Biorobotics Project / Motor_with_encoder

Motor is operated by keyboard commands, encoder reads out position but not yet speed

Dependencies:   HIDScope

Dependents:   Project_motor Project_motor Motor_poscontrol Conceptcontroller_v_1_0

Fork of Encoder by Biorobotics Project

encoder.cpp@2:0998a8fd7727, 2013-11-04 (annotated)

Committer:
vsluiter
Date:
Mon Nov 04 09:56:06 2013 +0000
Revision:
2:0998a8fd7727
Parent:
0:c90b36abcbf8
Child:
4:69be34f39c9f
Changed

Who changed what in which revision?

UserRevisionLine numberNew contents of line
vsluiter 0:c90b36abcbf8 1
vsluiter 0:c90b36abcbf8 2 #include "encoder.h"
vsluiter 0:c90b36abcbf8 3
vsluiter 2:0998a8fd7727 4 Encoder::Encoder(PinName pos_a, PinName pos_b) : pin_a(pos_a), pin_b(pos_b)
vsluiter 0:c90b36abcbf8 5 {
vsluiter 2:0998a8fd7727 6 DigitalOut rled(LED_RED);
vsluiter 2:0998a8fd7727 7 rled = 0;
vsluiter 0:c90b36abcbf8 8 EncoderTimer.start();
vsluiter 2:0998a8fd7727 9 pin_a.mode(PullUp);
vsluiter 2:0998a8fd7727 10 pin_b.mode(PullUp);
vsluiter 0:c90b36abcbf8 11 pin_a.fall(this,&Encoder::encoderFalling);
vsluiter 0:c90b36abcbf8 12 pin_a.rise(this,&Encoder::encoderRising);
vsluiter 0:c90b36abcbf8 13 m_position = 0;
vsluiter 0:c90b36abcbf8 14 m_speed = 0;
vsluiter 0:c90b36abcbf8 15 zero_speed = false;
vsluiter 0:c90b36abcbf8 16 }
vsluiter 0:c90b36abcbf8 17
vsluiter 0:c90b36abcbf8 18 void Encoder::encoderFalling(void)
vsluiter 0:c90b36abcbf8 19 {
vsluiter 0:c90b36abcbf8 20 //temporary speed storage, in case higher interrupt level does stuff
vsluiter 0:c90b36abcbf8 21 float temp_speed;
vsluiter 2:0998a8fd7727 22 //int motortime_now = EncoderTimer.read_us();
vsluiter 2:0998a8fd7727 23 //EncoderTimer.reset();
vsluiter 2:0998a8fd7727 24 //EncoderTimeout.attach(this,&Encoder::timeouthandler,0.1);
vsluiter 0:c90b36abcbf8 25 /*calculate as ticks per second*/
vsluiter 2:0998a8fd7727 26 //if(zero_speed)
vsluiter 2:0998a8fd7727 27 // temp_speed = 0;
vsluiter 2:0998a8fd7727 28 //else
vsluiter 2:0998a8fd7727 29 // temp_speed = 1000000./motortime_now;
vsluiter 2:0998a8fd7727 30 //zero_speed = false;
vsluiter 0:c90b36abcbf8 31 if(pin_b)
vsluiter 0:c90b36abcbf8 32 {
vsluiter 0:c90b36abcbf8 33 m_position++;
vsluiter 0:c90b36abcbf8 34 m_speed = temp_speed;
vsluiter 0:c90b36abcbf8 35 }
vsluiter 0:c90b36abcbf8 36 else
vsluiter 0:c90b36abcbf8 37 {
vsluiter 0:c90b36abcbf8 38 m_position--;
vsluiter 0:c90b36abcbf8 39 m_speed = -temp_speed; //negative speed
vsluiter 0:c90b36abcbf8 40 }
vsluiter 0:c90b36abcbf8 41 }
vsluiter 0:c90b36abcbf8 42
vsluiter 0:c90b36abcbf8 43 void Encoder::encoderRising(void)
vsluiter 0:c90b36abcbf8 44 {
vsluiter 0:c90b36abcbf8 45 //temporary speed storage, in case higher interrupt level does stuff
vsluiter 0:c90b36abcbf8 46 float temp_speed;
vsluiter 2:0998a8fd7727 47 //int motortime_now = EncoderTimer.read_us();
vsluiter 2:0998a8fd7727 48 //EncoderTimer.reset();
vsluiter 2:0998a8fd7727 49 //EncoderTimeout.attach(this,&Encoder::encoderFalling,0.1);
vsluiter 0:c90b36abcbf8 50 /*calculate as ticks per second*/
vsluiter 2:0998a8fd7727 51 //if(zero_speed)
vsluiter 2:0998a8fd7727 52 // temp_speed = 0;
vsluiter 2:0998a8fd7727 53 //else
vsluiter 2:0998a8fd7727 54 // temp_speed = 1000000./motortime_now;
vsluiter 2:0998a8fd7727 55 //zero_speed = false;
vsluiter 0:c90b36abcbf8 56 if(pin_b)
vsluiter 0:c90b36abcbf8 57 {
vsluiter 0:c90b36abcbf8 58 m_position--;
vsluiter 0:c90b36abcbf8 59 m_speed = -temp_speed; //negative speed
vsluiter 0:c90b36abcbf8 60 }
vsluiter 0:c90b36abcbf8 61 else
vsluiter 0:c90b36abcbf8 62 {
vsluiter 0:c90b36abcbf8 63 m_position++;
vsluiter 0:c90b36abcbf8 64 m_speed = temp_speed;
vsluiter 0:c90b36abcbf8 65 }
vsluiter 0:c90b36abcbf8 66 }
vsluiter 0:c90b36abcbf8 67
vsluiter 0:c90b36abcbf8 68 void Encoder::timeouthandler(void)
vsluiter 0:c90b36abcbf8 69 {
vsluiter 0:c90b36abcbf8 70 m_speed = 0;
vsluiter 0:c90b36abcbf8 71 zero_speed = true;
vsluiter 0:c90b36abcbf8 72 }