Diff: arduino2.cpp

Revision:

0:c9022327ece6

Child:

1:4df9f94facd5

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/arduino2.cpp	Mon Nov 01 15:41:50 2021 +0000
@@ -0,0 +1,104 @@
+#include "mbed.h"
+#include "arduino.h"
+
+#define PinA A0 //A phase
+#define PinZ A2 //Z phase
+#define PinB A1 //B phase
+
+#define HIGH 1
+#define LOW 0
+
+//Initialize Variable
+unsigned long time1 = 0; // Time
+float time_cw;
+float time_ccw;
+int counter = 0;
+const float d = 6/100; //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
+
+DigitalIn a11(PinA);
+DigitalIn a12(PinB);
+DigitalIn a13(PinZ);
+Serial pc(USBTX, USBRX);
+
+
+
+void loop()
+
+{
+    double  distance;
+    //clockwise turning
+    if (counter == 2500)
+    {
+//      Printf("ok");//Testing
+      num = num++;
+      time_cw = millis();
+      t = time_cw - time3;
+      t = t / 1000;
+      distance = num * d * pi; 
+      velocity = d * pi / t;
+      pc.printf("The wheel has run ");pc.printf("%f", distance); pc.printf("m.");
+      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.");
+    }
+    //anti-clockwise turning
+    else if (counter == -2500)
+    {
+//      Printf("ok");//Testing
+      num = num++;
+      time_ccw = millis();
+      t = time_ccw - time3;
+      t = t / 1000;
+      distance = num * d * pi; 
+      velocity = d * pi / t;
+      pc.printf("The wheel has run ");pc.printf("%f", distance); pc.printf("m.");
+      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.");
+    }
+}
+
+// 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++;
+        
+        }
+    
+    }
+    
+    time1 = millis();
+    
+}
+void Set_state(){
+    counter = 0;
+    time3 = millis();//发生中断时的时间
+}
\ No newline at end of file