yafieabdillah | 0:8a7fb008561c | 12 | /* | Out B = Input 2 | */ |
yafieabdillah | 0:8a7fb008561c | 13 | /* | 5V | */ |
yafieabdillah | 0:8a7fb008561c | 14 | /* |_Gnd________________| */ |
yafieabdillah | 0:8a7fb008561c | 15 | /* */ |
yafieabdillah | 0:8a7fb008561c | 16 | /********************************************************/ |
yafieabdillah | 0:8a7fb008561c | 17 | |
yafieabdillah | 0:8a7fb008561c | 18 | #include "mbed.h" |
yafieabdillah | 0:8a7fb008561c | 19 | |
yafieabdillah | 0:8a7fb008561c | 20 | #include "encoderKRAI.h" |
yafieabdillah | 0:8a7fb008561c | 21 | |
yafieabdillah | 0:8a7fb008561c | 22 | encoderKRAI::encoderKRAI(PinName channelA, |
yafieabdillah | 0:8a7fb008561c | 23 | PinName channelB, |
yafieabdillah | 0:8a7fb008561c | 24 | int pulsesPerRev, |
yafieabdillah | 0:8a7fb008561c | 25 | Encoding encoding) : channelA_(channelA), channelB_(channelB) |
yafieabdillah | 0:8a7fb008561c | 26 | { |
yafieabdillah | 0:8a7fb008561c | 27 | pulses_ = 0; |
yafieabdillah | 0:8a7fb008561c | 28 | revolutions_ = 0; |
yafieabdillah | 0:8a7fb008561c | 29 | pulsesPerRev_ = pulsesPerRev; |
yafieabdillah | 0:8a7fb008561c | 30 | encoding_ = encoding; |
yafieabdillah | 0:8a7fb008561c | 31 | |
yafieabdillah | 0:8a7fb008561c | 32 | //Workout what the current state is. |
yafieabdillah | 0:8a7fb008561c | 33 | int chanA = channelA_.read(); |
yafieabdillah | 0:8a7fb008561c | 34 | int chanB = channelB_.read(); |
yafieabdillah | 0:8a7fb008561c | 35 | |
yafieabdillah | 0:8a7fb008561c | 36 | //2-bit state. |
yafieabdillah | 0:8a7fb008561c | 37 | currState_ = (chanA << 1) | (chanB); |
yafieabdillah | 0:8a7fb008561c | 38 | prevState_ = currState_; |
yafieabdillah | 0:8a7fb008561c | 39 | |
yafieabdillah | 0:8a7fb008561c | 40 | //X2 encoding uses interrupts on only channel A. |
yafieabdillah | 0:8a7fb008561c | 41 | //X4 encoding uses interrupts on channel A, |
yafieabdillah | 0:8a7fb008561c | 42 | //and on channel B. |
yafieabdillah | 0:8a7fb008561c | 43 | channelA_.rise(this, &encoderKRAI::encode); |
yafieabdillah | 0:8a7fb008561c | 44 | channelA_.fall(this, &encoderKRAI::encode); |
yafieabdillah | 0:8a7fb008561c | 45 | |
yafieabdillah | 0:8a7fb008561c | 46 | //If we're using X4 encoding, then attach interrupts to channel B too. |
yafieabdillah | 0:8a7fb008561c | 47 | if (encoding == X4_ENCODING) { |
yafieabdillah | 0:8a7fb008561c | 48 | channelB_.rise(this, &encoderKRAI::encode); |
yafieabdillah | 0:8a7fb008561c | 49 | channelB_.fall(this, &encoderKRAI::encode); |
yafieabdillah | 0:8a7fb008561c | 50 | } |
yafieabdillah | 0:8a7fb008561c | 51 | } |
yafieabdillah | 0:8a7fb008561c | 52 | |
yafieabdillah | 0:8a7fb008561c | 53 | void encoderKRAI::reset(void) { |
yafieabdillah | 0:8a7fb008561c | 54 | |
yafieabdillah | 0:8a7fb008561c | 55 | pulses_ = 0; |
yafieabdillah | 0:8a7fb008561c | 56 | revolutions_ = 0; |
yafieabdillah | 0:8a7fb008561c | 57 | |
yafieabdillah | 0:8a7fb008561c | 58 | } |
yafieabdillah | 0:8a7fb008561c | 59 | |
yafieabdillah | 0:8a7fb008561c | 60 | /*int encoderKRAI::getCurrentState(void) { |
yafieabdillah | 0:8a7fb008561c | 61 | |
yafieabdillah | 0:8a7fb008561c | 62 | return currState_; |
yafieabdillah | 0:8a7fb008561c | 63 | |
yafieabdillah | 0:8a7fb008561c | 64 | }*/ |
yafieabdillah | 0:8a7fb008561c | 65 | |
yafieabdillah | 0:8a7fb008561c | 66 | int encoderKRAI::getPulses(void) { |
yafieabdillah | 0:8a7fb008561c | 67 | |
yafieabdillah | 0:8a7fb008561c | 68 | return pulses_; |
yafieabdillah | 0:8a7fb008561c | 69 | |
yafieabdillah | 0:8a7fb008561c | 70 | } |
yafieabdillah | 0:8a7fb008561c | 71 | |
yafieabdillah | 0:8a7fb008561c | 72 | int encoderKRAI::getRevolutions(void) { |
yafieabdillah | 0:8a7fb008561c | 73 | |
yafieabdillah | 0:8a7fb008561c | 74 | revolutions_ = pulses_ / pulsesPerRev_; |
yafieabdillah | 0:8a7fb008561c | 75 | return revolutions_; |
yafieabdillah | 0:8a7fb008561c | 76 | |
yafieabdillah | 0:8a7fb008561c | 77 | } |
yafieabdillah | 0:8a7fb008561c | 78 | |
yafieabdillah | 0:8a7fb008561c | 79 | //////////////////////////////////////////////////////// |
yafieabdillah | 0:8a7fb008561c | 80 | |
yafieabdillah | 0:8a7fb008561c | 81 | void encoderKRAI::encode(void) { |
yafieabdillah | 0:8a7fb008561c | 82 | |
yafieabdillah | 0:8a7fb008561c | 83 | int change = 0; |
yafieabdillah | 0:8a7fb008561c | 84 | int chanA = channelA_.read(); |
yafieabdillah | 0:8a7fb008561c | 85 | int chanB = channelB_.read(); |
yafieabdillah | 0:8a7fb008561c | 86 | |
yafieabdillah | 0:8a7fb008561c | 87 | //2-bit state. |
yafieabdillah | 0:8a7fb008561c | 88 | currState_ = (chanA << 1) | (chanB); |
yafieabdillah | 0:8a7fb008561c | 89 | |
yafieabdillah | 0:8a7fb008561c | 90 | if (encoding_ == X2_ENCODING) { |
yafieabdillah | 0:8a7fb008561c | 91 | |
yafieabdillah | 0:8a7fb008561c | 92 | //11->00->11->00 is counter clockwise rotation or "forward". |
yafieabdillah | 0:8a7fb008561c | 93 | if ((prevState_ == 0x3 && currState_ == 0x0) || |
yafieabdillah | 0:8a7fb008561c | 94 | (prevState_ == 0x0 && currState_ == 0x3)) { |
yafieabdillah | 0:8a7fb008561c | 95 | |
yafieabdillah | 0:8a7fb008561c | 96 | pulses_++; |
yafieabdillah | 0:8a7fb008561c | 97 | |
yafieabdillah | 0:8a7fb008561c | 98 | } |
yafieabdillah | 0:8a7fb008561c | 99 | //10->01->10->01 is clockwise rotation or "backward". |
yafieabdillah | 0:8a7fb008561c | 100 | else if ((prevState_ == 0x2 && currState_ == 0x1) || |
yafieabdillah | 0:8a7fb008561c | 101 | (prevState_ == 0x1 && currState_ == 0x2)) { |
yafieabdillah | 0:8a7fb008561c | 102 | |
yafieabdillah | 0:8a7fb008561c | 103 | pulses_--; |
yafieabdillah | 0:8a7fb008561c | 104 | |
yafieabdillah | 0:8a7fb008561c | 105 | } |
yafieabdillah | 0:8a7fb008561c | 106 | |
yafieabdillah | 0:8a7fb008561c | 107 | } else if (encoding_ == X4_ENCODING) { |
yafieabdillah | 0:8a7fb008561c | 108 | |
yafieabdillah | 0:8a7fb008561c | 109 | //Entered a new valid state. |
yafieabdillah | 0:8a7fb008561c | 110 | if (((currState_ ^ prevState_) != INVALID) && (currState_ != prevState_)) { |
yafieabdillah | 0:8a7fb008561c | 111 | //2 bit state. Right hand bit of prev XOR left hand bit of current |
yafieabdillah | 0:8a7fb008561c | 112 | //gives 0 if clockwise rotation and 1 if counter clockwise rotation. |
yafieabdillah | 0:8a7fb008561c | 113 | change = (prevState_ & PREV_MASK) ^ ((currState_ & CURR_MASK) >> 1); |
yafieabdillah | 0:8a7fb008561c | 114 | |
yafieabdillah | 0:8a7fb008561c | 115 | if (change == 0) { |
yafieabdillah | 0:8a7fb008561c | 116 | change = -1; |
yafieabdillah | 0:8a7fb008561c | 117 | } |
yafieabdillah | 0:8a7fb008561c | 118 | |
yafieabdillah | 0:8a7fb008561c | 119 | pulses_ -= change; |
yafieabdillah | 0:8a7fb008561c | 120 | } |
yafieabdillah | 0:8a7fb008561c | 121 | |
yafieabdillah | 0:8a7fb008561c | 122 | } |
yafieabdillah | 0:8a7fb008561c | 123 | |
yafieabdillah | 0:8a7fb008561c | 124 | prevState_ = currState_; |
yafieabdillah | 0:8a7fb008561c | 125 | |
yafieabdillah | 0:8a7fb008561c | 126 | } |