kusano kiyoshige / pid_encoder

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Dependents:   17robo_fuzi 17robo_tokyo_kaede

pid_encoder.h@0:929eee8e2c2c, 2017-09-24 (annotated)

Committer:
echo_piyo
Date:
Sun Sep 24 05:24:06 2017 +0000
Revision:
0:929eee8e2c2c
Child:
1:0c64de09bd9b
????2??

Who changed what in which revision?

UserRevisionLine numberNew contents of line
echo_piyo 0:929eee8e2c2c 1
echo_piyo 0:929eee8e2c2c 2 #ifndef MBED_PID_ENCORDER_H
echo_piyo 0:929eee8e2c2c 3 #define MBED_PID_ENCORDER_H
echo_piyo 0:929eee8e2c2c 4
echo_piyo 0:929eee8e2c2c 5 #include "pid.h"
echo_piyo 0:929eee8e2c2c 6 #include "mbed.h"
echo_piyo 0:929eee8e2c2c 7
echo_piyo 0:929eee8e2c2c 8 #define PI 3.141592654f
echo_piyo 0:929eee8e2c2c 9 #define Nmax 18000
echo_piyo 0:929eee8e2c2c 10 #define invalidN 0.1
echo_piyo 0:929eee8e2c2c 11
echo_piyo 0:929eee8e2c2c 12 class Encoder : public PositionPid //: public Speed_pid
echo_piyo 0:929eee8e2c2c 13 {
echo_piyo 0:929eee8e2c2c 14 public:
echo_piyo 0:929eee8e2c2c 15 Encoder (PinName A_Phase, PinName B_Phase);
echo_piyo 0:929eee8e2c2c 16 void setPpr(int Ppr);
echo_piyo 0:929eee8e2c2c 17 void cal(float target, float dt);
echo_piyo 0:929eee8e2c2c 18 float deg();
echo_piyo 0:929eee8e2c2c 19 float get_deg_cylinder();
echo_piyo 0:929eee8e2c2c 20 float rad();
echo_piyo 0:929eee8e2c2c 21 int pulse();
echo_piyo 0:929eee8e2c2c 22 float N();
echo_piyo 0:929eee8e2c2c 23 void origin();
echo_piyo 0:929eee8e2c2c 24
echo_piyo 0:929eee8e2c2c 25 private :
echo_piyo 0:929eee8e2c2c 26 InterruptIn A;
echo_piyo 0:929eee8e2c2c 27 InterruptIn B;
echo_piyo 0:929eee8e2c2c 28
echo_piyo 0:929eee8e2c2c 29 int ppr;
echo_piyo 0:929eee8e2c2c 30 signed int count;
echo_piyo 0:929eee8e2c2c 31 float radian,oldtheta;
echo_piyo 0:929eee8e2c2c 32 float w,v,n;
echo_piyo 0:929eee8e2c2c 33 float degree, deg_cylinder;
echo_piyo 0:929eee8e2c2c 34
echo_piyo 0:929eee8e2c2c 35 void A_count();
echo_piyo 0:929eee8e2c2c 36 void B_count();
echo_piyo 0:929eee8e2c2c 37 };
echo_piyo 0:929eee8e2c2c 38
echo_piyo 0:929eee8e2c2c 39 #endif