ケンタ ミヤザキ
Dependents: nhk_2018_undercarry_test04 nhk_2018_undercarry_test08 nhk_2018_undercarry_test09 nhk_2018_undercarry_test10 ... more
encoder.cpp@0:0d6f91c4a794, 2018-03-22 (annotated)
- Committer:
- kenken0721
- Date:
- Thu Mar 22 05:55:17 2018 +0000
- Revision:
- 0:0d6f91c4a794
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| kenken0721 | 0:0d6f91c4a794 | 1 | #include "encoder.h" |
| kenken0721 | 0:0d6f91c4a794 | 2 | #include "mbed.h" |
| kenken0721 | 0:0d6f91c4a794 | 3 | |
| kenken0721 | 0:0d6f91c4a794 | 4 | Encoder::Encoder(PinName APin, PinName BPin, PinName ZPin) : A(APin) , B(BPin) , Z(ZPin){ |
| kenken0721 | 0:0d6f91c4a794 | 5 | A.rise(this,&Encoder::flag); |
| kenken0721 | 0:0d6f91c4a794 | 6 | init(); |
| kenken0721 | 0:0d6f91c4a794 | 7 | } |
| kenken0721 | 0:0d6f91c4a794 | 8 | |
| kenken0721 | 0:0d6f91c4a794 | 9 | void Encoder::init(void){ |
| kenken0721 | 0:0d6f91c4a794 | 10 | count = 0; |
| kenken0721 | 0:0d6f91c4a794 | 11 | zcount = 0; |
| kenken0721 | 0:0d6f91c4a794 | 12 | } |
| kenken0721 | 0:0d6f91c4a794 | 13 | |
| kenken0721 | 0:0d6f91c4a794 | 14 | void Encoder::flag(void){ |
| kenken0721 | 0:0d6f91c4a794 | 15 | if(B == true){ |
| kenken0721 | 0:0d6f91c4a794 | 16 | count++; |
| kenken0721 | 0:0d6f91c4a794 | 17 | if(Z == true){ |
| kenken0721 | 0:0d6f91c4a794 | 18 | zcount++; |
| kenken0721 | 0:0d6f91c4a794 | 19 | } |
| kenken0721 | 0:0d6f91c4a794 | 20 | }else{ |
| kenken0721 | 0:0d6f91c4a794 | 21 | count--; |
| kenken0721 | 0:0d6f91c4a794 | 22 | if(Z == true){ |
| kenken0721 | 0:0d6f91c4a794 | 23 | zcount--; |
| kenken0721 | 0:0d6f91c4a794 | 24 | } |
| kenken0721 | 0:0d6f91c4a794 | 25 | } |
| kenken0721 | 0:0d6f91c4a794 | 26 | } |
| kenken0721 | 0:0d6f91c4a794 | 27 | |
| kenken0721 | 0:0d6f91c4a794 | 28 | float Encoder::read_rotate(){ |
| kenken0721 | 0:0d6f91c4a794 | 29 | return (float)(count / 300.0); |
| kenken0721 | 0:0d6f91c4a794 | 30 | } |
| kenken0721 | 0:0d6f91c4a794 | 31 | |
| kenken0721 | 0:0d6f91c4a794 | 32 | int Encoder::read_z(){ |
| kenken0721 | 0:0d6f91c4a794 | 33 | return zcount; |
| kenken0721 | 0:0d6f91c4a794 | 34 | } |
| kenken0721 | 0:0d6f91c4a794 | 35 | |
| kenken0721 | 0:0d6f91c4a794 | 36 |