ichinoseki_Bteam_2019 / SPI_Encoder

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Dependents:   ArmNode

Diff: SPI_Encoder.h

Revision:
1:7826ec4d9405
Parent:
0:21ae825df645
Child:
3:d3694519bd73
--- a/SPI_Encoder.h	Mon Jul 22 17:45:28 2019 +0000
+++ b/SPI_Encoder.h	Fri Aug 30 03:06:00 2019 +0000
@@ -4,18 +4,20 @@
 #include "mbed.h"
 
 #define encoder_num 4
+#define PI 3.14159265359
 
 
+/* cui amt203 */
 class SPI_Encoder
 {
     public:
-        SPI_Encoder(PinName mosi, PinName miso, PinName sclk, PinName cs0, PinName cs1, PinName cs2, PinName cs3);
+        SPI_Encoder(PinName mosi, PinName miso, PinName sclk, PinName _cs0, PinName _cs1, PinName _cs2, PinName _cs3, float t);
         void getPosition(int num);
+        bool setZero(int num);
+        void inverse(int num);
         
-        uint16_t EncoderByteData[encoder_num];
-        uint16_t Encoderposition_last[encoder_num];
-        uint8_t temp[2][encoder_num];
-        uint16_t Steps[encoder_num];
+        float angle[encoder_num];
+        float velocity[encoder_num];
         
     private:
         SPI encoder;
@@ -23,6 +25,10 @@
         DigitalOut cs1;
         DigitalOut cs2;
         DigitalOut cs3;
+        float delta_t;
+        bool direction[4];
+        uint8_t temp[2][encoder_num];
+        uint16_t EncoderByteData[encoder_num];
         uint8_t _SPI_T (int num, uint8_t SPITransmit);
         void _switching(int num, int value);
 };