Thomas Burgers / Mbed 2 deprecated P_controller_motor_Bouke2

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Dependencies:   Encoder MODSERIAL mbed

Fork of P_controller_motor_Bouke by Thomas Burgers

encoder.h@3:eee8d5461256, 2015-09-17 (annotated)

Committer:
ThomasBNL
Date:
Thu Sep 17 10:45:54 2015 +0000
Revision:
3:eee8d5461256
Poging toevoegen encoder

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ThomasBNL 3:eee8d5461256 1 #ifndef _ENCODER_H_
ThomasBNL 3:eee8d5461256 2 #define _ENCODER_H_
ThomasBNL 3:eee8d5461256 3
ThomasBNL 3:eee8d5461256 4 #include "mbed.h"
ThomasBNL 3:eee8d5461256 5
ThomasBNL 3:eee8d5461256 6 /** Encoder class.
ThomasBNL 3:eee8d5461256 7 * Used to read out incremental position encoder. Decodes position in X2 configuration.
ThomasBNL 3:eee8d5461256 8 *
ThomasBNL 3:eee8d5461256 9 * Speed estimation is very crude and computationally intensive. Turned off by default
ThomasBNL 3:eee8d5461256 10 *
ThomasBNL 3:eee8d5461256 11 * Example:
ThomasBNL 3:eee8d5461256 12 * @code
ThomasBNL 3:eee8d5461256 13 * #include "mbed.h"
ThomasBNL 3:eee8d5461256 14 * #include "Encoder.h"
ThomasBNL 3:eee8d5461256 15 *
ThomasBNL 3:eee8d5461256 16 * Encoder motor1(PTD0,PTC9,true);
ThomasBNL 3:eee8d5461256 17 * Serial pc(USBTX,USBRX);
ThomasBNL 3:eee8d5461256 18 * pc.baud(115200);
ThomasBNL 3:eee8d5461256 19 * while(1) {
ThomasBNL 3:eee8d5461256 20 * wait(0.2);
ThomasBNL 3:eee8d5461256 21 * pc.printf("pos: %d, speed %f \r\n",motor1.getPosition(), motor1.getSpeed());
ThomasBNL 3:eee8d5461256 22 * }
ThomasBNL 3:eee8d5461256 23 * @endcode
ThomasBNL 3:eee8d5461256 24 */
ThomasBNL 3:eee8d5461256 25 class Encoder
ThomasBNL 3:eee8d5461256 26 {
ThomasBNL 3:eee8d5461256 27 public:
ThomasBNL 3:eee8d5461256 28 /** Create Encoder instance
ThomasBNL 3:eee8d5461256 29 @param int_a Pin to be used as InterruptIn! Be careful, as not all pins on all platforms may be used as InterruptIn.
ThomasBNL 3:eee8d5461256 30 @param int_b second encoder pin, used as DigitalIn. Can be any DigitalIn pin, not necessarily on InterruptIn location
ThomasBNL 3:eee8d5461256 31 @param speed boolean value to determine whether speed calculation is done in interrupt routine. Default false (no speed calculation)
ThomasBNL 3:eee8d5461256 32 */
ThomasBNL 3:eee8d5461256 33
ThomasBNL 3:eee8d5461256 34 Encoder(PinName int_a, PinName int_b, bool speed=false);
ThomasBNL 3:eee8d5461256 35 /** Request position
ThomasBNL 3:eee8d5461256 36 @returns current position in encoder counts
ThomasBNL 3:eee8d5461256 37 */
ThomasBNL 3:eee8d5461256 38 int32_t getPosition(){return m_position;}
ThomasBNL 3:eee8d5461256 39 /** Overwrite position
ThomasBNL 3:eee8d5461256 40 @param pos position to be written
ThomasBNL 3:eee8d5461256 41 */
ThomasBNL 3:eee8d5461256 42 void setPosition(int32_t pos){m_position = pos;}
ThomasBNL 3:eee8d5461256 43 /** Request speed
ThomasBNL 3:eee8d5461256 44 @returns current speed
ThomasBNL 3:eee8d5461256 45 */
ThomasBNL 3:eee8d5461256 46 float getSpeed(){return m_speed;}
ThomasBNL 3:eee8d5461256 47 private:
ThomasBNL 3:eee8d5461256 48 void encoderFalling(void);
ThomasBNL 3:eee8d5461256 49 void encoderRising(void);
ThomasBNL 3:eee8d5461256 50 bool m_speed_enabled;
ThomasBNL 3:eee8d5461256 51 Timer EncoderTimer;
ThomasBNL 3:eee8d5461256 52 Timeout EncoderTimeout;
ThomasBNL 3:eee8d5461256 53 InterruptIn pin_a;
ThomasBNL 3:eee8d5461256 54 DigitalIn pin_b;
ThomasBNL 3:eee8d5461256 55 int32_t m_position;
ThomasBNL 3:eee8d5461256 56 float m_speed;
ThomasBNL 3:eee8d5461256 57 void timeouthandler(void);
ThomasBNL 3:eee8d5461256 58 bool zero_speed;
ThomasBNL 3:eee8d5461256 59 };
ThomasBNL 3:eee8d5461256 60
ThomasBNL 3:eee8d5461256 61
ThomasBNL 3:eee8d5461256 62 #endif //_ENCODER_H_