File content as of revision 13:7a12ba8a93d4:

#include "mbed.h"
#include "EC.h"


Ec::Ec(int res,int multi):
    count_(0),pre_count_(0),resolution_(res),multiplication_(multi)
{
    timer_.start();
}

int Ec::getCount()const
{
    return count_;
}

double Ec::getRad()const
{
    return count_*2.0f*M_PI/(multiplication_*resolution_);
}

void Ec::calOmega()
{
    double t=timer_.read();
    omega_=(count_-pre_count_)*2.0f*M_PI/(multiplication_*resolution_*(t-ptw_));
    pre_count_=count_;
    ptw_=t;
}

double Ec::getOmega()const
{
    return omega_;
}
void Ec::setResolution(int res)
{
    resolution_=res;
}

/*reset関数の定義*/
/*エンコーダを初期状態に戻すことができる*/
void Ec::reset()
{
    count_=0;
    pre_count_=0,omega_=0;
    ptw_=0;
    timer_.stop();
    timer_.reset();
    timer_.start();
}


////////////////////////////////////////////////////1逓倍//////////////////////////////////////////////////////////////////
Ec1multi::Ec1multi(PinName signalA,PinName signalB,int res) : Ec(res,1),signalA_(signalA),signalB_(signalB)
{
    signalA_.rise(this,&Ec1multi::upA);
}

//ピン変化割り込み関数の定義
void Ec1multi::upA()
{
    if(signalB_.read())count_++;
    else count_--;
}
////////////////////////////////////////////////////2逓倍//////////////////////////////////////////////////////////////////
Ec2multi::Ec2multi(PinName signalA,PinName signalB,int res) : Ec(res,2),signalA_(signalA),signalB_(signalB)
{
    signalA_.rise(this,&Ec2multi::upA);
    signalA_.fall(this,&Ec2multi::downA);
}

//ピン変化割り込み関数の定義
void Ec2multi::upA()
{
    if(signalB_.read())count_++;
    else count_--;
}
void Ec2multi::downA()
{
    if(signalB_.read())count_--;
    else count_++;
}

////////////////////////////////////////////////////4逓倍//////////////////////////////////////////////////////////////////
Ec4multi::Ec4multi(PinName signalA,PinName signalB,int res) : Ec(res,4),signalA_(signalA),signalB_(signalB),pa_(0),pb_(0)
{
    signalA_.rise(this,&Ec4multi::upA);
    signalA_.fall(this,&Ec4multi::downA);
    signalB_.rise(this,&Ec4multi::upB);
    signalB_.fall(this,&Ec4multi::downB);
}
void Ec4multi::upA()
{
    pa_=1;
    if(pb_==1)count_++;
    else count_--;
}
void Ec4multi::downA()
{
    pa_=0;
    if(pb_==1)count_--;
    else count_++;
}
void Ec4multi::upB()
{
    pb_=1;
    if(pa_==1)count_--;
    else count_++;
}
void Ec4multi::downB()
{
    pb_=0;
    if(pa_==1)count_++;
    else count_--;
}