Revision 0:cd1a027f038d, committed 2019-09-16

Comitter:

alienbernamaihsan

Date:

Mon Sep 16 10:06:23 2019 +0000

Commit message:

PRAWIRA

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/EncoderMotor.cpp	Mon Sep 16 10:06:23 2019 +0000
@@ -0,0 +1,131 @@
+/********************************************************/
+/*          Library untuk pembacaan Encoder             */
+/*                  Adapsi dari QEI                     */
+/*                                                      */
+/*  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 "EncoderMotor.h"
+
+EncoderMotor::EncoderMotor(PinName channelA, PinName channelB, float 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, &EncoderMotor::encode);
+    channelA_.fall(this, &EncoderMotor::encode);
+
+    //If we're using X4 encoding, then attach interrupts to channel B too.
+    if (encoding == X4_ENCODING) 
+    {
+        channelB_.rise(this, &EncoderMotor::encode);
+        channelB_.fall(this, &EncoderMotor::encode);
+    }
+}
+
+void EncoderMotor::reset(void)
+{
+    pulses_      = 0;
+    revolutions_ = 0;
+}
+
+/*int EncoderMotor::getCurrentState(void)
+{
+    return currState_;
+}*/
+
+int EncoderMotor::getPulses(void)
+{
+    return pulses_;
+}
+
+float EncoderMotor::getRevolutions(void)
+{
+    revolutions_ = (float) pulses_ / pulsesPerRev_;
+    double x = revolutions_ ;
+    pulses_ = 0;
+    revolutions_ = 0;    
+    return x;   
+}
+
+void EncoderMotor::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_;
+}
+
+void EncoderMotor::disableInterrupts(void) 
+{
+    channelA_.disable_irq();
+    channelB_.disable_irq();
+}
+
+void EncoderMotor::enableInterrupts(void)
+{
+    channelA_.enable_irq();
+    channelB_.enable_irq();    
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/EncoderMotor.h	Mon Sep 16 10:06:23 2019 +0000
@@ -0,0 +1,120 @@
+#ifndef ENCODERMOTOR_H
+#define ENCODERMOTOR_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 EncoderMotor {
+
+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
+     */
+    EncoderMotor(PinName channelA, PinName channelB, float 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.
+     */
+    float 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);
+
+    /**
+     * Disable encoder interrupt pins
+     *
+     * @return Disable interrupt pins
+     */  
+    void disableInterrupts(void);
+
+    /**
+     * Enable encoder interrupt pins
+     *
+     * @return Enable interrupt pins
+     */  
+    void enableInterrupts(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_;
+
+    float pulsesPerRev_;
+    int prevState_;
+    int currState_;
+
+    volatile int pulses_;
+    volatile float revolutions_;
+
+};
+
+#endif /* ENCODERMOTOR_H */