Diff: Rotaryencoder.cpp

Revision:

0:b1487fd792c9

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Rotaryencoder.cpp	Sat Jul 16 06:38:44 2022 +0000
@@ -0,0 +1,53 @@
+#include "Rotaryencoder.hpp"
+
+Rotary::Rotary(PinName pinA, PinName pinB, double diameter, double resolusion, double deltat) :
+    cir(diameter * pi), res(4 * resolusion), dt(deltat){
+    pulse[0] = 0; pulse[1] = 0;
+    theta[0] = 0; theta[1] = 0;
+    spd = 0;
+    anguspd = 0;
+    pin_A = new InterruptIn(pinA, PullUp);
+    pin_B = new InterruptIn(pinB, PullUp);
+    pin_A -> rise(callback(this, &Rotary::riseA));
+    pin_A -> fall(callback(this, &Rotary::fallA));
+    pin_B -> rise(callback(this, &Rotary::riseB));
+    pin_B -> fall(callback(this, &Rotary::fallB));
+}
+
+void Rotary::reset(){
+    pulse[1] = 0;
+}
+
+double Rotary::pulse_get(){return pulse[1]/4;}
+
+double Rotary::theta_get(){
+    theta[1] = 360 * pulse[1]/res;
+    return theta[1];
+}
+ 
+double Rotary::speed_get(){
+    spd = cir * ((pulse[1] - pulse[0])/res) / dt;
+    pulse[0] = pulse[1];
+    return spd;
+}
+
+double Rotary::angularspd_get(){
+    anguspd = (theta[1] - theta[0])/dt;
+    theta[0] = theta[1];
+    return anguspd;
+}
+
+void Rotary::riseA(){pin_B -> read() ? pulse[1]-- : pulse[1]++;}
+
+void Rotary::fallA(){pin_B -> read() ? pulse[1]++ : pulse[1]--;}
+
+void Rotary::riseB(){pin_A -> read() ? pulse[1]++ : pulse[1]--;}
+
+void Rotary::fallB(){pin_A -> read() ? pulse[1]-- : pulse[1]++;}
+
+Rotary::~Rotary(){
+    pin_A -> disable_irq();
+    pin_B -> disable_irq();
+    delete pin_A;
+    delete pin_B;
+}
\ No newline at end of file