Diff: rotaryinc/rotaryinc.cpp

Revision:

0:39c2bb18192b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/rotaryinc/rotaryinc.cpp	Sat Oct 08 11:13:31 2022 +0000
@@ -0,0 +1,86 @@
+#include "rotaryinc.hpp"
+
+rotaryinc::rotaryinc(PinName pinA,PinName pinB,double diameter,double resolution,double dt)
+{
+    Diameter = diameter;
+    Resolution = resolution;
+    dt_ = dt;
+    init(pinA,pinB);
+    pulse[0] = 0;
+    pulse[1] = 0;
+    speed = 0;
+    timer.start();
+}
+
+void rotaryinc::init(PinName pin_a,PinName pin_b)
+{
+    pin_a_ = new InterruptIn(pin_a,PullUp);
+    pin_b_ = new InterruptIn(pin_b,PullUp);
+    pin_a_->rise(callback(this,&rotaryinc::riseA));
+    pin_a_->fall(callback(this,&rotaryinc::fallA));
+    pin_b_->rise(callback(this,&rotaryinc::riseB));
+    pin_b_->fall(callback(this,&rotaryinc::fallB));
+}
+
+void rotaryinc::riseA()
+{
+    pin_b_ -> read() ? pulse[1]-- : pulse[1]++;
+}
+
+void rotaryinc::fallA()
+{
+    pin_b_ -> read() ? pulse[1]++ : pulse[1]--;
+}
+
+void rotaryinc::riseB()
+{
+    pin_a_ -> read() ? pulse[1]++ : pulse[1]--;
+}
+
+void rotaryinc::fallB()
+{
+    pin_a_ -> read() ? pulse[1]-- : pulse[1]++;
+}
+
+double rotaryinc::getpulse()
+{
+    return pulse[1]/4;
+}
+
+double rotaryinc::getspeed()
+{
+    speed = (M_PI * Diameter) * (pulse[1]/4 - pulse[0]) / Resolution / dt_;
+    pulse[0] = pulse[1]/4;
+    return speed;
+}
+
+double rotaryinc::gettheta()
+{
+    theta[1] = pulse[1]/4 / Resolution * 360;
+    return theta[1];
+}
+
+double rotaryinc::getomega()
+{
+    omega = (theta[1] - theta[0]) / dt_;
+    theta[0] = theta[1];
+    return omega;
+}
+
+double rotaryinc::getrevolution()
+{
+    return pulse[1]/4 / Resolution;
+}
+
+void rotaryinc::loop()
+{
+    time = timer.read();
+    while(timer.read() - time <= dt_);
+}
+
+rotaryinc::~rotaryinc(){
+    pin_a_->disable_irq();
+    pin_b_->disable_irq();
+    delete pin_a_;
+    delete pin_b_;
+}
\ No newline at end of file