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Diff: encoder_krai/encoderKRAI.cpp
- Revision:
- 0:aa8e05bc0533
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/encoder_krai/encoderKRAI.cpp Thu Feb 27 12:40:03 2020 +0000 @@ -0,0 +1,123 @@ +/********************************************************/ +/* 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_ = (float)pulses_ / pulsesPerRev_; + double x = revolutions_ ; + pulses_ = 0; + revolutions_ = 0; + return x; +} + +/*************************************** + * 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_; + +}