Diff: EC.cpp

Revision:

5:4abba4f54406

Parent:

0:20fc96400ca3

Child:

6:bd366dd2fd30

Child:

7:87c135463de7

--- a/EC.cpp	Wed Nov 02 02:43:15 2016 +0000
+++ b/EC.cpp	Sat Nov 12 06:50:56 2016 +0000
@@ -39,18 +39,47 @@
     }
 }
 
+void Ec::upZ(){
+    if(first==false){
+        rev++;
+        first=true;
+        now_time=timer.read();
+        RPM=60/(now_time-old_time);
+        if((RPM_old-RPM)>300){
+            printf("\r\n CAUTION : speed downed drastically\r\n");
+            NVIC_SystemReset();
+        }
+        RPM_old=RPM;
+        old_time=timer.read();
+    }    
+}
+
+void Ec::downZ(){
+    first=false;
+}
+
+
 //コンストラクタの定義
 //main関数の前に必ず一度宣言する
 //第一・第二引数はエンコーダのA・B相のピン名
 //第三院数はエンコーダの分解能
 
-Ec::Ec(PinName signalA,PinName signalB,int s=defsolution,double t=deftime)  :  signalA_(signalA),signalB_(signalB)
+Ec::Ec(PinName signalA , PinName signalB , PinName signalZ , int s=defsolution , double t=deftime) : signalA_(signalA),signalB_(signalB),signalZ_(signalZ)
 {
-    S=0;stateA=0;stateB=0;count=0;pre_count=0.0;
-    signalA_.rise(this,&Ec::upA);
-    signalA_.fall(this,&Ec::downA);
-    signalB_.rise(this,&Ec::upB);
-    signalB_.fall(this,&Ec::downB);
+    
+    if((signalA!=NC)&&(signalB!=NC)){
+        S=0;stateA=0;stateB=0;count=0;pre_count=0.0;
+        signalA_.rise(this,&Ec::upA);
+        signalA_.fall(this,&Ec::downA);
+        signalB_.rise(this,&Ec::upB);
+        signalB_.fall(this,&Ec::downB);
+    }
+    if(signalZ!=NC){
+        first=false; rev=0; old_time=0; RPM=0; RPM_old=0;
+        timer.start();
+        signalZ_.rise(this,&Ec::upZ);
+        signalZ_.fall(this,&Ec::downZ);
+    }
     dt=t;
     solution=s;
     defsolution=s;
@@ -84,3 +113,11 @@
     dt=t;
 }
 
+double Ec::getRPM(){
+    return RPM;
+}
+
+int Ec::getrev(){
+    return rev;
+}
+