Takujyou_Ishii / Encoder

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Dependents:   SpeedController

EC.cpp@13:6060cceed39e, 2021-02-11 (annotated)

Committer:
aoikoizumi
Date:
Thu Feb 11 13:12:56 2021 +0000
Revision:
13:6060cceed39e
Parent:
11:acbbd742df47 
a;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
MazeTaka 0:eb20667a5a27 1 #include "mbed.h"
MazeTaka 0:eb20667a5a27 2 #include "EC.h"
MazeTaka 0:eb20667a5a27 3
MazeTaka 0:eb20667a5a27 4
MazeTaka 0:eb20667a5a27 5 Ec::Ec(int res,int multi):
MazeTaka 0:eb20667a5a27 6 count_(0),pre_count_(0),resolution_(res),multiplication_(multi)
MazeTaka 0:eb20667a5a27 7 {
MazeTaka 0:eb20667a5a27 8 timer_.start();
MazeTaka 0:eb20667a5a27 9 }
MazeTaka 0:eb20667a5a27 10
MazeTaka 8:17aff8f21d19 11 int Ec::getCount()const
MazeTaka 0:eb20667a5a27 12 {
MazeTaka 0:eb20667a5a27 13 return count_;
MazeTaka 0:eb20667a5a27 14 }
MazeTaka 0:eb20667a5a27 15
MazeTaka 11:acbbd742df47 16 double Ec::getRad()const
MazeTaka 10:ad0f13db7b92 17 {
MazeTaka 10:ad0f13db7b92 18 return count_*2.0f*M_PI/(multiplication_*resolution_);
MazeTaka 10:ad0f13db7b92 19 }
MazeTaka 10:ad0f13db7b92 20
MazeTaka 0:eb20667a5a27 21 void Ec::calOmega()
MazeTaka 0:eb20667a5a27 22 {
MazeTaka 0:eb20667a5a27 23 double t=timer_.read();
MazeTaka 0:eb20667a5a27 24 omega_=(count_-pre_count_)*2.0f*M_PI/(multiplication_*resolution_*(t-ptw_));
MazeTaka 0:eb20667a5a27 25 pre_count_=count_;
MazeTaka 0:eb20667a5a27 26 ptw_=t;
aoikoizumi 13:6060cceed39e 27 //printf(" g=%2.1f",omega_);
MazeTaka 0:eb20667a5a27 28 }
MazeTaka 0:eb20667a5a27 29
MazeTaka 8:17aff8f21d19 30 double Ec::getOmega()const
MazeTaka 0:eb20667a5a27 31 {
aoikoizumi 13:6060cceed39e 32
MazeTaka 0:eb20667a5a27 33 return omega_;
MazeTaka 0:eb20667a5a27 34 }
MazeTaka 10:ad0f13db7b92 35 void Ec::setResolution(int res)
MazeTaka 10:ad0f13db7b92 36 {
MazeTaka 0:eb20667a5a27 37 resolution_=res;
MazeTaka 0:eb20667a5a27 38 }
MazeTaka 0:eb20667a5a27 39
MazeTaka 0:eb20667a5a27 40 /*reset関数の定義*/
MazeTaka 0:eb20667a5a27 41 /*エンコーダを初期状態に戻すことができる*/
MazeTaka 0:eb20667a5a27 42 void Ec::reset()
MazeTaka 0:eb20667a5a27 43 {
MazeTaka 0:eb20667a5a27 44 count_=0;
MazeTaka 0:eb20667a5a27 45 pre_count_=0,omega_=0;
MazeTaka 0:eb20667a5a27 46 ptw_=0;
MazeTaka 1:b7e957c01761 47 timer_.stop();
MazeTaka 1:b7e957c01761 48 timer_.reset();
MazeTaka 1:b7e957c01761 49 timer_.start();
MazeTaka 0:eb20667a5a27 50 }
MazeTaka 0:eb20667a5a27 51
MazeTaka 0:eb20667a5a27 52
MazeTaka 0:eb20667a5a27 53 ////////////////////////////////////////////////////1逓倍//////////////////////////////////////////////////////////////////
MazeTaka 0:eb20667a5a27 54 Ec1multi::Ec1multi(PinName signalA,PinName signalB,int res) : Ec(res,1),signalA_(signalA),signalB_(signalB)
MazeTaka 0:eb20667a5a27 55 {
MazeTaka 0:eb20667a5a27 56 signalA_.rise(callback(this,&Ec1multi::upA));
MazeTaka 0:eb20667a5a27 57 }
MazeTaka 0:eb20667a5a27 58
MazeTaka 0:eb20667a5a27 59 //ピン変化割り込み関数の定義
MazeTaka 0:eb20667a5a27 60 void Ec1multi::upA()
MazeTaka 0:eb20667a5a27 61 {
MazeTaka 0:eb20667a5a27 62 if(signalB_.read())count_++;
MazeTaka 0:eb20667a5a27 63 else count_--;
MazeTaka 0:eb20667a5a27 64 }
MazeTaka 0:eb20667a5a27 65 ////////////////////////////////////////////////////2逓倍//////////////////////////////////////////////////////////////////
MazeTaka 0:eb20667a5a27 66 Ec2multi::Ec2multi(PinName signalA,PinName signalB,int res) : Ec(res,2),signalA_(signalA),signalB_(signalB)
MazeTaka 0:eb20667a5a27 67 {
MazeTaka 0:eb20667a5a27 68 signalA_.rise(callback(this,&Ec2multi::upA));
MazeTaka 0:eb20667a5a27 69 signalA_.fall(callback(this,&Ec2multi::downA));
MazeTaka 0:eb20667a5a27 70 }
MazeTaka 0:eb20667a5a27 71
MazeTaka 0:eb20667a5a27 72 //ピン変化割り込み関数の定義
MazeTaka 0:eb20667a5a27 73 void Ec2multi::upA()
MazeTaka 0:eb20667a5a27 74 {
MazeTaka 0:eb20667a5a27 75 if(signalB_.read())count_++;
MazeTaka 0:eb20667a5a27 76 else count_--;
MazeTaka 0:eb20667a5a27 77 }
MazeTaka 0:eb20667a5a27 78 void Ec2multi::downA()
MazeTaka 0:eb20667a5a27 79 {
MazeTaka 0:eb20667a5a27 80 if(signalB_.read())count_--;
MazeTaka 0:eb20667a5a27 81 else count_++;
MazeTaka 0:eb20667a5a27 82 }
MazeTaka 0:eb20667a5a27 83
MazeTaka 0:eb20667a5a27 84 ////////////////////////////////////////////////////4逓倍//////////////////////////////////////////////////////////////////
MazeTaka 0:eb20667a5a27 85 Ec4multi::Ec4multi(PinName signalA,PinName signalB,int res) : Ec(res,4),signalA_(signalA),signalB_(signalB),pa_(0),pb_(0)
MazeTaka 0:eb20667a5a27 86 {
MazeTaka 0:eb20667a5a27 87 signalA_.rise(callback(this,&Ec4multi::upA));
MazeTaka 0:eb20667a5a27 88 signalA_.fall(callback(this,&Ec4multi::downA));
MazeTaka 0:eb20667a5a27 89 signalB_.rise(callback(this,&Ec4multi::upB));
MazeTaka 0:eb20667a5a27 90 signalB_.fall(callback(this,&Ec4multi::downB));
MazeTaka 0:eb20667a5a27 91 }
MazeTaka 0:eb20667a5a27 92 void Ec4multi::upA()
MazeTaka 0:eb20667a5a27 93 {
MazeTaka 0:eb20667a5a27 94 pa_=1;
MazeTaka 0:eb20667a5a27 95 if(pb_==1)count_++;
MazeTaka 0:eb20667a5a27 96 else count_--;
MazeTaka 0:eb20667a5a27 97 }
MazeTaka 0:eb20667a5a27 98 void Ec4multi::downA()
MazeTaka 0:eb20667a5a27 99 {
MazeTaka 0:eb20667a5a27 100 pa_=0;
MazeTaka 0:eb20667a5a27 101 if(pb_==1)count_--;
MazeTaka 0:eb20667a5a27 102 else count_++;
MazeTaka 0:eb20667a5a27 103 }
MazeTaka 0:eb20667a5a27 104 void Ec4multi::upB()
MazeTaka 0:eb20667a5a27 105 {
MazeTaka 0:eb20667a5a27 106 pb_=1;
MazeTaka 0:eb20667a5a27 107 if(pa_==1)count_--;
MazeTaka 0:eb20667a5a27 108 else count_++;
MazeTaka 0:eb20667a5a27 109 }
MazeTaka 0:eb20667a5a27 110 void Ec4multi::downB()
MazeTaka 0:eb20667a5a27 111 {
MazeTaka 0:eb20667a5a27 112 pb_=0;
MazeTaka 0:eb20667a5a27 113 if(pa_==1)count_++;
MazeTaka 0:eb20667a5a27 114 else count_--;
MazeTaka 0:eb20667a5a27 115 }