新部内対抗A班 / Mbed 2 deprecated circle_war_ver_A_NUCLEO__

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Dependencies:   mbed

Fork of circle_war_ver_A_NUCLEO_ by 新部内対抗A班

encoder.cpp@14:3403ce49a37a, 2016-04-05 (annotated)

Committer:
baba2357
Date:
Tue Apr 05 17:25:09 2016 +0000
Revision:
14:3403ce49a37a
Parent:
9:92ddadd9e9a9 
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
username16248 9:92ddadd9e9a9 1 #include "mbed.h"
username16248 9:92ddadd9e9a9 2 #include <pin_file.h>
username16248 9:92ddadd9e9a9 3 #include <encoder.h>
baba2357 14:3403ce49a37a 4 InterruptIn bb(EC1_b);//前部
baba2357 14:3403ce49a37a 5 InterruptIn aa(EC1_a);
username16248 9:92ddadd9e9a9 6 InterruptIn d(EC2_b);//右部
username16248 9:92ddadd9e9a9 7 InterruptIn c(EC2_a);
username16248 9:92ddadd9e9a9 8 InterruptIn e(EC3_a);//左部
username16248 9:92ddadd9e9a9 9 InterruptIn f(EC3_b);
username16248 9:92ddadd9e9a9 10
username16248 9:92ddadd9e9a9 11 int count_f=0,count_r=0,count_l=0;
baba2357 14:3403ce49a37a 12 int pA,pB,pC,pd,pe,pf;
username16248 9:92ddadd9e9a9 13 //int s=0;
username16248 9:92ddadd9e9a9 14
username16248 9:92ddadd9e9a9 15 //interrupt
baba2357 14:3403ce49a37a 16 void riseaa()
username16248 9:92ddadd9e9a9 17 {
baba2357 14:3403ce49a37a 18 pA=1;
baba2357 14:3403ce49a37a 19 if(pB==0) {
username16248 9:92ddadd9e9a9 20 count_f++;
username16248 9:92ddadd9e9a9 21 } else {
username16248 9:92ddadd9e9a9 22 count_f--;
username16248 9:92ddadd9e9a9 23 }
username16248 9:92ddadd9e9a9 24 }
baba2357 14:3403ce49a37a 25 void fallaa()
username16248 9:92ddadd9e9a9 26 {
baba2357 14:3403ce49a37a 27 pA=0;
baba2357 14:3403ce49a37a 28 if(pB==0) {
username16248 9:92ddadd9e9a9 29 count_f--;
username16248 9:92ddadd9e9a9 30 } else {
username16248 9:92ddadd9e9a9 31 count_f++;
username16248 9:92ddadd9e9a9 32 }
username16248 9:92ddadd9e9a9 33 }
baba2357 14:3403ce49a37a 34 void risebb()
username16248 9:92ddadd9e9a9 35 {
baba2357 14:3403ce49a37a 36 pB=1;
baba2357 14:3403ce49a37a 37 if(pA==0) {
username16248 9:92ddadd9e9a9 38 count_f--;
username16248 9:92ddadd9e9a9 39 } else {
username16248 9:92ddadd9e9a9 40 count_f++;
username16248 9:92ddadd9e9a9 41 }
username16248 9:92ddadd9e9a9 42 }
baba2357 14:3403ce49a37a 43 void fallbb()
username16248 9:92ddadd9e9a9 44 {
baba2357 14:3403ce49a37a 45 pB=0;
baba2357 14:3403ce49a37a 46 if(pA==0) {
username16248 9:92ddadd9e9a9 47 count_f++;
username16248 9:92ddadd9e9a9 48 } else {
username16248 9:92ddadd9e9a9 49 count_f--;
username16248 9:92ddadd9e9a9 50 }
username16248 9:92ddadd9e9a9 51 }
username16248 9:92ddadd9e9a9 52
username16248 9:92ddadd9e9a9 53
username16248 9:92ddadd9e9a9 54 void risec()
username16248 9:92ddadd9e9a9 55 {
username16248 9:92ddadd9e9a9 56 pC=1;
username16248 9:92ddadd9e9a9 57 if(pd==0) {
username16248 9:92ddadd9e9a9 58 count_r++;
username16248 9:92ddadd9e9a9 59 } else {
username16248 9:92ddadd9e9a9 60 count_r--;
username16248 9:92ddadd9e9a9 61 }
username16248 9:92ddadd9e9a9 62 }
username16248 9:92ddadd9e9a9 63 void fallc()
username16248 9:92ddadd9e9a9 64 {
username16248 9:92ddadd9e9a9 65 pC=0;
username16248 9:92ddadd9e9a9 66 if(pd==0) {
username16248 9:92ddadd9e9a9 67 count_r--;
username16248 9:92ddadd9e9a9 68 } else {
username16248 9:92ddadd9e9a9 69 count_r++;
username16248 9:92ddadd9e9a9 70 }
username16248 9:92ddadd9e9a9 71 }
username16248 9:92ddadd9e9a9 72 void rised()
username16248 9:92ddadd9e9a9 73 {
username16248 9:92ddadd9e9a9 74 pd=1;
username16248 9:92ddadd9e9a9 75 if(pC==0) {
username16248 9:92ddadd9e9a9 76 count_r--;
username16248 9:92ddadd9e9a9 77 } else {
username16248 9:92ddadd9e9a9 78 count_r++;
username16248 9:92ddadd9e9a9 79 }
username16248 9:92ddadd9e9a9 80 }
username16248 9:92ddadd9e9a9 81 void falld()
username16248 9:92ddadd9e9a9 82 {
username16248 9:92ddadd9e9a9 83 pd=0;
username16248 9:92ddadd9e9a9 84 if(pC==0) {
username16248 9:92ddadd9e9a9 85 count_r++;
username16248 9:92ddadd9e9a9 86 } else {
username16248 9:92ddadd9e9a9 87 count_r--;
username16248 9:92ddadd9e9a9 88 }
username16248 9:92ddadd9e9a9 89 }
username16248 9:92ddadd9e9a9 90
username16248 9:92ddadd9e9a9 91
username16248 9:92ddadd9e9a9 92 void risee()
username16248 9:92ddadd9e9a9 93 {
username16248 9:92ddadd9e9a9 94 pe=1;
username16248 9:92ddadd9e9a9 95 if(pf==0) {
username16248 9:92ddadd9e9a9 96 count_l++;
username16248 9:92ddadd9e9a9 97 } else {
username16248 9:92ddadd9e9a9 98 count_l--;
username16248 9:92ddadd9e9a9 99 }
username16248 9:92ddadd9e9a9 100 }
username16248 9:92ddadd9e9a9 101 void falle()
username16248 9:92ddadd9e9a9 102 {
username16248 9:92ddadd9e9a9 103 pe=0;
username16248 9:92ddadd9e9a9 104 if(pf==0) {
username16248 9:92ddadd9e9a9 105 count_l--;
username16248 9:92ddadd9e9a9 106 } else {
username16248 9:92ddadd9e9a9 107 count_l++;
username16248 9:92ddadd9e9a9 108 }
username16248 9:92ddadd9e9a9 109 }
username16248 9:92ddadd9e9a9 110 void risef()
username16248 9:92ddadd9e9a9 111 {
username16248 9:92ddadd9e9a9 112 pf=1;
username16248 9:92ddadd9e9a9 113 if(pe==0) {
username16248 9:92ddadd9e9a9 114 count_l--;
username16248 9:92ddadd9e9a9 115 } else {
username16248 9:92ddadd9e9a9 116 count_l++;
username16248 9:92ddadd9e9a9 117 }
username16248 9:92ddadd9e9a9 118 }
username16248 9:92ddadd9e9a9 119 void fallf()
username16248 9:92ddadd9e9a9 120 {
username16248 9:92ddadd9e9a9 121 pf=0;
username16248 9:92ddadd9e9a9 122 if(pe==0) {
username16248 9:92ddadd9e9a9 123 count_l++;
username16248 9:92ddadd9e9a9 124 } else {
username16248 9:92ddadd9e9a9 125 count_l--;
username16248 9:92ddadd9e9a9 126 }
username16248 9:92ddadd9e9a9 127 }
username16248 9:92ddadd9e9a9 128
username16248 9:92ddadd9e9a9 129 void encoder_setting(){
username16248 9:92ddadd9e9a9 130 //interrupt
baba2357 14:3403ce49a37a 131 aa.rise(&risea);
baba2357 14:3403ce49a37a 132 aa.fall(&falla);
baba2357 14:3403ce49a37a 133 bb.rise(&riseb);
baba2357 14:3403ce49a37a 134 bb.fall(&fallb);
username16248 9:92ddadd9e9a9 135 c.rise(&risec);
username16248 9:92ddadd9e9a9 136 c.fall(&fallc);
username16248 9:92ddadd9e9a9 137 d.rise(&rised);
username16248 9:92ddadd9e9a9 138 d.fall(&falld);
username16248 9:92ddadd9e9a9 139 e.rise(&risee);
username16248 9:92ddadd9e9a9 140 e.fall(&falle);
username16248 9:92ddadd9e9a9 141 f.rise(&risef);
username16248 9:92ddadd9e9a9 142 f.fall(&fallf);
username16248 9:92ddadd9e9a9 143 //s++;
baba2357 14:3403ce49a37a 144 }