Diff: encoder.cpp

Revision:

5:df89be97e11a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/encoder.cpp	Fri Apr 01 05:52:10 2016 +0000
@@ -0,0 +1,144 @@
+#include "mbed.h"
+#include <pin_file.h>
+#include <encoder.h>
+InterruptIn b(EC1_b);//前部
+InterruptIn a(EC1_a);
+InterruptIn d(EC2_b);//右部
+InterruptIn c(EC2_a);
+InterruptIn e(EC3_a);//左部
+InterruptIn f(EC3_b);
+
+int count_f=0,count_r=0,count_l=0;
+int pa,pb,pC,pd,pe,pf;
+//int s=0;
+
+//interrupt
+void risea()
+{
+    pa=1;
+    if(pb==0) {
+        count_f++;
+    } else {
+        count_f--;
+    }
+}
+void falla()
+{
+    pa=0;
+    if(pb==0) {
+        count_f--;
+    } else {
+        count_f++;
+    }
+}
+void riseb()
+{
+    pb=1;
+    if(pa==0) {
+        count_f--;
+    } else {
+        count_f++;
+    }
+}
+void fallb()
+{
+    pb=0;
+    if(pa==0) {
+        count_f++;
+    } else {
+        count_f--;
+    }
+}
+
+
+void risec()
+{
+    pC=1;
+    if(pd==0) {
+        count_r++;
+    } else {
+        count_r--;
+    }
+}
+void fallc()
+{
+    pC=0;
+    if(pd==0) {
+        count_r--;
+    } else {
+        count_r++;
+    }
+}
+void rised()
+{
+    pd=1;
+    if(pC==0) {
+        count_r--;
+    } else {
+        count_r++;
+    }
+}
+void falld()
+{
+    pd=0;
+    if(pC==0) {
+        count_r++;
+    } else {
+        count_r--;
+    }
+}
+
+
+void risee()
+{
+    pe=1;
+    if(pf==0) {
+        count_l++;
+    } else {
+        count_l--;
+    }
+}
+void falle()
+{
+    pe=0;
+    if(pf==0) {
+        count_l--;
+    } else {
+        count_l++;
+    }
+}
+void risef()
+{
+    pf=1;
+    if(pe==0) {
+        count_l--;
+    } else {
+        count_l++;
+    }
+}
+void fallf()
+{
+    pf=0;
+    if(pe==0) {
+        count_l++;
+    } else {
+        count_l--;
+    }
+}
+
+void encoder_setting(){
+    //interrupt
+    a.rise(&risea);
+    a.fall(&falla);
+    b.rise(&riseb);
+    b.fall(&fallb);
+    c.rise(&risec);
+    c.fall(&fallc);
+    d.rise(&rised);
+    d.fall(&falld);
+    e.rise(&risee);
+    e.fall(&falle);
+    f.rise(&risef);
+    f.fall(&fallf);
+    //s++;
+    }