Revision 0:ab0e4d8878eb, committed 2021-11-01

Comitter:

ea78anana

Date:

Mon Nov 01 06:25:31 2021 +0000

Commit message:

Encoder

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/encoderarduino.cpp	Mon Nov 01 06:25:31 2021 +0000
@@ -0,0 +1,86 @@
+#include "mbed.h"
+
+#define PinA1 A0 //外部中断0
+#define PinZ1 A2 //外部中断1
+#define PinB1 A1 //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
+#define LOW 0
+#define HIGH 1
+
+
+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
+
+
+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;
+
+
+DigitalIn a11(PinA1);
+DigitalIn a12(PinB1);
+DigitalIn a13(PinZ1);
+
+void loop()
+{ 
+  // 角度计算程序
+  Rad = int((PulSum_CW - PulSum_CCW)/6) % 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
+    //Serial.print("AS:");                            //打印出来速度w
+    printf("%f", Rad_CW_Speed);
+    printf(":");            
+    //Serial.print("/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);
+    //Serial.print("AS:");
+    printf("%f", Rad_CCW_Speed);
+    printf(":");            
+    //Serial.print("/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，
+//  if ((millis() - time1) > 5)
+//  {
+//    if ((a11 == LOW) && (a12 == HIGH))
+//    {PulSum_CW ++;}
+//    else
+//    {PulSum_CCW ++;}
+//  }
+//    time1 = millis();
+//}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Mon Nov 01 06:25:31 2021 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400
\ No newline at end of file