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Dependencies:   QEI mbed

encoderBase.cpp@2:7f4be54c7257, 2018-02-16 (annotated)

Committer:
Weranest
Date:
Fri Feb 16 19:30:19 2018 +0000
Revision:
2:7f4be54c7257
Parent:
1:12f18cede014
Child:
3:c9df852ad9ac
Just some encoder tweaks, need to finish that sometime

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Weranest 2:7f4be54c7257 1 #include "mbed.h"
Weranest 0:62e51b80d738 2 #include "QEI.h"
Weranest 0:62e51b80d738 3 #include "pins.cpp"
Weranest 0:62e51b80d738 4 #define ENCODER_PULSE 256 //per manual
Weranest 0:62e51b80d738 5 #define GEAR_RATIO
Weranest 1:12f18cede014 6 #define SAMPLE_TIME 1.0f //user defined
Weranest 0:62e51b80d738 7 #define WHEEL_DISTANCE //need to measure that
Weranest 0:62e51b80d738 8
Weranest 0:62e51b80d738 9 //these lines setup the encoders for both wheels
Weranest 0:62e51b80d738 10 QEI encoderRight(channelARight, channelBRight, channelIRight, ENCODER_PULSE);
Weranest 0:62e51b80d738 11 QEI encoderLeft(channelALeft, channelBLeft, channelILeft, ENCODER_PULSE);
Weranest 0:62e51b80d738 12
Weranest 0:62e51b80d738 13 //main wheel class, the subclasses should follow later
Weranest 0:62e51b80d738 14 class Wheel{
Weranest 0:62e51b80d738 15 int currentPulses, previousPulses;
Weranest 0:62e51b80d738 16 public:
Weranest 2:7f4be54c7257 17 float velocity(){
Weranest 2:7f4be54c7257 18 return encoderVelocity*GEAR_RATIO;
Weranest 0:62e51b80d738 19 }
Weranest 0:62e51b80d738 20 private:
Weranest 1:12f18cede014 21 float sampleTime= SAMPLE_TIME;
Weranest 0:62e51b80d738 22 int gearRatio = GEAR_RATIO;
Weranest 2:7f4be54c7257 23 float encoderVelocity(encoderPulse){
Weranest 2:7f4be54c7257 24 wait(sampleTIme);
Weranest 2:7f4be54c7257 25 previousEncoderPulses=currentEncoderPulses;
Weranest 2:7f4be54c7257 26 currentEncoderPulses=encoderPulse;
Weranest 0:62e51b80d738 27 }
Weranest 1:12f18cede014 28
Weranest 0:62e51b80d738 29 } wheelRight, wheelLeft;
Weranest 0:62e51b80d738 30
Weranest 0:62e51b80d738 31 class WheelLeft
Weranest 0:62e51b80d738 32
Weranest 0:62e51b80d738 33 //call this for speed, linear and angular
Weranest 0:62e51b80d738 34 class Buggy{
Weranest 0:62e51b80d738 35 public:
Weranest 2:7f4be54c7257 36 float speedLinear(){
Weranest 2:7f4be54c7257 37 return (wheelRight.velocity()+wheelLeft.velocity())/2;
Weranest 0:62e51b80d738 38 }
Weranest 2:7f4be54c7257 39 float speedAngular(){
Weranest 2:7f4be54c7257 40 return (wheelRight.velocity()-wheelLeft.velocity())/WHEEL_DISTANCE;
Weranest 0:62e51b80d738 41 }
Weranest 2:7f4be54c7257 42 }buggy;
Weranest 2:7f4be54c7257 43
Weranest 2:7f4be54c7257 44 int speedMeasure(int encoderSide){
Weranest 2:7f4be54c7257 45 wheelRight.currentPulses(&encoderRight.getPulses());
Weranest 2:7f4be54c7257 46 wheelLeft.currentPulses(&encoderLeft.getPulses());
Weranest 2:7f4be54c7257 47 }//set this as an interupt routine on the timer based on SAMPLE_TIME
Weranest 0:62e51b80d738 48
Weranest 0:62e51b80d738 49
Weranest 2:7f4be54c7257 50