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

Committer:
vsluiter
Date:
2013-09-25
Revision:
0:c90b36abcbf8
Child:
2:0998a8fd7727
Child:
3:dcb7bdc73882

File content as of revision 0:c90b36abcbf8:


#include "encoder.h"

Encoder::Encoder(PinName int_a, PinName int_b) : pin_a(int_a), pin_b(int_b)
{
    EncoderTimer.start();
    pin_a.fall(this,&Encoder::encoderFalling);
    pin_a.rise(this,&Encoder::encoderRising);
    m_position = 0;
    m_speed = 0;
    zero_speed = false;
}
 
void Encoder::encoderFalling(void)
{
    //temporary speed storage, in case higher interrupt level does stuff
    float temp_speed;
    int motortime_now = EncoderTimer.read_us();
    EncoderTimer.reset();
    EncoderTimeout.attach(this,&Encoder::timeouthandler,0.1);
    /*calculate as ticks per second*/
    if(zero_speed)
        temp_speed  = 0;
    else
        temp_speed = 1000000./motortime_now;
    zero_speed = false;
    if(pin_b)
    {
        m_position++;
        m_speed = temp_speed;
    }
    else
    {
        m_position--;    
        m_speed  = -temp_speed; //negative speed
    }
}

void Encoder::encoderRising(void)
{
    //temporary speed storage, in case higher interrupt level does stuff
    float temp_speed;
    int motortime_now = EncoderTimer.read_us();
    EncoderTimer.reset();
    EncoderTimeout.attach(this,&Encoder::encoderFalling,0.1);
    /*calculate as ticks per second*/
    if(zero_speed)
        temp_speed  = 0;
    else
        temp_speed = 1000000./motortime_now;
    zero_speed = false;
    if(pin_b)
    {
        m_position--;
        m_speed = -temp_speed; //negative speed
    }
    else
    {
        m_position++;    
        m_speed  = temp_speed; 
    }
}

void Encoder::timeouthandler(void)
{
    m_speed  = 0;
    zero_speed = true;
}