jiexuan fan
mit
Encoder.cpp@5:e90c8b57811c, 2018-12-24 (annotated)
- Committer:
- coldplay
- Date:
- Mon Dec 24 03:47:49 2018 +0000
- Revision:
- 5:e90c8b57811c
- Parent:
- 4:5ae9f8b3a16f
mit
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| abuchan | 4:5ae9f8b3a16f | 1 | #include "Encoder.h" |
| abuchan | 4:5ae9f8b3a16f | 2 | |
| abuchan | 4:5ae9f8b3a16f | 3 | //Encoder steps to revolutions of output shaft in radians |
| abuchan | 4:5ae9f8b3a16f | 4 | float pulsesToRadians(float pulses) { |
| abuchan | 4:5ae9f8b3a16f | 5 | return ((pulses/ENC_STEPS_PER_REV)*(2.0*PI)); |
| abuchan | 4:5ae9f8b3a16f | 6 | } |
| abuchan | 4:5ae9f8b3a16f | 7 | |
| abuchan | 4:5ae9f8b3a16f | 8 | //Encoder steps to revolutions of output shaft in degrees |
| abuchan | 4:5ae9f8b3a16f | 9 | float pulsesToDegrees(float pulses) { |
| abuchan | 4:5ae9f8b3a16f | 10 | return ((pulses/ENC_STEPS_PER_REV)*360.0); |
| abuchan | 4:5ae9f8b3a16f | 11 | } |
| abuchan | 4:5ae9f8b3a16f | 12 | |
| abuchan | 4:5ae9f8b3a16f | 13 | Encoder::Encoder(PinName enc_a_pin, PinName enc_b_pin): qei_(enc_a_pin, enc_b_pin, NC, ENC_STEPS_PER_REV, QEI::X4_ENCODING) { |
| abuchan | 4:5ae9f8b3a16f | 14 | //Use X4 encoding. |
| abuchan | 4:5ae9f8b3a16f | 15 | //(encoder channel 1, encoder channel 2, index (n/a here), counts per revolution, mode (X4, X2)) |
| abuchan | 4:5ae9f8b3a16f | 16 | //QEI ; |
| abuchan | 4:5ae9f8b3a16f | 17 | } |
| abuchan | 4:5ae9f8b3a16f | 18 | |
| abuchan | 4:5ae9f8b3a16f | 19 | float Encoder::get_position(void) { |
| abuchan | 4:5ae9f8b3a16f | 20 | return pulsesToRadians(qei_.getPulses()); |
| abuchan | 4:5ae9f8b3a16f | 21 | } |