Jinhyuk Yoon / ESCON_encoder

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ESCON_encoder.h@0:c763749ece81, 2020-03-23 (annotated)

Committer:
dsfqfqds
Date:
Mon Mar 23 11:21:10 2020 +0000
Revision:
0:c763749ece81
HRI;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
dsfqfqds 0:c763749ece81 1 /*
dsfqfqds 0:c763749ece81 2 * @author Jinhyuk Yoon
dsfqfqds 0:c763749ece81 3 *
dsfqfqds 0:c763749ece81 4 * Designed to control ESCON via NUCELO-F767ZI
dsfqfqds 0:c763749ece81 5 */
dsfqfqds 0:c763749ece81 6
dsfqfqds 0:c763749ece81 7 #include "mbed.h"
dsfqfqds 0:c763749ece81 8 #define PI 3.14159265358979323846
dsfqfqds 0:c763749ece81 9
dsfqfqds 0:c763749ece81 10 #define PREV_MASK 0x1 //Mask for the previous state in determining direction
dsfqfqds 0:c763749ece81 11 //of rotation.
dsfqfqds 0:c763749ece81 12 #define CURR_MASK 0x2 //Mask for the current state in determining direction
dsfqfqds 0:c763749ece81 13 //of rotation.
dsfqfqds 0:c763749ece81 14 #define INVALID 0x3 //XORing two states where both bits have changed.
dsfqfqds 0:c763749ece81 15
dsfqfqds 0:c763749ece81 16 class ESCON_encoder {
dsfqfqds 0:c763749ece81 17 private:
dsfqfqds 0:c763749ece81 18 void encode(void);
dsfqfqds 0:c763749ece81 19
dsfqfqds 0:c763749ece81 20 InterruptIn channelA;
dsfqfqds 0:c763749ece81 21 InterruptIn channelB;
dsfqfqds 0:c763749ece81 22
dsfqfqds 0:c763749ece81 23 int count_per_turn;
dsfqfqds 0:c763749ece81 24 int prevState;
dsfqfqds 0:c763749ece81 25 int currState;
dsfqfqds 0:c763749ece81 26
dsfqfqds 0:c763749ece81 27 volatile int pulses;
dsfqfqds 0:c763749ece81 28 volatile int revolutions;
dsfqfqds 0:c763749ece81 29 volatile double pos_in_degree;
dsfqfqds 0:c763749ece81 30 volatile double pos_in_radian;
dsfqfqds 0:c763749ece81 31
dsfqfqds 0:c763749ece81 32 public:
dsfqfqds 0:c763749ece81 33 ESCON_encoder(PinName channelA_, PinName channelB_, int count_per_turn_);
dsfqfqds 0:c763749ece81 34 void reset(void);
dsfqfqds 0:c763749ece81 35 int getCurrentState(void);
dsfqfqds 0:c763749ece81 36 int getPulses(void);
dsfqfqds 0:c763749ece81 37 double getPosInDegree(void);
dsfqfqds 0:c763749ece81 38 double getPosInRadian(void);
dsfqfqds 0:c763749ece81 39 int getRevolutions(void);
dsfqfqds 0:c763749ece81 40 };