Diff: arduino2.cpp

Revision:

1:4df9f94facd5

Parent:

0:c9022327ece6

Child:

2:46365fee3503

--- a/arduino2.cpp	Mon Nov 01 15:41:50 2021 +0000
+++ b/arduino2.cpp	Tue Nov 02 15:27:52 2021 +0000
@@ -1,9 +1,9 @@
 #include "mbed.h"
 #include "arduino.h"
 
-#define PinA A0 //A phase
-#define PinZ A2 //Z phase
-#define PinB A1 //B phase
+#define PinA A1 //A phase
+#define PinZ A3 //Z phase
+#define PinB A2 //B phase
 
 #define HIGH 1
 #define LOW 0
@@ -13,31 +13,83 @@
 float time_cw;
 float time_ccw;
 int counter = 0;
-const float d = 6/100; //Radius of the wheel
+const float d = 0.06; //Radius of the wheel
 const float pi = 3.141592654;//PI
 int num = 0;//number of turns
 double t;//time per turn
 float velocity;
-double time3;//外部中断1产生时的时间，即捕捉到Z相的置零信号时，用于在loop循环内进行一圈时间长短的计算
+double time3;//Time of phase Z detected, use for calculate the velocity
+Timer f;
 
 DigitalIn a11(PinA);
 DigitalIn a12(PinB);
-DigitalIn a13(PinZ);
+InterruptIn a14(PinA);
+InterruptIn a13(PinZ);
+
 Serial pc(USBTX, USBRX);
 
+void Encode()
+{
 
+    //Ignore noise pulses
+    
+    //When the two reading is bigger than 5ms then count it as correct pulse
+    //uint32_t m = f.read_ms();
+    
+    //if ((m - time1) > 5)
+
+    {
+
+        //When Phase A is falling will be detected 
+        
+        if ((a11 == LOW) && (a12 == HIGH))
+        
+        {   pc.printf("backward ");
+        
+            counter--;
+        
+        }
+        
+             else
+        
+        {    pc.printf("fordward ");
+        
+              counter++;
+        
+        }
+    
+    }
+    
+    //time1 = m;
+    
+}
+
+void setup(){
+    a11.mode(PullUp);
+    a12.mode(PullUp);
+    a13.fall(&Encode);
+    //a14.rise(&Encode);
+    //a14.fall(&Encode);
+}
+
+void Set_state(){
+    counter = 0;
+    uint32_t p = f.read_ms();
+    time3 = p;//Time when Z phase detected
+}
 
 void loop()
 
 {
     double  distance;
     //clockwise turning
-    if (counter == 2500)
+    uint32_t n = f.read_ms();
+    if (counter == 25)
     {
 //      Printf("ok");//Testing
-      num = num++;
-      time_cw = millis();
-      t = time_cw - time3;
+      num = num + 25;
+      Set_state();
+      t = n- time3;
       t = t / 1000;
       distance = num * d * pi; 
       velocity = d * pi / t;
@@ -46,12 +98,12 @@
       pc.printf("The time is ");pc.printf("%f", t); pc.printf("s.");
     }
     //anti-clockwise turning
-    else if (counter == -2500)
+    else if (counter == -25)
     {
 //      Printf("ok");//Testing
-      num = num++;
-      time_ccw = millis();
-      t = time_ccw - time3;
+      num = num + 25;
+      Set_state();
+      t = n - time3;
       t = t / 1000;
       distance = num * d * pi; 
       velocity = d * pi / t;
@@ -59,46 +111,16 @@
       pc.printf("The cw_speed is ");pc.printf("%f", velocity); pc.printf("m/s.");
       pc.printf("The time is ");pc.printf("%f", t); pc.printf("s.");
     }
+    //pc.printf("%d \n",counter);
 }
 
-// 编码器计数中断子程序
 
-void Encode()
-
-{
-
-    //为了不计入噪音干扰脉冲，
-    
-    //当2次中断之间的时间大于5ms时，计一次有效计数
-    
-    if ((millis() - time1) > 5)
-
-    {
 
-        //当编码器码盘的OUTA脉冲信号下跳沿每中断一次，
-        
-        if ((a11 == LOW) && (a12 == HIGH))
-        
-        {
-        
-            counter--;
-        
-        }
-        
-             else
-        
-        {
-        
-              counter++;
-        
-        }
-    
+int main(void){
+    setup();
+    pc.printf("start");
+    f.start();
+    while(1){
+        loop();
     }
-    
-    time1 = millis();
-    
-}
-void Set_state(){
-    counter = 0;
-    time3 = millis();//发生中断时的时间
 }
\ No newline at end of file