Diff: EC.cpp

Revision:

0:eb20667a5a27

Child:

1:b7e957c01761

diff -r 000000000000 -r eb20667a5a27 EC.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/EC.cpp	Thu Jul 04 09:25:36 2019 +0000
@@ -0,0 +1,105 @@
+#include "mbed.h"
+#include "EC.h"
+
+
+Ec::Ec(int res,int multi):
+    count_(0),pre_count_(0),resolution_(res),multiplication_(multi)
+{
+    timer_.start();
+}
+
+int Ec::getCount()
+{
+    return count_;
+}
+
+void Ec::calOmega()
+{
+    double t=timer_.read();
+    omega_=(count_-pre_count_)*2.0f*M_PI/(multiplication_*resolution_*(t-ptw_));
+    pre_count_=count_;
+    ptw_=t;
+}
+
+double Ec::getOmega()
+{
+    return omega_;
+}
+void Ec::setResolution(int res){
+    resolution_=res;
+}
+
+/*reset関数の定義*/
+/*エンコーダを初期状態に戻すことができる*/
+void Ec::reset()
+{
+    count_=0;
+    pre_count_=0,omega_=0;
+    ptw_=0;
+}
+
+
+////////////////////////////////////////////////////1逓倍//////////////////////////////////////////////////////////////////
+Ec1multi::Ec1multi(PinName signalA,PinName signalB,int res) : Ec(res,1),signalA_(signalA),signalB_(signalB)
+{
+    signalA_.rise(callback(this,&Ec1multi::upA));
+}
+
+//ピン変化割り込み関数の定義
+void Ec1multi::upA()
+{
+    if(signalB_.read())count_++;
+    else count_--;
+}
+////////////////////////////////////////////////////2逓倍//////////////////////////////////////////////////////////////////
+Ec2multi::Ec2multi(PinName signalA,PinName signalB,int res) : Ec(res,2),signalA_(signalA),signalB_(signalB)
+{
+    signalA_.rise(callback(this,&Ec2multi::upA));
+    signalA_.fall(callback(this,&Ec2multi::downA));
+    printf("Initialize OK!!\r\n");
+}
+
+//ピン変化割り込み関数の定義
+void Ec2multi::upA()
+{
+    if(signalB_.read())count_++;
+    else count_--;
+}
+void Ec2multi::downA()
+{
+    if(signalB_.read())count_--;
+    else count_++;
+}
+
+////////////////////////////////////////////////////4逓倍//////////////////////////////////////////////////////////////////
+Ec4multi::Ec4multi(PinName signalA,PinName signalB,int res) : Ec(res,4),signalA_(signalA),signalB_(signalB),pa_(0),pb_(0)
+{
+    signalA_.rise(callback(this,&Ec4multi::upA));
+    signalA_.fall(callback(this,&Ec4multi::downA));
+    signalB_.rise(callback(this,&Ec4multi::upB));
+    signalB_.fall(callback(this,&Ec4multi::downB));
+}
+void Ec4multi::upA()
+{
+    pa_=1;
+    if(pb_==1)count_++;
+    else count_--;
+}
+void Ec4multi::downA()
+{
+    pa_=0;
+    if(pb_==1)count_--;
+    else count_++;
+}
+void Ec4multi::upB()
+{
+    pb_=1;
+    if(pa_==1)count_--;
+    else count_++;
+}
+void Ec4multi::downB()
+{
+    pb_=0;
+    if(pa_==1)count_++;
+    else count_--;
+}
\ No newline at end of file