encoder modify from arduino
Dependencies: mbed Nucleo_Hello_Encoder
Revision 0:88abae0234d5, committed 2021-11-01
- Comitter:
- ea78anana
- Date:
- Mon Nov 01 15:39:01 2021 +0000
- Commit message:
- encoder modify form arduino
Changed in this revision
diff -r 000000000000 -r 88abae0234d5 Nucleo_Hello_Encoder.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Nucleo_Hello_Encoder.lib Mon Nov 01 15:39:01 2021 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/ea78anana/code/Nucleo_Hello_Encoder/#87b3a9d678d1
diff -r 000000000000 -r 88abae0234d5 encoder1.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/encoder1.cpp Mon Nov 01 15:39:01 2021 +0000 @@ -0,0 +1,105 @@ +#include "mbed.h" + +#define PinA1 D14 //外部中断0 +#define PinZ1 D12 //外部中断1 +#define PinB1 D15 //编码器的OUT_B信号连接到数字端口8 + +#define PinA2 D8 //外部中断0 +#define PinZ2 D6 //外部中断1 +#define PinB2 D7 //编码器的OUT_B信号连接到数字端口8 + +#define PinA3 D4 //外部中断0 +#define PinZ3 D3 //外部中断1 +#define PinB3 D2 //编码器的OUT_B信号连接到数字端口8 +#define T 30 //定义采集时间周期单位ms + +Timer f; +unsigned long time1 = 0; // 时间标记 +volatile long PulSum_CW = 0; //定义长整型不可修改脉冲数 +volatile long PulSum_CCW = 0; + + +long PulSum_CW_t0 = 0; //定义记录顺时针方向 t0 时刻脉冲数变量 +long PulSum_CW_t0_T = 0; //定义记录顺时针方向 t0+T 时刻脉冲数变量 + + +float Rad_CW_Speed = 0.000; //定义顺时针角速度 +float Rad_CCW_Speed = 0.000; //定义逆时针角速度 + +DigitalIn ain11(PinA1);//因为编码器信号为欧姆龙E6B2-CWZ6C,为开漏输出,因此需要上拉电阻,此处采用arduino的内部上拉输入模式,置高 +DigitalIn ain12(PinB1);//同上 +DigitalIn ain13(PinZ1);//脉冲中断函数:捕捉A相信号,并判断A、B相先后顺序 + +DigitalIn ain21(PinA2);//因为编码器信号为欧姆龙E6B2-CWZ6C,为开漏输出,因此需要上拉电阻,此处采用arduino的内部上拉输入模式,置高 +DigitalIn ain22(PinB2);//同上 +DigitalIn ain23(PinZ2);//脉冲中断函数:捕捉A相信号,并判断A、B相先后顺序 + +DigitalIn ain31(PinA3);//因为编码器信号为欧姆龙E6B2-CWZ6C,为开漏输出,因此需要上拉电阻,此处采用arduino的内部上拉输入模式,置高 +DigitalIn ain32(PinB3);//同上 +DigitalIn ain33(PinZ3);//脉冲中断函数:捕捉A相信号,并判断A、B相先后顺序 + + + +long PulSum_CCW_t0 = 0; //定义记录逆时针方向 t0 时刻脉冲数变量 +long PulSum_CCW_t0_T = 0; //定义记录逆时针方向 t0+T 时刻脉冲数变量 + +// 记录角度 +int Rad = 180; + + + +void loop() +{ + // 角度计算程序 + Rad = int((PulSum_CW - PulSum_CCW)/6.944) % 360; + if (Rad>=180) { + Rad = Rad - 360; + } + + PulSum_CW_t0 = PulSum_CW; + PulSum_CCW_t0 = PulSum_CCW; //采集t0时刻的脉冲数 + wait(T); //等待一个T时间 + PulSum_CW_t0_T = PulSum_CW; + PulSum_CCW_t0_T = PulSum_CCW; //采集t0+T时刻的脉冲数 + wait(T); //等待一个T时间 + + // 如果检测到正向角速度,那么就打印角速度,以及累计的角度 + if (PulSum_CW_t0_T - PulSum_CW_t0 != 0){ + Rad_CW_Speed = (PulSum_CW_t0_T - PulSum_CW_t0); // + // 显示正向(CW)角速度 Rad_CW_Speed---> //打印出来速度 + //printf("AS:"); //打印出来速度w + printf("%f", Rad_CW_Speed); + printf(":"); + //printf("/A:"); + printf("%d",Rad); + printf("\n"); + } + + // 如果检测到反向角速度,那么就打印角速度,以及累计的角度 + if (PulSum_CCW_t0_T - PulSum_CCW_t0 != 0){ + Rad_CCW_Speed = (PulSum_CCW_t0 - PulSum_CCW_t0_T); + //printf("AS:"); + printf("%f", Rad_CCW_Speed); + printf(":"); + //printf("/A:"); + printf("%d",Rad); + printf("\n"); + } + + + +} +void Encode() +{//当编码器码盘的OUTA脉冲信号下跳沿每中断一次, + f.start(); + uint32_t m = f.read_ms(); + if ((m - time1) > 5) + { + if (((ain11 == 0) && (ain12 == 1)) || ((ain21 == 0) && (ain22 == 1)) || ((ain31 == 0) && (ain32 == 1)) ) + {PulSum_CW ++;} + else + {PulSum_CCW ++;} + } + time1 = m; + f.stop(); +}
diff -r 000000000000 -r 88abae0234d5 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Mon Nov 01 15:39:01 2021 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400 \ No newline at end of file