Rikuto Fukunaga
ちょっとかえた
Diff: encoder.cpp
- Revision:
- 0:0d6f91c4a794
- Child:
- 1:6456080fa03b
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/encoder.cpp Thu Mar 22 05:55:17 2018 +0000
@@ -0,0 +1,36 @@
+#include "encoder.h"
+#include "mbed.h"
+
+Encoder::Encoder(PinName APin, PinName BPin, PinName ZPin) : A(APin) , B(BPin) , Z(ZPin){
+ A.rise(this,&Encoder::flag);
+ init();
+}
+
+void Encoder::init(void){
+ count = 0;
+ zcount = 0;
+}
+
+void Encoder::flag(void){
+ if(B == true){
+ count++;
+ if(Z == true){
+ zcount++;
+ }
+ }else{
+ count--;
+ if(Z == true){
+ zcount--;
+ }
+ }
+}
+
+float Encoder::read_rotate(){
+ return (float)(count / 300.0);
+}
+
+int Encoder::read_z(){
+ return zcount;
+}
+
+