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.h@9:9d3da04c61db, 2017-10-06 (annotated)

Committer:
vera1
Date:
Fri Oct 06 08:26:36 2017 +0000
Revision:
9:9d3da04c61db
Parent:
6:18b000b443af
Child:
10:cea9b4827b28
motor velocity proportional to pot meter working

Who changed what in which revision?

UserRevisionLine numberNew contents of line
vsluiter 0:c90b36abcbf8 1 #ifndef _ENCODER_H_
vsluiter 0:c90b36abcbf8 2 #define _ENCODER_H_
vsluiter 0:c90b36abcbf8 3
vsluiter 0:c90b36abcbf8 4 #include "mbed.h"
vsluiter 6:18b000b443af 5
vsluiter 1:2dd7853c911a 6 /** Encoder class.
vsluiter 1:2dd7853c911a 7 * Used to read out incremental position encoder. Decodes position in X2 configuration.
vsluiter 1:2dd7853c911a 8 *
vsluiter 3:dcb7bdc73882 9 * Speed estimation is very crude and computationally intensive. Turned off by default
vsluiter 3:dcb7bdc73882 10 *
vsluiter 1:2dd7853c911a 11 * Example:
vsluiter 1:2dd7853c911a 12 * @code
vsluiter 1:2dd7853c911a 13 * #include "mbed.h"
vsluiter 1:2dd7853c911a 14 * #include "Encoder.h"
vsluiter 1:2dd7853c911a 15 *
vsluiter 3:dcb7bdc73882 16 * Encoder motor1(PTD0,PTC9,true);
vsluiter 1:2dd7853c911a 17 * Serial pc(USBTX,USBRX);
vsluiter 1:2dd7853c911a 18 * pc.baud(115200);
vsluiter 1:2dd7853c911a 19 * while(1) {
vsluiter 1:2dd7853c911a 20 * wait(0.2);
vsluiter 1:2dd7853c911a 21 * pc.printf("pos: %d, speed %f \r\n",motor1.getPosition(), motor1.getSpeed());
vsluiter 1:2dd7853c911a 22 * }
vsluiter 1:2dd7853c911a 23 * @endcode
vsluiter 1:2dd7853c911a 24 */
vsluiter 0:c90b36abcbf8 25 class Encoder
vsluiter 0:c90b36abcbf8 26 {
vsluiter 0:c90b36abcbf8 27 public:
vsluiter 1:2dd7853c911a 28 /** Create Encoder instance
vsluiter 1:2dd7853c911a 29 @param int_a Pin to be used as InterruptIn! Be careful, as not all pins on all platforms may be used as InterruptIn.
vsluiter 1:2dd7853c911a 30 @param int_b second encoder pin, used as DigitalIn. Can be any DigitalIn pin, not necessarily on InterruptIn location
vsluiter 6:18b000b443af 31 @param speed boolean value to determine whether speed calculation is done in interrupt routine. Default false (no speed calculation)
vsluiter 1:2dd7853c911a 32 */
vsluiter 4:69be34f39c9f 33
vsluiter 3:dcb7bdc73882 34 Encoder(PinName int_a, PinName int_b, bool speed=false);
vsluiter 1:2dd7853c911a 35 /** Request position
vsluiter 1:2dd7853c911a 36 @returns current position in encoder counts
vsluiter 1:2dd7853c911a 37 */
vsluiter 0:c90b36abcbf8 38 int32_t getPosition(){return m_position;}
vsluiter 1:2dd7853c911a 39 /** Overwrite position
vsluiter 1:2dd7853c911a 40 @param pos position to be written
vsluiter 1:2dd7853c911a 41 */
vsluiter 0:c90b36abcbf8 42 void setPosition(int32_t pos){m_position = pos;}
vsluiter 1:2dd7853c911a 43 /** Request speed
vsluiter 1:2dd7853c911a 44 @returns current speed
vsluiter 1:2dd7853c911a 45 */
vera1 9:9d3da04c61db 46 float m_speed;
vsluiter 0:c90b36abcbf8 47 float getSpeed(){return m_speed;}
vsluiter 0:c90b36abcbf8 48 private:
vsluiter 0:c90b36abcbf8 49 void encoderFalling(void);
vsluiter 0:c90b36abcbf8 50 void encoderRising(void);
vsluiter 3:dcb7bdc73882 51 bool m_speed_enabled;
vsluiter 0:c90b36abcbf8 52 Timer EncoderTimer;
vsluiter 5:04c4a90c7a0a 53 Timeout EncoderTimeout;
vsluiter 0:c90b36abcbf8 54 InterruptIn pin_a;
vsluiter 0:c90b36abcbf8 55 DigitalIn pin_b;
vsluiter 0:c90b36abcbf8 56 int32_t m_position;
vera1 9:9d3da04c61db 57
vsluiter 0:c90b36abcbf8 58 void timeouthandler(void);
vsluiter 0:c90b36abcbf8 59 bool zero_speed;
vsluiter 0:c90b36abcbf8 60 };
vsluiter 0:c90b36abcbf8 61
vsluiter 0:c90b36abcbf8 62
vsluiter 0:c90b36abcbf8 63 #endif //_ENCODER_H_