16 Mei 2019
Revision 0:88b904c4ffbb, committed 2019-05-16
- Comitter:
- tamamfirdaus
- Date:
- Thu May 16 08:42:16 2019 +0000
- Commit message:
- 16 Mei 2019;
Changed in this revision
encoderKRAI.cpp | Show annotated file Show diff for this revision Revisions of this file |
encoderKRAI.h | Show annotated file Show diff for this revision Revisions of this file |
diff -r 000000000000 -r 88b904c4ffbb encoderKRAI.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/encoderKRAI.cpp Thu May 16 08:42:16 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 88b904c4ffbb encoderKRAI.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/encoderKRAI.h Thu May 16 08:42:16 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 */