Alejandro Marin / Mbed 2 deprecated Tarea4Encoder

En este programa se presenta un PID modificando los valores a traves de un encoder

Dependencies:   QEI TextLCD mbed

/media/uploads/amarincan/pid-encoder.jpg

DebouncedIn.cpp@0:fb37cd782170, 2013-11-13 (annotated)

Committer:
amarincan
Date:
Wed Nov 13 02:59:07 2013 +0000
Revision:
0:fb37cd782170
PID con encoder

Who changed what in which revision?

UserRevisionLine numberNew contents of line
amarincan 0:fb37cd782170 1 #include "DebouncedIn.h"
amarincan 0:fb37cd782170 2 #include "mbed.h"
amarincan 0:fb37cd782170 3
amarincan 0:fb37cd782170 4 /*
amarincan 0:fb37cd782170 5 * Constructor
amarincan 0:fb37cd782170 6 */
amarincan 0:fb37cd782170 7 DebouncedIn::DebouncedIn(PinName in)
amarincan 0:fb37cd782170 8 : _in(in) {
amarincan 0:fb37cd782170 9
amarincan 0:fb37cd782170 10 // reset all the flags and counters
amarincan 0:fb37cd782170 11 _samples = 0;
amarincan 0:fb37cd782170 12 _output = 0;
amarincan 0:fb37cd782170 13 _output_last = 0;
amarincan 0:fb37cd782170 14 _rising_flag = 0;
amarincan 0:fb37cd782170 15 _falling_flag = 0;
amarincan 0:fb37cd782170 16 _state_counter = 0;
amarincan 0:fb37cd782170 17
amarincan 0:fb37cd782170 18 // Attach ticker
amarincan 0:fb37cd782170 19 _ticker.attach(this, &DebouncedIn::_sample, 0.005);
amarincan 0:fb37cd782170 20 }
amarincan 0:fb37cd782170 21
amarincan 0:fb37cd782170 22 void DebouncedIn::_sample() {
amarincan 0:fb37cd782170 23
amarincan 0:fb37cd782170 24 // take a sample
amarincan 0:fb37cd782170 25 _samples = _samples >> 1; // shift left
amarincan 0:fb37cd782170 26
amarincan 0:fb37cd782170 27 if (_in) {
amarincan 0:fb37cd782170 28 _samples |= 0x80;
amarincan 0:fb37cd782170 29 }
amarincan 0:fb37cd782170 30
amarincan 0:fb37cd782170 31 // examine the sample window, look for steady state
amarincan 0:fb37cd782170 32 if (_samples == 0x00) {
amarincan 0:fb37cd782170 33 _output = 0;
amarincan 0:fb37cd782170 34 }
amarincan 0:fb37cd782170 35 else if (_samples == 0xFF) {
amarincan 0:fb37cd782170 36 _output = 1;
amarincan 0:fb37cd782170 37 }
amarincan 0:fb37cd782170 38
amarincan 0:fb37cd782170 39
amarincan 0:fb37cd782170 40 // Rising edge detection
amarincan 0:fb37cd782170 41 if ((_output == 1) && (_output_last == 0)) {
amarincan 0:fb37cd782170 42 _rising_flag++;
amarincan 0:fb37cd782170 43 _state_counter = 0;
amarincan 0:fb37cd782170 44 }
amarincan 0:fb37cd782170 45
amarincan 0:fb37cd782170 46 // Falling edge detection
amarincan 0:fb37cd782170 47 else if ((_output == 0) && (_output_last == 1)) {
amarincan 0:fb37cd782170 48 _falling_flag++;
amarincan 0:fb37cd782170 49 _state_counter = 0;
amarincan 0:fb37cd782170 50 }
amarincan 0:fb37cd782170 51
amarincan 0:fb37cd782170 52 // steady state
amarincan 0:fb37cd782170 53 else {
amarincan 0:fb37cd782170 54 _state_counter++;
amarincan 0:fb37cd782170 55 }
amarincan 0:fb37cd782170 56
amarincan 0:fb37cd782170 57 // update the output
amarincan 0:fb37cd782170 58 _output_last = _output;
amarincan 0:fb37cd782170 59
amarincan 0:fb37cd782170 60 }
amarincan 0:fb37cd782170 61
amarincan 0:fb37cd782170 62
amarincan 0:fb37cd782170 63
amarincan 0:fb37cd782170 64 // return number of rising edges
amarincan 0:fb37cd782170 65 int DebouncedIn::rising(void) {
amarincan 0:fb37cd782170 66 int return_value = _rising_flag;
amarincan 0:fb37cd782170 67 _rising_flag = 0;
amarincan 0:fb37cd782170 68 return(return_value);
amarincan 0:fb37cd782170 69 }
amarincan 0:fb37cd782170 70
amarincan 0:fb37cd782170 71 // return number of falling edges
amarincan 0:fb37cd782170 72 int DebouncedIn::falling(void) {
amarincan 0:fb37cd782170 73 int return_value = _falling_flag;
amarincan 0:fb37cd782170 74 _falling_flag = 0;
amarincan 0:fb37cd782170 75 return(return_value);
amarincan 0:fb37cd782170 76 }
amarincan 0:fb37cd782170 77
amarincan 0:fb37cd782170 78 // return number of ticsk we've bene steady for
amarincan 0:fb37cd782170 79 int DebouncedIn::steady(void) {
amarincan 0:fb37cd782170 80 return(_state_counter);
amarincan 0:fb37cd782170 81 }
amarincan 0:fb37cd782170 82
amarincan 0:fb37cd782170 83 // return the debounced status
amarincan 0:fb37cd782170 84 int DebouncedIn::read(void) {
amarincan 0:fb37cd782170 85 return(_output);
amarincan 0:fb37cd782170 86 }
amarincan 0:fb37cd782170 87
amarincan 0:fb37cd782170 88 // shorthand for read()
amarincan 0:fb37cd782170 89 DebouncedIn::operator int() {
amarincan 0:fb37cd782170 90 return read();
amarincan 0:fb37cd782170 91 }