Revision 3:eee8d5461256, committed 2015-09-17

Comitter:

ThomasBNL

Date:

Thu Sep 17 10:45:54 2015 +0000

Parent:

2:f5c9d981de51

Child:

4:dfdfcb518e60

Commit message:

Poging toevoegen encoder

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/encoder.h	Thu Sep 17 10:45:54 2015 +0000
@@ -0,0 +1,62 @@
+#ifndef _ENCODER_H_
+#define _ENCODER_H_
+
+#include "mbed.h"
+
+/** Encoder class.
+ *  Used to read out incremental position encoder. Decodes position in X2 configuration.
+ *
+ *  Speed estimation is very crude and computationally intensive. Turned off by default
+ *
+ * Example:
+ * @code
+ * #include "mbed.h"
+ * #include "Encoder.h"
+ *
+ *   Encoder motor1(PTD0,PTC9,true);
+ *   Serial pc(USBTX,USBRX);
+ *   pc.baud(115200);
+ *   while(1) {
+ *       wait(0.2);
+ *       pc.printf("pos: %d, speed %f \r\n",motor1.getPosition(), motor1.getSpeed());
+ *   }
+ * @endcode
+ */
+class Encoder
+{
+    public:
+    /** Create Encoder instance
+    @param int_a Pin to be used as InterruptIn! Be careful, as not all pins on all platforms may be used as InterruptIn.
+    @param int_b second encoder pin, used as DigitalIn. Can be any DigitalIn pin, not necessarily on InterruptIn location
+    @param speed boolean value to determine whether speed calculation is done in interrupt routine. Default false (no speed calculation)
+    */
+
+    Encoder(PinName int_a, PinName int_b, bool speed=false);
+    /** Request position
+    @returns current position in encoder counts
+    */
+    int32_t getPosition(){return m_position;}
+    /** Overwrite position
+    @param pos position to be written
+    */
+    void    setPosition(int32_t pos){m_position = pos;}
+    /** Request speed
+    @returns current speed
+    */
+    float   getSpeed(){return m_speed;}
+    private:
+    void encoderFalling(void);
+    void encoderRising(void);
+    bool m_speed_enabled;
+    Timer EncoderTimer;
+    Timeout EncoderTimeout;
+    InterruptIn pin_a;
+    DigitalIn pin_b;
+    int32_t m_position;
+    float   m_speed;
+    void timeouthandler(void);
+    bool zero_speed;
+};
+
+
+#endif //_ENCODER_H_
\ No newline at end of file

--- a/main.cpp	Thu Sep 17 10:15:44 2015 +0000
+++ b/main.cpp	Thu Sep 17 10:45:54 2015 +0000
@@ -1,28 +1,11 @@
 #include "mbed.h"
 #include "HIDScope.h"
+#include "encoder.h"
 
 // Define the HIDScope and Ticker object
 HIDScope    scope(1);
 Ticker      scopeTimer;
  
-// Read the analog input
-float triangle_signal = 3;
- 
-// The data read and send function
-void scopeSend()
-{
-    scope.set(0,triangle_signal);
-    scope.send();
-}
- 
-int main()
-{
-    // Attach the data read and send function at 100 Hz
-    scopeTimer.attach_us(&scopeSend, 1e4);   
-    
-    while(1) { }
-}
-
 ////// P Motor Controller
 
 // Controller gain
@@ -32,8 +15,23 @@
 // Reusable P controller (FUNCTIE)
 double P (double error, const double Kp)
     {
-            Return Kp*error;
+            return Kp*error;
     }
+
+#include "Encoder.h"
+ *
+ *   Encoder motor1(PTD0,PTC9,true);
+ *   Serial pc(USBTX,USBRX);
+ *   pc.baud(115200);
+   while(1) {
+    wait(0.2);
+    pc.printf("pos: %d, speed %f \r\n",motor1.getPosition(), motor1.getSpeed());
+    }
+ 
+AnalogIn potmeter1(POT1);
+
+// encoder1
+// potmeter1
     
 // Error measurement and apply the output to the plant
 void motorP_Controller()
@@ -48,3 +46,22 @@
         myControllerTicker.attach(&motorP_Controller,0.01f); //100Hz
         while(1){}
     }
+
+
+// Read the analog input
+float triangle_signal = 2.05;
+ 
+// The data read and send function
+void scopeSend()
+{
+    scope.set(0,motorP);
+    scope.send();
+}
+ 
+int main()
+{
+    // Attach the data read and send function at 200 Hz
+    scopeTimer.attach_us(&scopeSend, 2e4);   
+    
+    while(1) { }
+}