Hiroki Tanaka / Mbed 2 deprecated arrc_mbed

明石高専ロボ研 mbedライブラリ

Dependencies:   mbed

Dependents:   MDD_L432KC USB2RS485 pathtracking odometry ... more

rotary_inc.hpp@14:bdd394483434, 2021-10-13 (annotated)

Committer:
TanakaRobo
Date:
Wed Oct 13 09:12:48 2021 +0000
Revision:
14:bdd394483434
Parent:
3:28c77df7c0b6 
first? commit

Who changed what in which revision?

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TanakaRobo 0:ca84ed7518f5 1 #ifndef ROTARY_INC_H
TanakaRobo 0:ca84ed7518f5 2 #define ROTARY_INC_H
TanakaRobo 0:ca84ed7518f5 3 #include "mbed.h"
TanakaRobo 0:ca84ed7518f5 4 #ifndef M_PI
TanakaRobo 0:ca84ed7518f5 5 #define M_PI 3.14159265358979
TanakaRobo 0:ca84ed7518f5 6 #endif
TanakaRobo 0:ca84ed7518f5 7
TanakaRobo 0:ca84ed7518f5 8 /*ロータリーエンコーダーを使う。
TanakaRobo 0:ca84ed7518f5 9 *速度計測は、タイヤの円周とロリコンの分解能を指定した場合に有効になる。
TanakaRobo 0:ca84ed7518f5 10 *RotaryInc(PinName pinA, PinName pinB,double circumference,int Resolution,int mode = 0);//速度計測有効
TanakaRobo 0:ca84ed7518f5 11 *RotaryInc(PinName pinA, PinName pinB,int mode = 0);//速度計測無効
TanakaRobo 0:ca84ed7518f5 12 */
TanakaRobo 0:ca84ed7518f5 13 //RotaryInc rotary(PA_1,PA_3,2 * 50.8 * M_PI,200);
TanakaRobo 0:ca84ed7518f5 14
TanakaRobo 0:ca84ed7518f5 15 class RotaryInc{
TanakaRobo 0:ca84ed7518f5 16 public:
TanakaRobo 3:28c77df7c0b6 17 RotaryInc(PinName user_a, PinName user_b,double circumference,int resolution,int mode = 0);//速度計測有効
TanakaRobo 3:28c77df7c0b6 18 RotaryInc(PinName user_a, PinName user_b,int mode = 0);//速度計測無効
TanakaRobo 0:ca84ed7518f5 19 ~RotaryInc();
TanakaRobo 0:ca84ed7518f5 20 long long get();
TanakaRobo 0:ca84ed7518f5 21 double getSpeed();
TanakaRobo 0:ca84ed7518f5 22 void reset();
TanakaRobo 0:ca84ed7518f5 23 int diff();
TanakaRobo 0:ca84ed7518f5 24 private:
TanakaRobo 3:28c77df7c0b6 25 InterruptIn *pin_a_,*pin_b_;
TanakaRobo 0:ca84ed7518f5 26 Timer timer_;
TanakaRobo 0:ca84ed7518f5 27 long long pulse_;
TanakaRobo 0:ca84ed7518f5 28 long long last_[20];
TanakaRobo 0:ca84ed7518f5 29 long long prev_;
TanakaRobo 0:ca84ed7518f5 30 int count_;
TanakaRobo 0:ca84ed7518f5 31 int mode_;
TanakaRobo 0:ca84ed7518f5 32 int resolution_;
TanakaRobo 0:ca84ed7518f5 33 double now_;
TanakaRobo 0:ca84ed7518f5 34 double sum_;
TanakaRobo 0:ca84ed7518f5 35 double pre_t_[20];
TanakaRobo 0:ca84ed7518f5 36 double speed_;
TanakaRobo 0:ca84ed7518f5 37 double circumference_;
TanakaRobo 0:ca84ed7518f5 38 bool measur_;
TanakaRobo 0:ca84ed7518f5 39 bool start_frag_;
TanakaRobo 0:ca84ed7518f5 40 bool flag_;
TanakaRobo 0:ca84ed7518f5 41 void init(PinName,PinName);
TanakaRobo 0:ca84ed7518f5 42 void riseA(void);
TanakaRobo 0:ca84ed7518f5 43 void riseB(void);
TanakaRobo 0:ca84ed7518f5 44 void fallA(void);
TanakaRobo 0:ca84ed7518f5 45 void fallB(void);
TanakaRobo 0:ca84ed7518f5 46 void calcu(void);
TanakaRobo 0:ca84ed7518f5 47 void zero(void);
TanakaRobo 0:ca84ed7518f5 48 };
TanakaRobo 0:ca84ed7518f5 49
TanakaRobo 0:ca84ed7518f5 50 #endif /* ROTARY_INC_H */