John Donnal
Interface with a single channel encoder (eg IR emitter/detector on a slotted wheel). Requires a digital input and counts per revolution. Provides speed in Hz
Dependents: ES202FinalProject ES202_straight1 ES202_Final_Turn ES202_Turn ... more
Diff: Tach.cpp
- Revision:
- 0:c165325c9e3f
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Tach.cpp Fri Mar 02 16:52:58 2018 +0000
@@ -0,0 +1,38 @@
+ #include "Tach.h"
+
+ //64 counts per rev
+
+ Tach::Tach(PinName input,
+ int pulsesPerRev): input_(input){
+ speed_ = 0.0;
+ pulsesPerRev_ = pulsesPerRev;
+ input_.mode(PullUp);
+ input_.rise(this, &Tach::update);
+ //input_.fall(this, &Tach::update);
+ timer_.start();
+ for(int i=0;i<NSAMP;i++){
+ speedBuffer_[i]=0.0;
+ }
+}
+int Tach::getCount(void){
+ return count_;
+}
+float Tach::getSpeed(void) {
+
+ float acc=0;
+ for(int i=0;i<NSAMP;i++){
+ acc+=speedBuffer_[i];
+ }
+ return acc/NSAMP;
+
+}
+
+void Tach::update(void) {
+ float speed;
+ static int i=0;
+ count_++;
+ speed = 1.0/(timer_.read()*pulsesPerRev_);
+ speedBuffer_[i%NSAMP]=speed;
+ i++;
+ timer_.reset();
+}
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