Diff: Encoder.cpp

Revision:

0:33005fa67bfd

Child:

2:10ce3d24df8e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Encoder.cpp	Thu Dec 13 08:19:50 2018 +0000
@@ -0,0 +1,89 @@
+#include "Encoder.h"
+
+Encoder::Encoder(PinName Apulse,PinName Bpulse) : Apulse(Apulse),Bpulse(Bpulse) {
+    Encoder::Apulse.rise(this,&Encoder::Apulse_Up);
+    Encoder::Apulse.fall(this,&Encoder::Apulse_Down);
+    Encoder::Bpulse.rise(this,&Encoder::Bpulse_Up);
+    Encoder::Bpulse.fall(this,&Encoder::Bpulse_Down);
+    RpmCalculateTimer.attach(this,&Encoder::RpmCalculate,CALCULATE_PERIOD);
+}
+
+void Encoder::Apulse_Up() {
+    if(Bpulse) {
+        count--;
+    } else {
+        count++;
+    } 
+}
+
+void Encoder::Apulse_Down() {
+    if(Bpulse) {
+        count++;
+    } else {
+        count--;
+    }
+}
+
+void Encoder::Bpulse_Up() {
+    if(Apulse) {
+        count++;
+    } else {
+        count--;
+    }
+}
+
+void Encoder::Bpulse_Down() {
+    if(Apulse) {
+        count--;
+    } else {
+        count++;
+    }
+}
+
+void Encoder::RpmCalculate() {
+    static float rotationBuffer = 0;
+    rotation = count / PPR;
+    rpm = (rotation - rotationBuffer) / CALCULATE_PERIOD * MINUTE;
+    rotationBuffer = rotation;
+    
+    angle = rotation * RADIAN;
+    position = angle - (float)((int)angle / RADIAN) * RADIAN;
+}
+
+void Encoder::setup(int Ppr,int Diameter) {
+    PPR = Ppr;
+    DIAMETER = Diameter;
+}
+
+void Encoder::calculate() {
+    //rotation = count / PPR;
+    //distance = DIAMETER * rotation * PI;
+    //angle = rotation * RADIAN;
+    //position = angle - (float)((int)angle / RADIAN) * RADIAN;
+}
+/****値返す用の関数****/
+float Encoder::getData(short ch) {
+    switch(ch) {
+        case COUNT:
+            return count;               //カウント
+            break;
+        case ROTATION:
+            return rotation;            //回転量
+            break;
+        case RPM:
+            return rpm;                 //rpm
+            break;
+        case DISTANCE:
+            return distance;            //距離(mm)
+            break;
+        case ANGLE:
+            return angle;               //角度
+            break;
+        case POSITION:
+            return position;            //角度（0度から360度までの間の値）
+            break;
+        default:
+            return 0;
+            break;
+    }
+}
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