Akito
エンコーダから速度を測定する。 ボーレートは115200bps、データのみを送信する。
Dependencies: mbed nucleo_rotary_encoder
Revision 0:3858dd3441ba, committed 2017-09-06
- Comitter:
- Akito914
- Date:
- Wed Sep 06 08:12:52 2017 +0000
- Commit message:
- ??????????????
Changed in this revision
diff -r 000000000000 -r 3858dd3441ba main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Sep 06 08:12:52 2017 +0000
@@ -0,0 +1,117 @@
+
+#include "mbed.h"
+#include "rotary_encoder_ab_phase.hpp"
+
+#define sample_num_max 10000
+#define sampling_period 500
+#define reel_radius 25.0 // unit : mm
+#define countPerRevol 4000
+
+rotary_encoder_ab_phase encoder(TIM1,1000);
+
+DigitalOut myled(LED1);
+DigitalIn button(USER_BUTTON);
+
+Serial pc(USBTX, USBRX);
+
+Timer timer;
+
+
+uint32_t sampling_count = 0;
+int16_t sample_data[sample_num_max] = {0};
+int32_t sample_time_us[sample_num_max] = {0};
+
+
+int32_t get_encoder(void){
+ static int32_t counts = 0;
+ static int32_t p_raw_counts = 0;
+ int32_t raw_counts;
+
+ raw_counts=encoder.get_counts();
+
+ if((raw_counts - p_raw_counts) > 30000){
+ counts -= 65535 - (raw_counts - p_raw_counts);
+ }
+ else if((raw_counts - p_raw_counts) < -30000){
+ counts += 65535 - (p_raw_counts - raw_counts);
+ }
+ else{
+ counts += raw_counts - p_raw_counts;
+ }
+ p_raw_counts = raw_counts;
+ return counts;
+}
+
+int32_t get_encoder_diff(void){
+ int32_t diff = 0;
+ static int32_t p_raw_counts = 0;
+ int32_t raw_counts;
+
+ raw_counts=encoder.get_counts();
+
+ if((raw_counts - p_raw_counts) > 30000){
+ diff = 65535 - (raw_counts - p_raw_counts);
+ }
+ else if((raw_counts - p_raw_counts) < -30000){
+ diff = 65535 - (p_raw_counts - raw_counts);
+ }
+ else{
+ diff = raw_counts - p_raw_counts;
+ }
+ p_raw_counts = raw_counts;
+ return diff;
+}
+
+double dabs(double val){
+ if(val < 0.0)return val * -1;
+ return val;
+}
+
+int main() {
+
+ int32_t ex_time_us = 0;
+ int32_t interval_us = 0;
+ double revolPerSec;
+ double speed = 0.0;
+
+ pc.baud(115200);
+
+ encoder.start();
+
+ //pc.printf("Hello\n");
+ wait_ms(100);
+
+ //pc.printf("wait starting ...\n");
+ while(button == 1);
+ //pc.printf("sampling ...\n");
+
+ get_encoder_diff();
+ timer.start();
+ timer.reset();
+ while(button == 0) {
+
+ wait_us(sampling_period);
+
+ sample_time_us[sampling_count] = timer.read_us();
+ sample_data[sampling_count] = get_encoder_diff();
+
+ sampling_count += 1;
+ if(sampling_count >= sample_num_max - 1){
+ break;
+ }
+
+ }
+
+ //pc.printf("sampling finished\n");
+
+ for(uint32_t count = 0; count < sampling_count; count++){
+ interval_us = sample_time_us[count] - ex_time_us;
+ ex_time_us = sample_time_us[count];
+ revolPerSec = (double)sample_data[count] * 1000000.0 / countPerRevol / (double)interval_us;
+ speed = 2 * 3.14159265 * reel_radius / 1000.0 * revolPerSec;
+ pc.printf("%d, %f\n", sample_time_us[count], speed);
+ }
+
+ while(1);
+
+}
diff -r 000000000000 -r 3858dd3441ba mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Wed Sep 06 08:12:52 2017 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/6c34061e7c34 \ No newline at end of file
diff -r 000000000000 -r 3858dd3441ba nucleo_rotary_encoder.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/nucleo_rotary_encoder.lib Wed Sep 06 08:12:52 2017 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/inst/code/nucleo_rotary_encoder/#684e1604e5ea