春ロボ1班(元F3RC4班+) / EC_speedcontrol_1010

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Dependents:   harurobo1006 harurobo_1026

Fork of EC by ROBOSTEP_LIBRARY

EC.cpp@10:216d5a573dc7, 2016-11-29 (annotated)

Committer:
jack0325suzu
Date:
Tue Nov 29 12:45:45 2016 +0000
Revision:
10:216d5a573dc7
Parent:
9:a919aa92e65e
Child:
11:b96009f8b9fd
fff

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jack0325suzu 0:20fc96400ca3 1 #include "mbed.h"
jack0325suzu 0:20fc96400ca3 2 #include "EC.h"
jack0325suzu 0:20fc96400ca3 3
jack0325suzu 0:20fc96400ca3 4 int Ec::defsolution;
jack0325suzu 0:20fc96400ca3 5 double Ec::deftime;
jack0325suzu 0:20fc96400ca3 6 //ピン変化割り込み関数の定義
jack0325suzu 0:20fc96400ca3 7 void Ec::upA(){
jack0325suzu 0:20fc96400ca3 8 stateA=1;
jack0325suzu 0:20fc96400ca3 9 if(stateB==0&&S==0) {
jack0325suzu 0:20fc96400ca3 10 S=1;
jack0325suzu 0:20fc96400ca3 11 } else if(stateB==1&&S==3) {
jack0325suzu 0:20fc96400ca3 12 S=2;
jack0325suzu 0:20fc96400ca3 13 }
jack0325suzu 0:20fc96400ca3 14 }
jack0325suzu 0:20fc96400ca3 15 void Ec::downA(){
jack0325suzu 0:20fc96400ca3 16 stateA=0;
jack0325suzu 0:20fc96400ca3 17 if(stateB==1&&S==2) {
jack0325suzu 0:20fc96400ca3 18 S=3;
jack0325suzu 0:20fc96400ca3 19 } else if(stateB==0&&S==1) {
jack0325suzu 0:20fc96400ca3 20 S=0;
jack0325suzu 0:20fc96400ca3 21 count--;
jack0325suzu 0:20fc96400ca3 22 }
jack0325suzu 0:20fc96400ca3 23 }
jack0325suzu 0:20fc96400ca3 24 void Ec::upB(){
jack0325suzu 0:20fc96400ca3 25 stateB=1;
jack0325suzu 0:20fc96400ca3 26 if(stateA==1&&S==1) {
jack0325suzu 0:20fc96400ca3 27 S=2;
jack0325suzu 0:20fc96400ca3 28 } else if(stateA==0&&S==0) {
jack0325suzu 0:20fc96400ca3 29 S=3;
jack0325suzu 0:20fc96400ca3 30 }
jack0325suzu 0:20fc96400ca3 31 }
jack0325suzu 0:20fc96400ca3 32 void Ec::downB(){
jack0325suzu 0:20fc96400ca3 33 stateB=0;
jack0325suzu 0:20fc96400ca3 34 if(stateA==0&&S==3) {
jack0325suzu 0:20fc96400ca3 35 count++;
jack0325suzu 0:20fc96400ca3 36 S=0;
jack0325suzu 0:20fc96400ca3 37 } else if(stateA==1&&S==2) {
jack0325suzu 0:20fc96400ca3 38 S=1;
jack0325suzu 0:20fc96400ca3 39 }
jack0325suzu 0:20fc96400ca3 40 }
jack0325suzu 0:20fc96400ca3 41
jack0325suzu 5:4abba4f54406 42 void Ec::upZ(){
jack0325suzu 5:4abba4f54406 43 if(first==false){
jack0325suzu 5:4abba4f54406 44 rev++;
jack0325suzu 5:4abba4f54406 45 first=true;
jack0325suzu 5:4abba4f54406 46 now_time=timer.read();
jack0325suzu 5:4abba4f54406 47 RPM=60/(now_time-old_time);
jack0325suzu 10:216d5a573dc7 48 if((RPM_old-RPM)>RPM_th){
jack0325suzu 5:4abba4f54406 49 printf("\r\n CAUTION : speed downed drastically\r\n");
jack0325suzu 5:4abba4f54406 50 NVIC_SystemReset();
jack0325suzu 5:4abba4f54406 51 }
jack0325suzu 5:4abba4f54406 52 RPM_old=RPM;
jack0325suzu 5:4abba4f54406 53 old_time=timer.read();
jack0325suzu 5:4abba4f54406 54 }
jack0325suzu 5:4abba4f54406 55 }
jack0325suzu 5:4abba4f54406 56
jack0325suzu 5:4abba4f54406 57 void Ec::downZ(){
jack0325suzu 5:4abba4f54406 58 first=false;
jack0325suzu 5:4abba4f54406 59 }
jack0325suzu 5:4abba4f54406 60
jack0325suzu 5:4abba4f54406 61
jack0325suzu 0:20fc96400ca3 62 //コンストラクタの定義
jack0325suzu 0:20fc96400ca3 63 //main関数の前に必ず一度宣言する
jack0325suzu 0:20fc96400ca3 64 //第一・第二引数はエンコーダのA・B相のピン名
jack0325suzu 0:20fc96400ca3 65 //第三院数はエンコーダの分解能
jack0325suzu 0:20fc96400ca3 66
jack0325suzu 5:4abba4f54406 67 Ec::Ec(PinName signalA , PinName signalB , PinName signalZ , int s=defsolution , double t=deftime) : signalA_(signalA),signalB_(signalB),signalZ_(signalZ)
jack0325suzu 0:20fc96400ca3 68 {
jack0325suzu 5:4abba4f54406 69
jack0325suzu 5:4abba4f54406 70 if((signalA!=NC)&&(signalB!=NC)){
jack0325suzu 5:4abba4f54406 71 S=0;stateA=0;stateB=0;count=0;pre_count=0.0;
jack0325suzu 5:4abba4f54406 72 signalA_.rise(this,&Ec::upA);
jack0325suzu 5:4abba4f54406 73 signalA_.fall(this,&Ec::downA);
jack0325suzu 5:4abba4f54406 74 signalB_.rise(this,&Ec::upB);
jack0325suzu 5:4abba4f54406 75 signalB_.fall(this,&Ec::downB);
jack0325suzu 5:4abba4f54406 76 }
jack0325suzu 5:4abba4f54406 77 if(signalZ!=NC){
jack0325suzu 5:4abba4f54406 78 first=false; rev=0; old_time=0; RPM=0; RPM_old=0;
jack0325suzu 5:4abba4f54406 79 timer.start();
jack0325suzu 5:4abba4f54406 80 signalZ_.rise(this,&Ec::upZ);
jack0325suzu 5:4abba4f54406 81 signalZ_.fall(this,&Ec::downZ);
jack0325suzu 5:4abba4f54406 82 }
jack0325suzu 0:20fc96400ca3 83 dt=t;
jack0325suzu 0:20fc96400ca3 84 solution=s;
jack0325suzu 0:20fc96400ca3 85 defsolution=s;
jack0325suzu 10:216d5a573dc7 86 RPM_th=250;
jack0325suzu 0:20fc96400ca3 87 }
jack0325suzu 0:20fc96400ca3 88
jack0325suzu 0:20fc96400ca3 89 int Ec::getCount(){
jack0325suzu 0:20fc96400ca3 90 return count;
jack0325suzu 0:20fc96400ca3 91 }
jack0325suzu 0:20fc96400ca3 92
jack0325suzu 0:20fc96400ca3 93 void Ec::CalOmega(){
jack0325suzu 0:20fc96400ca3 94 omega=(count-pre_count)*2*M_pi/(solution*dt);
jack0325suzu 0:20fc96400ca3 95 pre_count=count;
jack0325suzu 0:20fc96400ca3 96 }
jack0325suzu 0:20fc96400ca3 97
jack0325suzu 0:20fc96400ca3 98 double Ec::getOmega(){
jack0325suzu 0:20fc96400ca3 99 return omega;
jack0325suzu 0:20fc96400ca3 100 }
jack0325suzu 0:20fc96400ca3 101
jack0325suzu 0:20fc96400ca3 102 double Ec::getPreCount(){
jack0325suzu 0:20fc96400ca3 103 precount=count+S/4.0;
jack0325suzu 0:20fc96400ca3 104 return precount;
jack0325suzu 0:20fc96400ca3 105 }
jack0325suzu 0:20fc96400ca3 106 /*reset関数の定義*/
jack0325suzu 0:20fc96400ca3 107 /*エンコーダを初期状態に戻すことができる*/
jack0325suzu 0:20fc96400ca3 108 void Ec::reset(){
jack0325suzu 0:20fc96400ca3 109 S=0;stateA=0;stateB=0;count=0;pre_count=0.0,omega=0;
jack0325suzu 8:833757a1df66 110 rev=0;now_time=0;old_time=0;RPM=0;RPM_old=0;
jack0325suzu 0:20fc96400ca3 111 }
jack0325suzu 0:20fc96400ca3 112 /*setTime関数の定義*/
jack0325suzu 0:20fc96400ca3 113 /*自分で好きなように角速度計算の間隔を決めることができる（デフォルトは0.05秒）*/
jack0325suzu 0:20fc96400ca3 114 void Ec::setTime(double t){
jack0325suzu 0:20fc96400ca3 115 dt=t;
jack0325suzu 0:20fc96400ca3 116 }
jack0325suzu 0:20fc96400ca3 117
jack0325suzu 5:4abba4f54406 118 double Ec::getRPM(){
jack0325suzu 5:4abba4f54406 119 return RPM;
jack0325suzu 5:4abba4f54406 120 }
jack0325suzu 5:4abba4f54406 121
jack0325suzu 8:833757a1df66 122 int Ec::getRev(){
jack0325suzu 5:4abba4f54406 123 return rev;
jack0325suzu 5:4abba4f54406 124 }
jack0325suzu 5:4abba4f54406 125
jack0325suzu 10:216d5a573dc7 126 void Ec::changeRPM_th(int th){
jack0325suzu 10:216d5a573dc7 127 RPM_th=th;
jack0325suzu 10:216d5a573dc7 128 }