Revision 0:e05a40ae7bec, committed 24 months ago

Comitter:

m_smt

Date:

Wed Aug 24 06:50:01 2022 +0000

Commit message:

nowvalue get

Changed in this revision

diff -r 000000000000 -r e05a40ae7bec rotaryinc.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/rotaryinc.cpp	Wed Aug 24 06:50:01 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

diff -r 000000000000 -r e05a40ae7bec rotaryinc.hpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/rotaryinc.hpp	Wed Aug 24 06:50:01 2022 +0000
@@ -0,0 +1,44 @@
+#ifndef ROTARY_INC_
+#define ROTARY_INC_
+#include <mbed.h>
+#define M_PI 3.1415926535
+
+#if 0 
+  ~example~                                                      
+    rotaryinc name(ピン名1,ピン名2,オムニの直径,パルスの分解能,一回のプログラムの時間(Δt))でこのクラスを使うことができる
+    name.getpulse()でパルスの値を取得できる
+    name.getspeed()でモータの速さを取得できる
+　  name.loop(一回のプログラムの時間(Δt))でΔt秒ごとのプログラムにできる
+#endif
+
+class rotaryinc
+{
+public:
+    rotaryinc(PinName pinA,PinName pinB,double,double,double);
+    ~rotaryinc();
+    Timer timer;
+    double getpulse();
+    double getspeed();
+    double gettheta();
+    double getomega();
+    double getrevolution();
+    void loop();
+private:
+    InterruptIn *pin_a_,*pin_b_;
+    double time;
+    double pulse[2];
+    double speed;
+    void init(PinName,PinName);
+    void riseA(void);
+    void riseB(void);
+    void fallA(void);
+    void fallB(void);
+    double theta[2];
+    double omega;
+    double Resolution;
+    double Diameter;
+    double dt_;
+    double revolution_num;
+};
+
+#endif
\ No newline at end of file