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Dependencies:   mbed

Fork of circle_war_ver_A_NUCLEO_ by 新部内対抗A班

encoder.cpp@5:df89be97e11a, 2016-04-01 (annotated)

Committer:
username16248
Date:
Fri Apr 01 05:52:10 2016 +0000
Revision:
5:df89be97e11a
add speed_control

Who changed what in which revision?

UserRevisionLine numberNew contents of line
username16248 5:df89be97e11a 1 #include "mbed.h"
username16248 5:df89be97e11a 2 #include <pin_file.h>
username16248 5:df89be97e11a 3 #include <encoder.h>
username16248 5:df89be97e11a 4 InterruptIn b(EC1_b);//前部
username16248 5:df89be97e11a 5 InterruptIn a(EC1_a);
username16248 5:df89be97e11a 6 InterruptIn d(EC2_b);//右部
username16248 5:df89be97e11a 7 InterruptIn c(EC2_a);
username16248 5:df89be97e11a 8 InterruptIn e(EC3_a);//左部
username16248 5:df89be97e11a 9 InterruptIn f(EC3_b);
username16248 5:df89be97e11a 10
username16248 5:df89be97e11a 11 int count_f=0,count_r=0,count_l=0;
username16248 5:df89be97e11a 12 int pa,pb,pC,pd,pe,pf;
username16248 5:df89be97e11a 13 //int s=0;
username16248 5:df89be97e11a 14
username16248 5:df89be97e11a 15 //interrupt
username16248 5:df89be97e11a 16 void risea()
username16248 5:df89be97e11a 17 {
username16248 5:df89be97e11a 18 pa=1;
username16248 5:df89be97e11a 19 if(pb==0) {
username16248 5:df89be97e11a 20 count_f++;
username16248 5:df89be97e11a 21 } else {
username16248 5:df89be97e11a 22 count_f--;
username16248 5:df89be97e11a 23 }
username16248 5:df89be97e11a 24 }
username16248 5:df89be97e11a 25 void falla()
username16248 5:df89be97e11a 26 {
username16248 5:df89be97e11a 27 pa=0;
username16248 5:df89be97e11a 28 if(pb==0) {
username16248 5:df89be97e11a 29 count_f--;
username16248 5:df89be97e11a 30 } else {
username16248 5:df89be97e11a 31 count_f++;
username16248 5:df89be97e11a 32 }
username16248 5:df89be97e11a 33 }
username16248 5:df89be97e11a 34 void riseb()
username16248 5:df89be97e11a 35 {
username16248 5:df89be97e11a 36 pb=1;
username16248 5:df89be97e11a 37 if(pa==0) {
username16248 5:df89be97e11a 38 count_f--;
username16248 5:df89be97e11a 39 } else {
username16248 5:df89be97e11a 40 count_f++;
username16248 5:df89be97e11a 41 }
username16248 5:df89be97e11a 42 }
username16248 5:df89be97e11a 43 void fallb()
username16248 5:df89be97e11a 44 {
username16248 5:df89be97e11a 45 pb=0;
username16248 5:df89be97e11a 46 if(pa==0) {
username16248 5:df89be97e11a 47 count_f++;
username16248 5:df89be97e11a 48 } else {
username16248 5:df89be97e11a 49 count_f--;
username16248 5:df89be97e11a 50 }
username16248 5:df89be97e11a 51 }
username16248 5:df89be97e11a 52
username16248 5:df89be97e11a 53
username16248 5:df89be97e11a 54 void risec()
username16248 5:df89be97e11a 55 {
username16248 5:df89be97e11a 56 pC=1;
username16248 5:df89be97e11a 57 if(pd==0) {
username16248 5:df89be97e11a 58 count_r++;
username16248 5:df89be97e11a 59 } else {
username16248 5:df89be97e11a 60 count_r--;
username16248 5:df89be97e11a 61 }
username16248 5:df89be97e11a 62 }
username16248 5:df89be97e11a 63 void fallc()
username16248 5:df89be97e11a 64 {
username16248 5:df89be97e11a 65 pC=0;
username16248 5:df89be97e11a 66 if(pd==0) {
username16248 5:df89be97e11a 67 count_r--;
username16248 5:df89be97e11a 68 } else {
username16248 5:df89be97e11a 69 count_r++;
username16248 5:df89be97e11a 70 }
username16248 5:df89be97e11a 71 }
username16248 5:df89be97e11a 72 void rised()
username16248 5:df89be97e11a 73 {
username16248 5:df89be97e11a 74 pd=1;
username16248 5:df89be97e11a 75 if(pC==0) {
username16248 5:df89be97e11a 76 count_r--;
username16248 5:df89be97e11a 77 } else {
username16248 5:df89be97e11a 78 count_r++;
username16248 5:df89be97e11a 79 }
username16248 5:df89be97e11a 80 }
username16248 5:df89be97e11a 81 void falld()
username16248 5:df89be97e11a 82 {
username16248 5:df89be97e11a 83 pd=0;
username16248 5:df89be97e11a 84 if(pC==0) {
username16248 5:df89be97e11a 85 count_r++;
username16248 5:df89be97e11a 86 } else {
username16248 5:df89be97e11a 87 count_r--;
username16248 5:df89be97e11a 88 }
username16248 5:df89be97e11a 89 }
username16248 5:df89be97e11a 90
username16248 5:df89be97e11a 91
username16248 5:df89be97e11a 92 void risee()
username16248 5:df89be97e11a 93 {
username16248 5:df89be97e11a 94 pe=1;
username16248 5:df89be97e11a 95 if(pf==0) {
username16248 5:df89be97e11a 96 count_l++;
username16248 5:df89be97e11a 97 } else {
username16248 5:df89be97e11a 98 count_l--;
username16248 5:df89be97e11a 99 }
username16248 5:df89be97e11a 100 }
username16248 5:df89be97e11a 101 void falle()
username16248 5:df89be97e11a 102 {
username16248 5:df89be97e11a 103 pe=0;
username16248 5:df89be97e11a 104 if(pf==0) {
username16248 5:df89be97e11a 105 count_l--;
username16248 5:df89be97e11a 106 } else {
username16248 5:df89be97e11a 107 count_l++;
username16248 5:df89be97e11a 108 }
username16248 5:df89be97e11a 109 }
username16248 5:df89be97e11a 110 void risef()
username16248 5:df89be97e11a 111 {
username16248 5:df89be97e11a 112 pf=1;
username16248 5:df89be97e11a 113 if(pe==0) {
username16248 5:df89be97e11a 114 count_l--;
username16248 5:df89be97e11a 115 } else {
username16248 5:df89be97e11a 116 count_l++;
username16248 5:df89be97e11a 117 }
username16248 5:df89be97e11a 118 }
username16248 5:df89be97e11a 119 void fallf()
username16248 5:df89be97e11a 120 {
username16248 5:df89be97e11a 121 pf=0;
username16248 5:df89be97e11a 122 if(pe==0) {
username16248 5:df89be97e11a 123 count_l++;
username16248 5:df89be97e11a 124 } else {
username16248 5:df89be97e11a 125 count_l--;
username16248 5:df89be97e11a 126 }
username16248 5:df89be97e11a 127 }
username16248 5:df89be97e11a 128
username16248 5:df89be97e11a 129 void encoder_setting(){
username16248 5:df89be97e11a 130 //interrupt
username16248 5:df89be97e11a 131 a.rise(&risea);
username16248 5:df89be97e11a 132 a.fall(&falla);
username16248 5:df89be97e11a 133 b.rise(&riseb);
username16248 5:df89be97e11a 134 b.fall(&fallb);
username16248 5:df89be97e11a 135 c.rise(&risec);
username16248 5:df89be97e11a 136 c.fall(&fallc);
username16248 5:df89be97e11a 137 d.rise(&rised);
username16248 5:df89be97e11a 138 d.fall(&falld);
username16248 5:df89be97e11a 139 e.rise(&risee);
username16248 5:df89be97e11a 140 e.fall(&falle);
username16248 5:df89be97e11a 141 f.rise(&risef);
username16248 5:df89be97e11a 142 f.fall(&fallf);
username16248 5:df89be97e11a 143 //s++;
username16248 5:df89be97e11a 144 }