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@11:9027eda171c1, 2017-11-01 (annotated)

Committer:
EvB
Date:
Wed Nov 01 14:39:34 2017 +0000
Revision:
11:9027eda171c1
Parent:
5:04c4a90c7a0a 
-

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 4:69be34f39c9f 4
vsluiter 5:04c4a90c7a0a 5 Encoder::Encoder(PinName int_a, PinName int_b, bool speed) : pin_a(int_a), pin_b(int_b)
vsluiter 0:c90b36abcbf8 6 {
vsluiter 3:dcb7bdc73882 7 m_speed_enabled = speed;
vsluiter 3:dcb7bdc73882 8 if(m_speed_enabled)
vsluiter 3:dcb7bdc73882 9 EncoderTimer.start();
vsluiter 0:c90b36abcbf8 10 pin_a.fall(this,&Encoder::encoderFalling);
vsluiter 0:c90b36abcbf8 11 pin_a.rise(this,&Encoder::encoderRising);
vsluiter 0:c90b36abcbf8 12 m_position = 0;
vsluiter 0:c90b36abcbf8 13 m_speed = 0;
vsluiter 0:c90b36abcbf8 14 zero_speed = false;
vsluiter 0:c90b36abcbf8 15 }
vsluiter 0:c90b36abcbf8 16
vsluiter 0:c90b36abcbf8 17 void Encoder::encoderFalling(void)
vsluiter 0:c90b36abcbf8 18 {
vsluiter 0:c90b36abcbf8 19 //temporary speed storage, in case higher interrupt level does stuff
vsluiter 3:dcb7bdc73882 20 float temp_speed=0;
vsluiter 5:04c4a90c7a0a 21 int motortime_now;
vsluiter 3:dcb7bdc73882 22 if(m_speed_enabled)
vsluiter 3:dcb7bdc73882 23 {
vsluiter 3:dcb7bdc73882 24 motortime_now = EncoderTimer.read_us();
vsluiter 3:dcb7bdc73882 25 EncoderTimer.reset();
vsluiter 3:dcb7bdc73882 26 EncoderTimeout.attach(this,&Encoder::timeouthandler,0.1);
vsluiter 3:dcb7bdc73882 27 /*calculate as ticks per second*/
vsluiter 3:dcb7bdc73882 28 if(zero_speed)
vsluiter 3:dcb7bdc73882 29 temp_speed = 0;
vsluiter 3:dcb7bdc73882 30 else
vsluiter 3:dcb7bdc73882 31 temp_speed = 1000000./motortime_now;
vsluiter 3:dcb7bdc73882 32 zero_speed = false;
vsluiter 3:dcb7bdc73882 33 }
vsluiter 0:c90b36abcbf8 34 if(pin_b)
vsluiter 0:c90b36abcbf8 35 {
vsluiter 0:c90b36abcbf8 36 m_position++;
vsluiter 0:c90b36abcbf8 37 m_speed = temp_speed;
vsluiter 0:c90b36abcbf8 38 }
vsluiter 0:c90b36abcbf8 39 else
vsluiter 0:c90b36abcbf8 40 {
vsluiter 0:c90b36abcbf8 41 m_position--;
vsluiter 0:c90b36abcbf8 42 m_speed = -temp_speed; //negative speed
vsluiter 0:c90b36abcbf8 43 }
vsluiter 0:c90b36abcbf8 44 }
vsluiter 0:c90b36abcbf8 45
vsluiter 0:c90b36abcbf8 46 void Encoder::encoderRising(void)
vsluiter 0:c90b36abcbf8 47 {
vsluiter 0:c90b36abcbf8 48 //temporary speed storage, in case higher interrupt level does stuff
vsluiter 4:69be34f39c9f 49
vsluiter 3:dcb7bdc73882 50 float temp_speed=0;
vsluiter 3:dcb7bdc73882 51 int motortime_now;
vsluiter 3:dcb7bdc73882 52 if(m_speed_enabled)
vsluiter 3:dcb7bdc73882 53 {
vsluiter 3:dcb7bdc73882 54 EncoderTimer.reset();
vsluiter 3:dcb7bdc73882 55 EncoderTimeout.attach(this,&Encoder::encoderFalling,0.1);
vsluiter 3:dcb7bdc73882 56 /*calculate as ticks per second*/
vsluiter 3:dcb7bdc73882 57 if(zero_speed)
vsluiter 3:dcb7bdc73882 58 temp_speed = 0;
vsluiter 3:dcb7bdc73882 59 else
vsluiter 3:dcb7bdc73882 60 temp_speed = 1000000./motortime_now;
vsluiter 3:dcb7bdc73882 61 zero_speed = false;
vsluiter 3:dcb7bdc73882 62 }
vsluiter 0:c90b36abcbf8 63 if(pin_b)
vsluiter 0:c90b36abcbf8 64 {
vsluiter 0:c90b36abcbf8 65 m_position--;
vsluiter 0:c90b36abcbf8 66 m_speed = -temp_speed; //negative speed
vsluiter 0:c90b36abcbf8 67 }
vsluiter 0:c90b36abcbf8 68 else
vsluiter 0:c90b36abcbf8 69 {
vsluiter 0:c90b36abcbf8 70 m_position++;
vsluiter 0:c90b36abcbf8 71 m_speed = temp_speed;
vsluiter 0:c90b36abcbf8 72 }
vsluiter 0:c90b36abcbf8 73 }
vsluiter 0:c90b36abcbf8 74
vsluiter 0:c90b36abcbf8 75 void Encoder::timeouthandler(void)
vsluiter 0:c90b36abcbf8 76 {
vsluiter 0:c90b36abcbf8 77 m_speed = 0;
vsluiter 0:c90b36abcbf8 78 zero_speed = true;
vsluiter 0:c90b36abcbf8 79 }