EC.cpp

00001 #include "mbed.h"
00002 #include "EC.h"
00003 
00004 
00005 Ec::Ec(int res,int multi):
00006     count_(0),pre_count_(0),resolution_(res),multiplication_(multi)
00007 {
00008     timer_.start();
00009 }
00010 
00011 int Ec::getCount ()const
00012 {
00013     return count_;
00014     //return pre_count_;
00015 }
00016 
00017 double Ec::getRad()const
00018 {
00019     return count_*2.0f*M_PI/(multiplication_*resolution_);
00020 }
00021 
00022 void Ec::calOmega()
00023 {
00024     double t=timer_.read();
00025     omega_=(count_-pre_count_)*2.0f*M_PI/(multiplication_*resolution_*(t-ptw_));
00026 //    omega_=(getCount()-pre_count_)*2.0f*M_PI/(multiplication_*resolution_*(t-ptw_));
00027     //pre_count_=getCount();
00028     pre_count_=count_;
00029     ptw_=t;
00030 }
00031 
00032 double Ec::getOmega()const
00033 {
00034     return omega_;
00035 }
00036 void Ec::setResolution(int res)
00037 {
00038     resolution_=res;
00039 }
00040 
00041 /*reset関数の定義*/
00042 /*エンコーダを初期状態に戻すことができる*/
00043 void Ec::reset()
00044 {
00045     count_=0;
00046     pre_count_=0,omega_=0;
00047     ptw_=0;
00048     timer_.stop();
00049     timer_.reset();
00050     timer_.start();
00051 }
00052 
00053 
00054 ////////////////////////////////////////////////////1逓倍//////////////////////////////////////////////////////////////////
00055 Ec1multi::Ec1multi(PinName signalA,PinName signalB,int res) : Ec(res,1),signalA_(signalA),signalB_(signalB)
00056 {
00057     signalA_.rise(callback(this,&Ec1multi::upA));
00058 }
00059 
00060 //ピン変化割り込み関数の定義
00061 void Ec1multi::upA()
00062 {
00063     if(signalB_.read())count_++;
00064     else count_--;
00065 }
00066 ////////////////////////////////////////////////////2逓倍//////////////////////////////////////////////////////////////////
00067 Ec2multi::Ec2multi(PinName signalA,PinName signalB,int res) : Ec(res,2),signalA_(signalA),signalB_(signalB)
00068 {
00069     signalA_.rise(callback(this,&Ec2multi::upA));
00070     signalA_.fall(callback(this,&Ec2multi::downA));
00071 }
00072 
00073 //ピン変化割り込み関数の定義
00074 void Ec2multi::upA()
00075 {
00076     if(signalB_.read())count_++;
00077     else count_--;
00078 }
00079 void Ec2multi::downA()
00080 {
00081     if(signalB_.read())count_--;
00082     else count_++;
00083 }
00084 
00085 ////////////////////////////////////////////////////4逓倍//////////////////////////////////////////////////////////////////
00086 Ec4multi::Ec4multi(PinName signalA,PinName signalB,int res) : Ec(res,4),signalA_(signalA),signalB_(signalB),pa_(0),pb_(0)
00087 {
00088     signalA_.rise(callback(this,&Ec4multi::upA));
00089     signalA_.fall(callback(this,&Ec4multi::downA));
00090     signalB_.rise(callback(this,&Ec4multi::upB));
00091     signalB_.fall(callback(this,&Ec4multi::downB));
00092 }
00093 void Ec4multi::upA()
00094 {
00095     pa_=1;
00096     if(pb_==1)count_++;
00097     else count_--;
00098 }
00099 void Ec4multi::downA()
00100 {
00101     pa_=0;
00102     if(pb_==1)count_--;
00103     else count_++;
00104 }
00105 void Ec4multi::upB()
00106 {
00107     pb_=1;
00108     if(pa_==1)count_--;
00109     else count_++;
00110 }
00111 void Ec4multi::downB()
00112 {
00113     pb_=0;
00114     if(pa_==1)count_++;
00115     else count_--;
00116 }