ihsan hadi / EncoderMotor

PRAWIRA

EncoderMotor.h@0:cd1a027f038d, 2019-09-16 (annotated)

Committer:
alienbernamaihsan
Date:
Mon Sep 16 10:06:23 2019 +0000
Revision:
0:cd1a027f038d
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alienbernamaihsan 0:cd1a027f038d 1 #ifndef ENCODERMOTOR_H
alienbernamaihsan 0:cd1a027f038d 2 #define ENCODERMOTOR_H
alienbernamaihsan 0:cd1a027f038d 3
alienbernamaihsan 0:cd1a027f038d 4 /**
alienbernamaihsan 0:cd1a027f038d 5 * Includes
alienbernamaihsan 0:cd1a027f038d 6 */
alienbernamaihsan 0:cd1a027f038d 7 #include "mbed.h"
alienbernamaihsan 0:cd1a027f038d 8
alienbernamaihsan 0:cd1a027f038d 9 /**
alienbernamaihsan 0:cd1a027f038d 10 * Defines
alienbernamaihsan 0:cd1a027f038d 11 */
alienbernamaihsan 0:cd1a027f038d 12 #define PREV_MASK 0x1 //Mask for the previous state in determining direction
alienbernamaihsan 0:cd1a027f038d 13 //of rotation.
alienbernamaihsan 0:cd1a027f038d 14 #define CURR_MASK 0x2 //Mask for the current state in determining direction
alienbernamaihsan 0:cd1a027f038d 15 //of rotation.
alienbernamaihsan 0:cd1a027f038d 16 #define INVALID 0x3 //XORing two states where both bits have changed.
alienbernamaihsan 0:cd1a027f038d 17
alienbernamaihsan 0:cd1a027f038d 18 /**
alienbernamaihsan 0:cd1a027f038d 19 * Quadrature Encoder Interface.
alienbernamaihsan 0:cd1a027f038d 20 */
alienbernamaihsan 0:cd1a027f038d 21 class EncoderMotor {
alienbernamaihsan 0:cd1a027f038d 22
alienbernamaihsan 0:cd1a027f038d 23 public:
alienbernamaihsan 0:cd1a027f038d 24
alienbernamaihsan 0:cd1a027f038d 25 typedef enum Encoding
alienbernamaihsan 0:cd1a027f038d 26 {
alienbernamaihsan 0:cd1a027f038d 27 X2_ENCODING,
alienbernamaihsan 0:cd1a027f038d 28 X4_ENCODING
alienbernamaihsan 0:cd1a027f038d 29 }
alienbernamaihsan 0:cd1a027f038d 30 Encoding;
alienbernamaihsan 0:cd1a027f038d 31
alienbernamaihsan 0:cd1a027f038d 32 /** Membuat interface dari encoder
alienbernamaihsan 0:cd1a027f038d 33 *
alienbernamaihsan 0:cd1a027f038d 34 * @param inA DigitalIn, out A dari encoder
alienbernamaihsan 0:cd1a027f038d 35 * @param inB DigitalIn, out B dari encoder
alienbernamaihsan 0:cd1a027f038d 36 */
alienbernamaihsan 0:cd1a027f038d 37 EncoderMotor(PinName channelA, PinName channelB, float pulsesPerRev, Encoding encoding = X2_ENCODING);
alienbernamaihsan 0:cd1a027f038d 38
alienbernamaihsan 0:cd1a027f038d 39 /**
alienbernamaihsan 0:cd1a027f038d 40 * Reset encoder.
alienbernamaihsan 0:cd1a027f038d 41 *
alienbernamaihsan 0:cd1a027f038d 42 * Menset pulse dan revolusi/putaran menjadi 0
alienbernamaihsan 0:cd1a027f038d 43 */
alienbernamaihsan 0:cd1a027f038d 44 void reset(void);
alienbernamaihsan 0:cd1a027f038d 45
alienbernamaihsan 0:cd1a027f038d 46 /**
alienbernamaihsan 0:cd1a027f038d 47 * Membaca pulse yang didapat oleh encoder
alienbernamaihsan 0:cd1a027f038d 48 *
alienbernamaihsan 0:cd1a027f038d 49 * @return Nilai pulse yang telah dilalui.
alienbernamaihsan 0:cd1a027f038d 50 */
alienbernamaihsan 0:cd1a027f038d 51 int getPulses(void);
alienbernamaihsan 0:cd1a027f038d 52
alienbernamaihsan 0:cd1a027f038d 53 /**
alienbernamaihsan 0:cd1a027f038d 54 * Membaca putaran yang didapat oleh encoder
alienbernamaihsan 0:cd1a027f038d 55 *
alienbernamaihsan 0:cd1a027f038d 56 * @return Nilai revolusi/putaran yang telah dilalui.
alienbernamaihsan 0:cd1a027f038d 57 */
alienbernamaihsan 0:cd1a027f038d 58 float getRevolutions(void);
alienbernamaihsan 0:cd1a027f038d 59
alienbernamaihsan 0:cd1a027f038d 60 /**
alienbernamaihsan 0:cd1a027f038d 61 * Membaca pulse yang didapat oleh encoder
alienbernamaihsan 0:cd1a027f038d 62 *
alienbernamaihsan 0:cd1a027f038d 63 * @return Nilai pulse yang telah dilalui.
alienbernamaihsan 0:cd1a027f038d 64 */
alienbernamaihsan 0:cd1a027f038d 65 //int readDeltaPulses(void);
alienbernamaihsan 0:cd1a027f038d 66
alienbernamaihsan 0:cd1a027f038d 67 /**
alienbernamaihsan 0:cd1a027f038d 68 * Membaca putaran yang didapat oleh encoder
alienbernamaihsan 0:cd1a027f038d 69 *
alienbernamaihsan 0:cd1a027f038d 70 * @return Nilai revolusi/putaran yang telah dilalui.
alienbernamaihsan 0:cd1a027f038d 71 */
alienbernamaihsan 0:cd1a027f038d 72 //int readDeltaRevolutions(void);
alienbernamaihsan 0:cd1a027f038d 73
alienbernamaihsan 0:cd1a027f038d 74 /**
alienbernamaihsan 0:cd1a027f038d 75 * Disable encoder interrupt pins
alienbernamaihsan 0:cd1a027f038d 76 *
alienbernamaihsan 0:cd1a027f038d 77 * @return Disable interrupt pins
alienbernamaihsan 0:cd1a027f038d 78 */
alienbernamaihsan 0:cd1a027f038d 79 void disableInterrupts(void);
alienbernamaihsan 0:cd1a027f038d 80
alienbernamaihsan 0:cd1a027f038d 81 /**
alienbernamaihsan 0:cd1a027f038d 82 * Enable encoder interrupt pins
alienbernamaihsan 0:cd1a027f038d 83 *
alienbernamaihsan 0:cd1a027f038d 84 * @return Enable interrupt pins
alienbernamaihsan 0:cd1a027f038d 85 */
alienbernamaihsan 0:cd1a027f038d 86 void enableInterrupts(void);
alienbernamaihsan 0:cd1a027f038d 87
alienbernamaihsan 0:cd1a027f038d 88
alienbernamaihsan 0:cd1a027f038d 89 private:
alienbernamaihsan 0:cd1a027f038d 90
alienbernamaihsan 0:cd1a027f038d 91 /**
alienbernamaihsan 0:cd1a027f038d 92 * Menghitung pulse
alienbernamaihsan 0:cd1a027f038d 93 *
alienbernamaihsan 0:cd1a027f038d 94 * Digunakan setiap rising/falling edge baik channel A atau B
alienbernamaihsan 0:cd1a027f038d 95 * Membaca putaran CW atau CCW => mengakibatkan pertambahan/pengurangan pulse
alienbernamaihsan 0:cd1a027f038d 96 */
alienbernamaihsan 0:cd1a027f038d 97 void encode(void);
alienbernamaihsan 0:cd1a027f038d 98
alienbernamaihsan 0:cd1a027f038d 99 /**
alienbernamaihsan 0:cd1a027f038d 100 * Indeks setiap rising edge untuk menghitung putaran
alienbernamaihsan 0:cd1a027f038d 101 * Nilai bertambah 1
alienbernamaihsan 0:cd1a027f038d 102 */
alienbernamaihsan 0:cd1a027f038d 103 //void index(void);
alienbernamaihsan 0:cd1a027f038d 104
alienbernamaihsan 0:cd1a027f038d 105 Encoding encoding_;
alienbernamaihsan 0:cd1a027f038d 106
alienbernamaihsan 0:cd1a027f038d 107 InterruptIn channelA_;
alienbernamaihsan 0:cd1a027f038d 108 InterruptIn channelB_;
alienbernamaihsan 0:cd1a027f038d 109 //InterruptIn index_;
alienbernamaihsan 0:cd1a027f038d 110
alienbernamaihsan 0:cd1a027f038d 111 float pulsesPerRev_;
alienbernamaihsan 0:cd1a027f038d 112 int prevState_;
alienbernamaihsan 0:cd1a027f038d 113 int currState_;
alienbernamaihsan 0:cd1a027f038d 114
alienbernamaihsan 0:cd1a027f038d 115 volatile int pulses_;
alienbernamaihsan 0:cd1a027f038d 116 volatile float revolutions_;
alienbernamaihsan 0:cd1a027f038d 117
alienbernamaihsan 0:cd1a027f038d 118 };
alienbernamaihsan 0:cd1a027f038d 119
alienbernamaihsan 0:cd1a027f038d 120 #endif /* ENCODERMOTOR_H */