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Drehen mit Halt und offset um zum Klotz zurück drehen. (Kann nur ein klotz aufheben)
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Diff: MotorEncoder.cpp
- Revision:
- 1:d40ff07e2fe0
diff -r 96f88638114b -r d40ff07e2fe0 MotorEncoder.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MotorEncoder.cpp Wed May 10 09:14:12 2017 +0000 @@ -0,0 +1,115 @@ +#include "MotorEncoder.h" + +//E. Hess +//MotorEncoder.h + +using namespace std; + +// Erstellt einen Treiber um den Encoder zu lesen und initialisiert ihn +// PinName a ist der Input für Kanal A +// PinName b ist der Input für Kanal B + +MotorEncoder::MotorEncoder(PinName a, PinName b) { + // Überprüft die Inputs + if ((a == PA_6) && (b == PC_7)) { // Rechter Motor + // pinmap OK for TIM3 CH1 and CH2 + TIM = TIM3; + + // Kunfiguration vom Reset und der Taktsteuerung + RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN; // manually enable port C (port A enabled by mbed library) + + // configure general purpose I/O registers + + GPIOA->MODER &= ~GPIO_MODER_MODER6; // reset port A6 + GPIOA->MODER |= GPIO_MODER_MODER6_1; // set alternate mode of port A6 + GPIOA->PUPDR &= ~GPIO_PUPDR_PUPDR6; // reset pull-up/pull-down on port A6 + GPIOA->PUPDR |= GPIO_PUPDR_PUPDR6_1; // set input as pull-down + GPIOA->AFR[0] &= ~(0xF << 4*6); // reset alternate function of port A6 + GPIOA->AFR[0] |= 2 << 4*6; // set alternate funtion 2 of port A6 + + GPIOC->MODER &= ~GPIO_MODER_MODER7; // reset port C7 + GPIOC->MODER |= GPIO_MODER_MODER7_1; // set alternate mode of port C7 + GPIOC->PUPDR &= ~GPIO_PUPDR_PUPDR7; // reset pull-up/pull-down on port C7 + GPIOC->PUPDR |= GPIO_PUPDR_PUPDR7_1; // set input as pull-down + GPIOC->AFR[0] &= ~0xF0000000; // reset alternate function of port C7 + GPIOC->AFR[0] |= 2 << 4*7; // set alternate funtion 2 of port C7 + + // configure reset and clock control registers + + RCC->APB1RSTR |= RCC_APB1RSTR_TIM3RST; //reset TIM3 controller + RCC->APB1RSTR &= ~RCC_APB1RSTR_TIM3RST; + + RCC->APB1ENR |= RCC_APB1ENR_TIM3EN; // TIM3 clock enable + + } else if ((a == PB_6) && (b == PB_7)) { // Links Motor + + // pinmap OK for TIM4 CH1 and CH2 + + TIM = TIM4; + + // configure reset and clock control registers + + RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN; // manually enable port B (port A enabled by mbed library) + + // configure general purpose I/O registers + + GPIOB->MODER &= ~GPIO_MODER_MODER6; // reset port B6 + GPIOB->MODER |= GPIO_MODER_MODER6_1; // set alternate mode of port B6 + GPIOB->PUPDR &= ~GPIO_PUPDR_PUPDR6; // reset pull-up/pull-down on port B6 + GPIOB->PUPDR |= GPIO_PUPDR_PUPDR6_1; // set input as pull-down + GPIOB->AFR[0] &= ~(0xF << 4*6); // reset alternate function of port B6 + GPIOB->AFR[0] |= 2 << 4*6; // set alternate funtion 2 of port B6 + + GPIOB->MODER &= ~GPIO_MODER_MODER7; // reset port B7 + GPIOB->MODER |= GPIO_MODER_MODER7_1; // set alternate mode of port B7 + GPIOB->PUPDR &= ~GPIO_PUPDR_PUPDR7; // reset pull-up/pull-down on port B7 + GPIOB->PUPDR |= GPIO_PUPDR_PUPDR7_1; // set input as pull-down + GPIOB->AFR[0] &= ~0xF0000000; // reset alternate function of port B7 + GPIOB->AFR[0] |= 2 << 4*7; // set alternate funtion 2 of port B7 + + // configure reset and clock control registers + + RCC->APB1RSTR |= RCC_APB1RSTR_TIM4RST; //reset TIM4 controller + RCC->APB1RSTR &= ~RCC_APB1RSTR_TIM4RST; + + RCC->APB1ENR |= RCC_APB1ENR_TIM4EN; // TIM4 clock enable + + } else { + printf("Pinmap konnte nicht gefunden werden!\n"); + } + + // configure general purpose timer 3 or 4 + + TIM->CR1 = 0x0000; // counter disable + TIM->CR2 = 0x0000; // reset master mode selection + TIM->SMCR = TIM_SMCR_SMS_1 | TIM_SMCR_SMS_0; // counting on both TI1 & TI2 edges + TIM->CCMR1 = TIM_CCMR1_CC2S_0 | TIM_CCMR1_CC1S_0; + TIM->CCMR2 = 0x0000; // reset capture mode register 2 + TIM->CCER = TIM_CCER_CC2E | TIM_CCER_CC1E; + TIM->CNT = 0x0000; // reset counter value + TIM->ARR = 0xFFFF; // auto reload register + TIM->CR1 = TIM_CR1_CEN; // counter enable +} + +MotorEncoder::~MotorEncoder() {} + +// Setzt den Zähler auf NULL +void MotorEncoder::reset() { + + TIM->CNT = 0x0000; +} + +// Setzt den Zähler auf NULL zurück +void MotorEncoder::reset(short offset) { + TIM->CNT = -offset; +} + +// Liest den Zähler +short MotorEncoder::read() { + return (short)(-TIM->CNT); +} + +// Kurznotation für read() +MotorEncoder::operator short() { + return read(); +}