File content as of revision 0:929eee8e2c2c:

#include "pid_encoder.h"

Encoder::Encoder (PinName A_Phase, PinName B_Phase) : A(A_Phase), B(B_Phase) {
}

void Encoder::setPpr(int Ppr){
        ppr = Ppr;
        A.rise(this, &Encoder::A_count);
        B.rise(this, &Encoder::B_count);
        origin();
}

void Encoder::cal(float target, float dt){
    radian = (float) count/ppr*2*PI;
    degree = radian / PI * 180.0;
    w = (radian - oldtheta) / dt;
    v = 0.05*w/27;
    n = w*30/(PI);
    oldtheta = radian;
    //pid_cal(target, n/Nmax, dt);
    //deg_cylinder = (count / 1200) * 360 * 3 / 20;
    calculate(target, (float)degree);
}

float Encoder::deg(){
    return degree;
}

float Encoder::get_deg_cylinder(){
    return deg_cylinder;
}

float Encoder::rad(){
    return radian;
}

int Encoder::pulse(){
    return count;
}

float Encoder::N(){
    return n;
}

void Encoder::origin(){
    count = 0;
}

void Encoder::A_count(){
    count ++;
}

void Encoder::B_count(){
    count --;
}