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@0:c90b36abcbf8, 2013-09-25 (annotated)

Committer:
vsluiter
Date:
Wed Sep 25 14:55:08 2013 +0000
Revision:
0:c90b36abcbf8
Child:
2:0998a8fd7727
Child:
3:dcb7bdc73882
Initial Commit

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