Ryosuke Matsushima / Encoder

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Dependents:   TUKUBAMotorDriver

Encoder.h@3:cf7ae37c6930, 2021-03-07 (annotated)

Committer:
ryosukenanoda
Date:
Sun Mar 07 09:25:55 2021 +0000
Revision:
3:cf7ae37c6930
Parent:
1:c44f4aa7a45d 
calculate total rotation

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ryosukenanoda 0:82c1b12a0041 1 #include "mbed.h"
ryosukenanoda 0:82c1b12a0041 2
ryosukenanoda 0:82c1b12a0041 3 #define PI 3.14159265359
ryosukenanoda 0:82c1b12a0041 4 #define RESOLUTION_COUNT 16.0
ryosukenanoda 0:82c1b12a0041 5 #define GEAR_RAITO 43.7
ryosukenanoda 0:82c1b12a0041 6
ryosukenanoda 0:82c1b12a0041 7 class Encoder {
ryosukenanoda 0:82c1b12a0041 8 public:
ryosukenanoda 0:82c1b12a0041 9 Encoder(PinName pin_A, PinName pin_B);
ryosukenanoda 0:82c1b12a0041 10
ryosukenanoda 0:82c1b12a0041 11 float get_raito();
ryosukenanoda 3:cf7ae37c6930 12
ryosukenanoda 3:cf7ae37c6930 13 float get_rotation();
ryosukenanoda 0:82c1b12a0041 14
ryosukenanoda 0:82c1b12a0041 15 private:
ryosukenanoda 0:82c1b12a0041 16 Timer timer;
ryosukenanoda 1:c44f4aa7a45d 17
ryosukenanoda 1:c44f4aa7a45d 18 Timeout stop_checker;
ryosukenanoda 0:82c1b12a0041 19
ryosukenanoda 0:82c1b12a0041 20 int last_time;
ryosukenanoda 0:82c1b12a0041 21
ryosukenanoda 0:82c1b12a0041 22 int max_time;
ryosukenanoda 0:82c1b12a0041 23
ryosukenanoda 3:cf7ae37c6930 24 float to_raito; //TODO: rename
ryosukenanoda 0:82c1b12a0041 25
ryosukenanoda 0:82c1b12a0041 26 float raito;
ryosukenanoda 0:82c1b12a0041 27
ryosukenanoda 3:cf7ae37c6930 28 int total_count;
ryosukenanoda 3:cf7ae37c6930 29
ryosukenanoda 0:82c1b12a0041 30 void did_rise();
ryosukenanoda 0:82c1b12a0041 31
ryosukenanoda 0:82c1b12a0041 32 void update_raito(int dt); //dt microsec
ryosukenanoda 0:82c1b12a0041 33
ryosukenanoda 0:82c1b12a0041 34 float direction();
ryosukenanoda 1:c44f4aa7a45d 35
ryosukenanoda 1:c44f4aa7a45d 36 void check_stop();
ryosukenanoda 0:82c1b12a0041 37
ryosukenanoda 0:82c1b12a0041 38 protected:
ryosukenanoda 0:82c1b12a0041 39 InterruptIn _pin_A;
ryosukenanoda 0:82c1b12a0041 40 DigitalIn _pin_B;
ryosukenanoda 0:82c1b12a0041 41 };