kusano kiyoshige / pid_encoder

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Dependents:   17robo_fuzi 17robo_tokyo_kaede

pid_encoder.h

Committer:
echo_piyo
Date:
2017-09-24
Revision:
0:929eee8e2c2c
Child:
1:0c64de09bd9b

File content as of revision 0:929eee8e2c2c:


#ifndef MBED_PID_ENCORDER_H
#define MBED_PID_ENCORDER_H

#include "pid.h"
#include "mbed.h"

#define PI      3.141592654f
#define Nmax    18000
#define invalidN    0.1

class Encoder : public PositionPid //: public Speed_pid
{
public:
    Encoder (PinName A_Phase, PinName B_Phase);
    void setPpr(int Ppr);    
    void cal(float target, float dt);
    float deg();    
    float get_deg_cylinder();
    float rad();
    int pulse();
    float N();
    void origin();
    
private :
    InterruptIn A;
    InterruptIn B;

    int ppr;
    signed int count;
    float radian,oldtheta;
    float w,v,n;
    float degree, deg_cylinder;

    void A_count();
    void B_count();
};

#endif