Diff: ESCON_encoder.cpp

Revision:

0:c763749ece81

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ESCON_encoder.cpp	Mon Mar 23 11:21:10 2020 +0000
@@ -0,0 +1,94 @@
+/*
+* @author Jinhyuk Yoon
+*
+* Designed to control ESCON via NUCELO-F767ZI
+*/
+
+#include "ESCON_encoder.h"
+
+ESCON_encoder::ESCON_encoder(PinName channelA_, PinName channelB_, int count_per_turn_) : channelA(channelA_), channelB(channelB_)  {
+    
+    pulses         = 0;
+    revolutions    = 0;
+    pos_in_degree  = 0.0;
+    pos_in_radian  = 0.0;
+    count_per_turn = count_per_turn_;
+
+    //Workout what the current state is.
+    int chanA = channelA.read();
+    int chanB = channelB.read();
+
+    //2-bit state.
+    currState = (chanA << 1) | (chanB);
+    prevState = currState;
+
+    //X2 encoding, so uses interrupts on only channel A.
+    channelA.rise(this, &ESCON_encoder::encode);
+    channelA.fall(this, &ESCON_encoder::encode);
+}
+
+void ESCON_encoder::reset(void) {
+
+    pulses        = 0;
+    pos_in_degree = 0.0;
+    pos_in_radian = 0.0;
+
+}
+
+int ESCON_encoder::getCurrentState(void) {
+
+    return currState;
+
+}
+
+int ESCON_encoder::getPulses(void) {
+
+    return pulses;
+
+}
+
+double ESCON_encoder::getPosInDegree(void) {
+
+    pos_in_degree = pulses / (2 * double(count_per_turn)) * 360;
+    return pos_in_degree;
+    
+}
+
+double ESCON_encoder::getPosInRadian(void) {
+
+    pos_in_radian = pulses / (2 * double(count_per_turn)) * PI / 180 * 360;
+    return pos_in_radian;
+    
+}
+
+int ESCON_encoder::getRevolutions(void) {
+    revolutions = floor( double(pulses / (2 * double(count_per_turn))) );
+    return revolutions;
+}
+
+
+void ESCON_encoder::encode(void) {
+
+    int chanA  = channelA.read();
+    int chanB  = channelB.read();
+
+    //2-bit state.
+    currState = (chanA << 1) | (chanB);
+
+    //11->00->11->00 is counter clockwise rotation or "forward".
+    if ((prevState == 0x3 && currState == 0x0) ||
+             (prevState == 0x0 && currState == 0x3)) {
+
+        pulses++;
+
+    }
+    //10->01->10->01 is clockwise rotation or "backward".
+    else if ((prevState == 0x2 && currState == 0x1) ||
+              (prevState == 0x1 && currState == 0x2)) {
+                  
+        pulses--;
+        
+    }
+    prevState = currState;
+
+}
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