Revision 0:60d903b5752f, committed 2020-02-20

Comitter:

taisyou

Date:

Thu Feb 20 08:59:27 2020 +0000

Commit message:

release

Changed in this revision

diff -r 000000000000 -r 60d903b5752f incenc.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/incenc.cpp	Thu Feb 20 08:59:27 2020 +0000
@@ -0,0 +1,61 @@
+#include "incenc.h"
+//Xは使いませええん!!なので４ピンでだいじょうぶでs
+incEnc::incEnc(PinName p1,PinName p2):A(p1), B(p2)
+{
+    A.rise(&Ar_f);//関数に引数を入れてはいけない
+    A.fall(&Af_f);
+    B.rise(&Br_f);
+    B.fall(&Bf_f);  
+}
+incEnc incenc[enc_MAX]= {
+    incEnc(PC_10,PC_9),
+    incEnc(PC_3,PC_4)
+};
+void Ar_f()//引数なしにするために
+{
+    Ar(incenc,enc_MAX);
+}
+void Af_f()
+{
+    Af(incenc,enc_MAX);
+}
+void Br_f()
+{
+    Br(incenc,enc_MAX);
+}
+void Bf_f()
+{
+    Bf(incenc,enc_MAX);
+}
+void Ar(incEnc *e,uint8_t MAX)
+{
+    for(int i=0; i<MAX; i++) {
+        if(e[i].B==0)e[i].read_buf++;
+        else e[i].read_buf--;
+        e[i].degree=e[i].read_buf*360/8192;
+    }
+}
+void Af(incEnc *e,uint8_t MAX)
+{
+    for(int i=0; i<MAX; i++) {
+        if(e[i].B==1)e[i].read_buf++;
+        else e[i].read_buf--;
+        e[i].degree=e[i].read_buf*360/8192;
+    }
+}
+void Br(incEnc *e,uint8_t MAX)
+{
+    for(int i=0; i<MAX; i++) {
+        if(e[i].A==1)e[i].read_buf++;
+        else e[i].read_buf--;
+        e[i].degree=e[i].read_buf*360/8192;
+    }
+}
+void Bf(incEnc *e,uint8_t MAX)
+{
+    for(int i=0; i<MAX; i++) {
+        if(e[i].A==0)e[i].read_buf++;
+        else e[i].read_buf--;
+        e[i].degree=e[i].read_buf*360/8192;
+    }
+}
\ No newline at end of file

diff -r 000000000000 -r 60d903b5752f incenc.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/incenc.h	Thu Feb 20 08:59:27 2020 +0000
@@ -0,0 +1,31 @@
+#ifndef INCLDUED_incenc_h_
+#define INCLDUED_incenc_h_
+#include "mbed.h"
+#define INCENC_GET_VAL(__ENCODER__, __NUMBER__) \
+(((__ENCODER__)+ (__NUMBER__))->read_buf)
+
+#define INCENC_GET_DEGREE(__MD_DATA__, __NUMBER__)\
+(((__MD_DATA__) + (__NUMBER__))->degree)
+#define enc_MAX 2//使う個数を書いてね
+
+class incEnc
+{
+public:
+    InterruptIn A;
+    InterruptIn B;
+    incEnc(PinName p1,PinName p2);
+    int16_t             degree;
+    int32_t            read_buf;
+};
+void Ar_f();
+void Af_f();
+void Br_f();
+void Bf_f();
+void Ar(incEnc *e,uint8_t);
+void Af(incEnc *e,uint8_t);
+void Br(incEnc *e,uint8_t);
+void Bf(incEnc *e,uint8_t);
+
+extern incEnc incenc[enc_MAX];
+
+#endif //INCLDUED_incenc_h_
\ No newline at end of file