Revision 0:b6f3a4e90aff, committed 2019-03-18

Comitter:

tamamfirdaus

Date:

Mon Mar 18 15:15:43 2019 +0000

Commit message:

BacaMotor;

Changed in this revision

diff -r 000000000000 -r b6f3a4e90aff Motor.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Motor.lib	Mon Mar 18 15:15:43 2019 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/teams/KRAI-2018/code/Motornew/#1d0887244f8b

diff -r 000000000000 -r b6f3a4e90aff encoderKRAI.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/encoderKRAI.cpp	Mon Mar 18 15:15:43 2019 +0000
@@ -0,0 +1,121 @@
+/********************************************************/
+/*          Library untuk pembacaan Encoder             */
+/*                  Adopsi dari QEI                     */
+/*  Bismillahirahmanirrahim                             */
+/*  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::getPulses(void) {
+
+    return pulses_;
+
+}
+
+int encoderKRAI::getRevolutions(void) {
+
+    revolutions_ = pulses_ / pulsesPerRev_;
+    return revolutions_;
+
+}
+
+/***************************************
+ *  Perhitungan Pulse Encoder
+ ***************************************/
+
+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_;
+
+}

diff -r 000000000000 -r b6f3a4e90aff encoderKRAI.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/encoderKRAI.h	Mon Mar 18 15:15:43 2019 +0000
@@ -0,0 +1,87 @@
+/**
+ *  Header Encoder KRAI
+ *  untuk membaca nilai rotary encoder
+ **/
+#ifndef ENCODERKRAI_H
+#define ENCODERKRAI_H
+
+//Bismillahirahamnirahim
+
+//LIBRARY
+#include "mbed.h"
+
+/**************************
+ * Konstanta dan Variabel *
+ **************************/
+ 
+//KONSTANTA
+#define PREV_MASK 0x1 //Konstanta untuk mengetahui previous direction
+#define CURR_MASK 0x2 //Konstanta untuk mengetahui current direction
+#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;
+    
+    encoderKRAI(PinName channelA, PinName channelB, int pulsesPerRev, Encoding encoding = X2_ENCODING);
+    /******************************************* 
+     * Membuat interface dari encoder    
+     * @param inA DigitalIn, out A dari encoder
+     * @param inB DigitalIn, out B dari encoder
+     *******************************************/
+     
+    void reset(void);
+    /*******************************************
+     * Reset encoder.
+     * Reset pembacaaan menjadi 0
+     *******************************************/
+     
+    int getPulses(void);
+    /*******************************************
+     * Membaca pulse yang didapat oleh encoder
+     * @return Nilai pulse yang telah dilalui.
+     *******************************************/
+    
+    int getRevolutions(void);
+    /*******************************************
+     * Membaca putaran yang didapat oleh encoder
+     * @return Nilai revolusi/putaran yang telah dilalui.
+     *******************************************/
+
+private:
+
+    void encode(void);
+    /*******************************************
+     * Menghitung pulse
+     * Digunakan setiap rising/falling edge baik channel A atau B
+     * Membaca putaran CW atau CCW => mengakibatkan pertambahan/pengurangan pulse
+     *******************************************/
+    
+//VARIABEL UNTUK PERHITUNGAN PULSE
+    Encoding encoding_;
+
+    InterruptIn channelA_;
+    InterruptIn channelB_;
+
+    int          pulsesPerRev_;
+    int          prevState_;
+    int          currState_;
+
+    volatile int pulses_;
+    volatile int revolutions_;
+
+
+};
+
+#endif /* ENCODERKRAI_H */

diff -r 000000000000 -r b6f3a4e90aff main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Mar 18 15:15:43 2019 +0000
@@ -0,0 +1,71 @@
+//Library
+#include "mbed.h"
+#include "encoderKRAI.h"
+#include "millis.h"
+#include "Motor.h"
+
+//Konstanta
+#define PULSE_TO_JARAK 0.61313625
+#define Pressed 0
+#define NotPressed 1
+
+encoderKRAI encoderMotorA (PC_11, PC_12, 538, encoderKRAI::X4_ENCODING);
+encoderKRAI encoderMotorB (PC_2, PC_3, 538, encoderKRAI::X4_ENCODING);
+encoderKRAI encoderMotorC (PC_14, PC_15, 538, encoderKRAI::X4_ENCODING);
+encoderKRAI encoderMotorD (PC_10,PC_13, 538, encoderKRAI::X4_ENCODING);
+
+encoderKRAI encoder1 (PB_7,PB_6, 538, encoderKRAI::X4_ENCODING);
+encoderKRAI encoder2 (PB_4,PB_5, 538, encoderKRAI::X4_ENCODING);
+encoderKRAI encoder3 (PB_8,PB_9, 538, encoderKRAI::X4_ENCODING);
+
+/*Motor motorA(PA_7,  PA_5, PA_6);
+Motor motorB(PB_0, PC_1, PC_0);
+Motor motorC(PB_1, PB_15, PB_14);
+Motor motorD(PA_11, PA_12, PB_12);*/
+DigitalIn BlueButton(USER_BUTTON);
+
+
+Serial pc(USBTX, USBRX);
+
+//Variable Global
+float timeSampling;
+double pulseA;
+double pulseB;
+double pulseC;
+double pulseD;
+double pulse1;
+double pulse2;
+double pulse3;
+long lastMillis;
+
+//Baca Encoder
+int main(){
+   /* motorA.speed(0.4);
+    motorB.speed(0.4);
+    motorC.speed(0.4);
+    motorD.speed(0.4);
+    wait(5);
+    motorA.speed(0.0);
+    motorB.speed(0.0);
+    motorC.speed(0.0);
+    motorD.speed(0.0);*/
+    pc.baud(115200);
+    while(1){
+        /*if(BlueButton==Pressed){
+            encoderMotorA.reset();
+            }*/
+                 
+        pulseA = (double)encoderMotorA.getPulses()*PULSE_TO_JARAK;
+        pulseB = (double)encoderMotorB.getPulses()*PULSE_TO_JARAK;
+        pulseC = (double)encoderMotorC.getPulses()*PULSE_TO_JARAK;
+        pulseD = (double)encoderMotorD.getPulses()*PULSE_TO_JARAK;
+        
+        //pulse1 = (double)encoder1.getPulses()*PULSE_TO_JARAK;
+        //pulse2 = (double)encoder2.getPulses()*PULSE_TO_JARAK;
+        pulse3 = (double)encoder3.getPulses()*PULSE_TO_JARAK;
+        //pc.printf("A: %lf\t B: %lf\t C: %lf\t D: %lf\t \n", pulseA, pulseB, pulseC, pulseD);
+        pc.printf("Enc_1: %lf\n", pulse3);
+        
+        wait(0.2);    
+    }
+}
\ No newline at end of file

diff -r 000000000000 -r b6f3a4e90aff mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Mon Mar 18 15:15:43 2019 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/e95d10626187
\ No newline at end of file

diff -r 000000000000 -r b6f3a4e90aff millis.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/millis.lib	Mon Mar 18 15:15:43 2019 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/teams/DFRobot/code/millis/#736e6cc31bcd