fujimoto keita / libraries

For Rotaryencoder and Motor

Dependencies:   arrc_mbed

Dependents:  

Rotaryencoder.cpp@1:9e7d6d72e352, 22 months ago (annotated)

Committer:
m2130
Date:
Mon Sep 12 02:11:41 2022 +0000
Revision:
1:9e7d6d72e352
Parent:
0:b1487fd792c9 
kk;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
m2130 0:b1487fd792c9 1 #include "Rotaryencoder.hpp"
m2130 0:b1487fd792c9 2
m2130 0:b1487fd792c9 3 Rotary::Rotary(PinName pinA, PinName pinB, double diameter, double resolusion, double deltat) :
m2130 0:b1487fd792c9 4 cir(diameter * pi), res(4 * resolusion), dt(deltat){
m2130 0:b1487fd792c9 5 pulse[0] = 0; pulse[1] = 0;
m2130 0:b1487fd792c9 6 theta[0] = 0; theta[1] = 0;
m2130 0:b1487fd792c9 7 spd = 0;
m2130 0:b1487fd792c9 8 anguspd = 0;
m2130 0:b1487fd792c9 9 pin_A = new InterruptIn(pinA, PullUp);
m2130 0:b1487fd792c9 10 pin_B = new InterruptIn(pinB, PullUp);
m2130 0:b1487fd792c9 11 pin_A -> rise(callback(this, &Rotary::riseA));
m2130 0:b1487fd792c9 12 pin_A -> fall(callback(this, &Rotary::fallA));
m2130 0:b1487fd792c9 13 pin_B -> rise(callback(this, &Rotary::riseB));
m2130 0:b1487fd792c9 14 pin_B -> fall(callback(this, &Rotary::fallB));
m2130 0:b1487fd792c9 15 }
m2130 0:b1487fd792c9 16
m2130 0:b1487fd792c9 17 void Rotary::reset(){
m2130 0:b1487fd792c9 18 pulse[1] = 0;
m2130 0:b1487fd792c9 19 }
m2130 0:b1487fd792c9 20
m2130 0:b1487fd792c9 21 double Rotary::pulse_get(){return pulse[1]/4;}
m2130 0:b1487fd792c9 22
m2130 0:b1487fd792c9 23 double Rotary::theta_get(){
m2130 0:b1487fd792c9 24 theta[1] = 360 * pulse[1]/res;
m2130 0:b1487fd792c9 25 return theta[1];
m2130 0:b1487fd792c9 26 }
m2130 0:b1487fd792c9 27
m2130 0:b1487fd792c9 28 double Rotary::speed_get(){
m2130 0:b1487fd792c9 29 spd = cir * ((pulse[1] - pulse[0])/res) / dt;
m2130 0:b1487fd792c9 30 pulse[0] = pulse[1];
m2130 0:b1487fd792c9 31 return spd;
m2130 0:b1487fd792c9 32 }
m2130 0:b1487fd792c9 33
m2130 0:b1487fd792c9 34 double Rotary::angularspd_get(){
m2130 0:b1487fd792c9 35 anguspd = (theta[1] - theta[0])/dt;
m2130 0:b1487fd792c9 36 theta[0] = theta[1];
m2130 0:b1487fd792c9 37 return anguspd;
m2130 0:b1487fd792c9 38 }
m2130 0:b1487fd792c9 39
m2130 0:b1487fd792c9 40 void Rotary::riseA(){pin_B -> read() ? pulse[1]-- : pulse[1]++;}
m2130 0:b1487fd792c9 41
m2130 0:b1487fd792c9 42 void Rotary::fallA(){pin_B -> read() ? pulse[1]++ : pulse[1]--;}
m2130 0:b1487fd792c9 43
m2130 0:b1487fd792c9 44 void Rotary::riseB(){pin_A -> read() ? pulse[1]++ : pulse[1]--;}
m2130 0:b1487fd792c9 45
m2130 0:b1487fd792c9 46 void Rotary::fallB(){pin_A -> read() ? pulse[1]-- : pulse[1]++;}
m2130 0:b1487fd792c9 47
m2130 0:b1487fd792c9 48 Rotary::~Rotary(){
m2130 0:b1487fd792c9 49 pin_A -> disable_irq();
m2130 0:b1487fd792c9 50 pin_B -> disable_irq();
m2130 0:b1487fd792c9 51 delete pin_A;
m2130 0:b1487fd792c9 52 delete pin_B;
m2130 0:b1487fd792c9 53 }