Simon Krogedal / Lift_arm_control

Control project for the Lift-arm. Works with ROS Melodic

Dependencies:   mbed Servo ros_lib_melodic ULN2003_StepperDriver Async_4pin_Stepper

src/encoder.h@3:4b6080e86761, 2021-05-31 (annotated)

Committer:
krogedal
Date:
Mon May 31 16:44:26 2021 +0000
Revision:
3:4b6080e86761
Parent:
1:7c355adbc977 
Updated to work with ROS, reading from /cmd_vel

Who changed what in which revision?

UserRevisionLine numberNew contents of line
krogedal 0:441289ea4e29 1 #ifndef KARBOT_ENCODER_H
krogedal 0:441289ea4e29 2 #define KARBOT_ENCODER_H
krogedal 0:441289ea4e29 3
krogedal 0:441289ea4e29 4 /* Karbot encoder class
krogedal 0:441289ea4e29 5 *
krogedal 0:441289ea4e29 6 * This class is based upon the QEI class by Aaron Berk and the encoder class
krogedal 0:441289ea4e29 7 * I wrote during ESP in 2nd year
krogedal 0:441289ea4e29 8 *
krogedal 0:441289ea4e29 9 * Written by Simon Krogedal
krogedal 0:441289ea4e29 10 * 27/05/21
krogedal 0:441289ea4e29 11 * Team 9 4th Year project
krogedal 0:441289ea4e29 12 *
krogedal 0:441289ea4e29 13 * for NUCLEO-F401RE
krogedal 0:441289ea4e29 14 *
krogedal 0:441289ea4e29 15 */
krogedal 0:441289ea4e29 16
krogedal 0:441289ea4e29 17 #include "mbed.h"
krogedal 0:441289ea4e29 18
krogedal 3:4b6080e86761 19
krogedal 0:441289ea4e29 20 #define PREV_MASK 0x1 //Mask for the previous state in determining direction
krogedal 0:441289ea4e29 21 //of rotation.
krogedal 0:441289ea4e29 22 #define CURR_MASK 0x2 //Mask for the current state in determining direction
krogedal 0:441289ea4e29 23 //of rotation.
krogedal 0:441289ea4e29 24 #define INVALID 0x3 //XORing two states where both bits have changed.
krogedal 0:441289ea4e29 25
krogedal 0:441289ea4e29 26 class encoder {
krogedal 0:441289ea4e29 27
krogedal 0:441289ea4e29 28 private:
krogedal 0:441289ea4e29 29 int tot_clicks, temp_tot; // clicks since last distance reset
krogedal 0:441289ea4e29 30 double click_rate, click_store;// clickrate
krogedal 0:441289ea4e29 31 bool c_d; // left or right bool
krogedal 0:441289ea4e29 32
krogedal 0:441289ea4e29 33 /**
krogedal 0:441289ea4e29 34 * Update the pulse count.
krogedal 0:441289ea4e29 35 *
krogedal 0:441289ea4e29 36 * Called on every rising/falling edge of channels A/B.
krogedal 0:441289ea4e29 37 *
krogedal 0:441289ea4e29 38 * Reads the state of the channels and determines whether a pulse forward
krogedal 0:441289ea4e29 39 * or backward has occured, updating the count appropriately.
krogedal 0:441289ea4e29 40 */
krogedal 0:441289ea4e29 41 void encode(void);
krogedal 0:441289ea4e29 42
krogedal 0:441289ea4e29 43 InterruptIn channelA_;
krogedal 0:441289ea4e29 44 InterruptIn channelB_;
krogedal 0:441289ea4e29 45
krogedal 0:441289ea4e29 46 int pulsesPerRev_;
krogedal 0:441289ea4e29 47 int prevState_;
krogedal 0:441289ea4e29 48 int currState_;
krogedal 0:441289ea4e29 49
krogedal 0:441289ea4e29 50 volatile int pulses_;
krogedal 0:441289ea4e29 51
krogedal 0:441289ea4e29 52 protected:
krogedal 0:441289ea4e29 53
krogedal 0:441289ea4e29 54 Ticker sampler; // ticker object to sample speed
krogedal 0:441289ea4e29 55 double period, enc_const; // sampling period and wheel constant
krogedal 0:441289ea4e29 56 void sample_func(void); // sample function
krogedal 0:441289ea4e29 57 double getClicks(void); // returns clickrate
krogedal 0:441289ea4e29 58
krogedal 0:441289ea4e29 59 public:
krogedal 0:441289ea4e29 60
krogedal 0:441289ea4e29 61 // Constructor takes 3 encoder input pins, CPR, left or right bool, sampling period, and a wheel-size constant
krogedal 0:441289ea4e29 62 encoder(PinName chanA, PinName chanB, int CPR, bool c, double p, double ec);
krogedal 0:441289ea4e29 63
krogedal 0:441289ea4e29 64 double getSpeed(void); // returns wheel speed
krogedal 0:441289ea4e29 65 double getDistance(void); // returns distance travelled
krogedal 0:441289ea4e29 66 double tempDist(void); // returns distance travelled
krogedal 0:441289ea4e29 67 void distRst(void); // resets distance
krogedal 0:441289ea4e29 68 void tempRst(void); // resets distance
krogedal 0:441289ea4e29 69 void start(void); // starts recording distance
krogedal 0:441289ea4e29 70 void reset(void); // resets counting
krogedal 0:441289ea4e29 71
krogedal 0:441289ea4e29 72 /**
krogedal 0:441289ea4e29 73 * Read the state of the encoder.
krogedal 0:441289ea4e29 74 *
krogedal 0:441289ea4e29 75 * @return The current state of the encoder as a 2-bit number, where:
krogedal 0:441289ea4e29 76 * bit 1 = The reading from channel B
krogedal 0:441289ea4e29 77 * bit 2 = The reading from channel A
krogedal 0:441289ea4e29 78 */
krogedal 0:441289ea4e29 79 int getCurrentState(void);
krogedal 0:441289ea4e29 80
krogedal 0:441289ea4e29 81 /**
krogedal 0:441289ea4e29 82 * Read the number of pulses recorded by the encoder.
krogedal 0:441289ea4e29 83 *
krogedal 0:441289ea4e29 84 * @return Number of pulses which have occured.
krogedal 0:441289ea4e29 85 */
krogedal 0:441289ea4e29 86 int getPulses(void);
krogedal 0:441289ea4e29 87
krogedal 0:441289ea4e29 88 };
krogedal 0:441289ea4e29 89
krogedal 0:441289ea4e29 90 #endif