ichinoseki_Bteam_2019 / SPI_Encoder

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Dependents:   ArmNode

SPI_Encoder.h@5:1458a8f024dc, 2019-09-26 (annotated)

Committer:
Kirua
Date:
Thu Sep 26 15:21:39 2019 +0000
Revision:
5:1458a8f024dc
Parent:
4:2331b7fcfe8d 
fix

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Kirua 0:21ae825df645 1 #ifndef SPI_ENCODER_H
Kirua 0:21ae825df645 2 #define SPI_ENCODER_H
Kirua 0:21ae825df645 3
Kirua 0:21ae825df645 4 #include "mbed.h"
Kirua 0:21ae825df645 5
Kirua 0:21ae825df645 6 #define encoder_num 4
Kirua 5:1458a8f024dc 7 #define PI 3.1415f
Kirua 0:21ae825df645 8
Kirua 0:21ae825df645 9
Kirua 1:7826ec4d9405 10 /* cui amt203 */
Kirua 0:21ae825df645 11 class SPI_Encoder
Kirua 0:21ae825df645 12 {
Kirua 0:21ae825df645 13 public:
Kirua 1:7826ec4d9405 14 SPI_Encoder(PinName mosi, PinName miso, PinName sclk, PinName _cs0, PinName _cs1, PinName _cs2, PinName _cs3, float t);
Kirua 4:2331b7fcfe8d 15 bool getPosition(int num);
Kirua 1:7826ec4d9405 16 bool setZero(int num);
Kirua 1:7826ec4d9405 17 void inverse(int num);
Kirua 0:21ae825df645 18
Kirua 1:7826ec4d9405 19 float angle[encoder_num];
Kirua 1:7826ec4d9405 20 float velocity[encoder_num];
Kirua 0:21ae825df645 21
Kirua 0:21ae825df645 22 private:
Kirua 0:21ae825df645 23 SPI encoder;
Kirua 0:21ae825df645 24 DigitalOut cs0;
Kirua 0:21ae825df645 25 DigitalOut cs1;
Kirua 0:21ae825df645 26 DigitalOut cs2;
Kirua 0:21ae825df645 27 DigitalOut cs3;
Kirua 1:7826ec4d9405 28 float delta_t;
Kirua 1:7826ec4d9405 29 bool direction[4];
Kirua 3:d3694519bd73 30
Kirua 0:21ae825df645 31 uint8_t _SPI_T (int num, uint8_t SPITransmit);
Kirua 0:21ae825df645 32 void _switching(int num, int value);
Kirua 0:21ae825df645 33 };
Kirua 0:21ae825df645 34
Kirua 0:21ae825df645 35 #endif