This is made by Ihimoto Kiko ,BEBE.
Dependents: 2016_slave_rorikon_2 2016_slave_MD_rorikon 2016_slave_MD_rorikon
Fork of QEI by
QEI.cpp@0:a24686ca50ab, 2015-04-17 (annotated)
- Committer:
- kikoaac
- Date:
- Fri Apr 17 06:44:34 2015 +0000
- Revision:
- 0:a24686ca50ab
- Child:
- 1:b9a5e2d6fbb9
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Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
kikoaac | 0:a24686ca50ab | 1 | #include "QEI.h" |
kikoaac | 0:a24686ca50ab | 2 | |
kikoaac | 0:a24686ca50ab | 3 | QEI::QEI(PinName channelA, |
kikoaac | 0:a24686ca50ab | 4 | PinName channelB, |
kikoaac | 0:a24686ca50ab | 5 | PinName index, |
kikoaac | 0:a24686ca50ab | 6 | int pulsesPerRev, |
kikoaac | 0:a24686ca50ab | 7 | Encoding encoding |
kikoaac | 0:a24686ca50ab | 8 | ) : channelA_(channelA), channelB_(channelB), |
kikoaac | 0:a24686ca50ab | 9 | index_(index) { |
kikoaac | 0:a24686ca50ab | 10 | |
kikoaac | 0:a24686ca50ab | 11 | pulses_ = 0; |
kikoaac | 0:a24686ca50ab | 12 | revolutions_ = 0; |
kikoaac | 0:a24686ca50ab | 13 | pulsesPerRev_ = pulsesPerRev; |
kikoaac | 0:a24686ca50ab | 14 | encoding_ = encoding; |
kikoaac | 0:a24686ca50ab | 15 | |
kikoaac | 0:a24686ca50ab | 16 | //Workout what the current state is. |
kikoaac | 0:a24686ca50ab | 17 | int chanA = channelA_.read(); |
kikoaac | 0:a24686ca50ab | 18 | int chanB = channelB_.read(); |
kikoaac | 0:a24686ca50ab | 19 | |
kikoaac | 0:a24686ca50ab | 20 | //2-bit state. |
kikoaac | 0:a24686ca50ab | 21 | currState_ = (chanA << 1) | (chanB); |
kikoaac | 0:a24686ca50ab | 22 | prevState_ = currState_; |
kikoaac | 0:a24686ca50ab | 23 | |
kikoaac | 0:a24686ca50ab | 24 | channelA_.rise(this, &QEI::encode); |
kikoaac | 0:a24686ca50ab | 25 | channelA_.fall(this, &QEI::encode); |
kikoaac | 0:a24686ca50ab | 26 | |
kikoaac | 0:a24686ca50ab | 27 | |
kikoaac | 0:a24686ca50ab | 28 | if (encoding == X4_ENCODING) { |
kikoaac | 0:a24686ca50ab | 29 | channelB_.rise(this, &QEI::encode); |
kikoaac | 0:a24686ca50ab | 30 | channelB_.fall(this, &QEI::encode); |
kikoaac | 0:a24686ca50ab | 31 | } |
kikoaac | 0:a24686ca50ab | 32 | if (index != NC) { |
kikoaac | 0:a24686ca50ab | 33 | index_.rise(this, &QEI::index); |
kikoaac | 0:a24686ca50ab | 34 | } |
kikoaac | 0:a24686ca50ab | 35 | |
kikoaac | 0:a24686ca50ab | 36 | } |
kikoaac | 0:a24686ca50ab | 37 | |
kikoaac | 0:a24686ca50ab | 38 | void QEI::reset(void) { |
kikoaac | 0:a24686ca50ab | 39 | |
kikoaac | 0:a24686ca50ab | 40 | pulses_ = 0; |
kikoaac | 0:a24686ca50ab | 41 | revolutions_ = 0; |
kikoaac | 0:a24686ca50ab | 42 | round_rev = 0; |
kikoaac | 0:a24686ca50ab | 43 | sumangle = angle_ =0; |
kikoaac | 0:a24686ca50ab | 44 | } |
kikoaac | 0:a24686ca50ab | 45 | void QEI::set(int pul , int rev) { |
kikoaac | 0:a24686ca50ab | 46 | |
kikoaac | 0:a24686ca50ab | 47 | pulses_ = pul; |
kikoaac | 0:a24686ca50ab | 48 | revolutions_ = rev; |
kikoaac | 0:a24686ca50ab | 49 | |
kikoaac | 0:a24686ca50ab | 50 | } |
kikoaac | 0:a24686ca50ab | 51 | int QEI::getCurrentState(void) { |
kikoaac | 0:a24686ca50ab | 52 | |
kikoaac | 0:a24686ca50ab | 53 | return currState_; |
kikoaac | 0:a24686ca50ab | 54 | |
kikoaac | 0:a24686ca50ab | 55 | } |
kikoaac | 0:a24686ca50ab | 56 | |
kikoaac | 0:a24686ca50ab | 57 | int QEI::getPulses(void) { |
kikoaac | 0:a24686ca50ab | 58 | |
kikoaac | 0:a24686ca50ab | 59 | return pulses_; |
kikoaac | 0:a24686ca50ab | 60 | |
kikoaac | 0:a24686ca50ab | 61 | } |
kikoaac | 0:a24686ca50ab | 62 | |
kikoaac | 0:a24686ca50ab | 63 | int QEI::getRevolutions(void) { |
kikoaac | 0:a24686ca50ab | 64 | |
kikoaac | 0:a24686ca50ab | 65 | return revolutions_; |
kikoaac | 0:a24686ca50ab | 66 | |
kikoaac | 0:a24686ca50ab | 67 | } |
kikoaac | 0:a24686ca50ab | 68 | double QEI::getAngle() |
kikoaac | 0:a24686ca50ab | 69 | { |
kikoaac | 0:a24686ca50ab | 70 | return angle_; |
kikoaac | 0:a24686ca50ab | 71 | } |
kikoaac | 0:a24686ca50ab | 72 | int QEI::getAng_rev() |
kikoaac | 0:a24686ca50ab | 73 | { |
kikoaac | 0:a24686ca50ab | 74 | return round_rev; |
kikoaac | 0:a24686ca50ab | 75 | } |
kikoaac | 0:a24686ca50ab | 76 | double QEI::getSumangle() |
kikoaac | 0:a24686ca50ab | 77 | { |
kikoaac | 0:a24686ca50ab | 78 | return sumangle; |
kikoaac | 0:a24686ca50ab | 79 | } |
kikoaac | 0:a24686ca50ab | 80 | |
kikoaac | 0:a24686ca50ab | 81 | double QEI::getRPM() |
kikoaac | 0:a24686ca50ab | 82 | { |
kikoaac | 0:a24686ca50ab | 83 | static double prev_angle; |
kikoaac | 0:a24686ca50ab | 84 | Mper.stop(); |
kikoaac | 0:a24686ca50ab | 85 | |
kikoaac | 0:a24686ca50ab | 86 | RPM = (sumangle - prev_angle) / Mper.read() * 60.0 / 360; |
kikoaac | 0:a24686ca50ab | 87 | Mper.reset(); |
kikoaac | 0:a24686ca50ab | 88 | Mper.start(); |
kikoaac | 0:a24686ca50ab | 89 | prev_angle = sumangle; |
kikoaac | 0:a24686ca50ab | 90 | return RPM; |
kikoaac | 0:a24686ca50ab | 91 | } |
kikoaac | 0:a24686ca50ab | 92 | double QEI::getRPS() |
kikoaac | 0:a24686ca50ab | 93 | { |
kikoaac | 0:a24686ca50ab | 94 | static double prev_angle; |
kikoaac | 0:a24686ca50ab | 95 | Rper.stop(); |
kikoaac | 0:a24686ca50ab | 96 | |
kikoaac | 0:a24686ca50ab | 97 | RPS = (sumangle - prev_angle) / Rper.read() / 360; |
kikoaac | 0:a24686ca50ab | 98 | Rper.reset(); |
kikoaac | 0:a24686ca50ab | 99 | Rper.start(); |
kikoaac | 0:a24686ca50ab | 100 | prev_angle = sumangle; |
kikoaac | 0:a24686ca50ab | 101 | return RPS; |
kikoaac | 0:a24686ca50ab | 102 | } |
kikoaac | 0:a24686ca50ab | 103 | double QEI::getRPMS() |
kikoaac | 0:a24686ca50ab | 104 | { static double prev_angle; |
kikoaac | 0:a24686ca50ab | 105 | MSper.stop(); |
kikoaac | 0:a24686ca50ab | 106 | |
kikoaac | 0:a24686ca50ab | 107 | RPMS = (sumangle - prev_angle) / (double)MSper.read_ms() / 360; |
kikoaac | 0:a24686ca50ab | 108 | MSper.reset(); |
kikoaac | 0:a24686ca50ab | 109 | MSper.start(); |
kikoaac | 0:a24686ca50ab | 110 | prev_angle = sumangle; |
kikoaac | 0:a24686ca50ab | 111 | return RPMS; |
kikoaac | 0:a24686ca50ab | 112 | } |
kikoaac | 0:a24686ca50ab | 113 | double QEI::getRPUS() |
kikoaac | 0:a24686ca50ab | 114 | { static double prev_angle; |
kikoaac | 0:a24686ca50ab | 115 | USper.stop(); |
kikoaac | 0:a24686ca50ab | 116 | |
kikoaac | 0:a24686ca50ab | 117 | RPUS = (sumangle - prev_angle) / (double)USper.read_us() / 360; |
kikoaac | 0:a24686ca50ab | 118 | USper.reset(); |
kikoaac | 0:a24686ca50ab | 119 | USper.start(); |
kikoaac | 0:a24686ca50ab | 120 | prev_angle = sumangle; |
kikoaac | 0:a24686ca50ab | 121 | return RPUS; |
kikoaac | 0:a24686ca50ab | 122 | } |
kikoaac | 0:a24686ca50ab | 123 | void QEI::encode(void) { |
kikoaac | 0:a24686ca50ab | 124 | |
kikoaac | 0:a24686ca50ab | 125 | int change = 0; |
kikoaac | 0:a24686ca50ab | 126 | int chanA = channelA_.read(); |
kikoaac | 0:a24686ca50ab | 127 | int chanB = channelB_.read(); |
kikoaac | 0:a24686ca50ab | 128 | |
kikoaac | 0:a24686ca50ab | 129 | currState_ = (chanA << 1) | (chanB); |
kikoaac | 0:a24686ca50ab | 130 | |
kikoaac | 0:a24686ca50ab | 131 | if (encoding_ == X2_ENCODING) { |
kikoaac | 0:a24686ca50ab | 132 | |
kikoaac | 0:a24686ca50ab | 133 | if ((prevState_ == 0x3 && currState_ == 0x0) || |
kikoaac | 0:a24686ca50ab | 134 | (prevState_ == 0x0 && currState_ == 0x3)) { |
kikoaac | 0:a24686ca50ab | 135 | |
kikoaac | 0:a24686ca50ab | 136 | pulses_++; |
kikoaac | 0:a24686ca50ab | 137 | angle_pulses++; |
kikoaac | 0:a24686ca50ab | 138 | |
kikoaac | 0:a24686ca50ab | 139 | } |
kikoaac | 0:a24686ca50ab | 140 | else if ((prevState_ == 0x2 && currState_ == 0x1) || |
kikoaac | 0:a24686ca50ab | 141 | (prevState_ == 0x1 && currState_ == 0x2)) { |
kikoaac | 0:a24686ca50ab | 142 | |
kikoaac | 0:a24686ca50ab | 143 | pulses_--; |
kikoaac | 0:a24686ca50ab | 144 | angle_pulses--; |
kikoaac | 0:a24686ca50ab | 145 | |
kikoaac | 0:a24686ca50ab | 146 | } |
kikoaac | 0:a24686ca50ab | 147 | |
kikoaac | 0:a24686ca50ab | 148 | } else if (encoding_ == X4_ENCODING) { |
kikoaac | 0:a24686ca50ab | 149 | |
kikoaac | 0:a24686ca50ab | 150 | if (((currState_ ^ prevState_) != INVALID) && (currState_ != prevState_)) { |
kikoaac | 0:a24686ca50ab | 151 | change = (prevState_ & PREV_MASK) ^ ((currState_ & CURR_MASK) >> 1); |
kikoaac | 0:a24686ca50ab | 152 | |
kikoaac | 0:a24686ca50ab | 153 | if (change == 0) { |
kikoaac | 0:a24686ca50ab | 154 | change = -1; |
kikoaac | 0:a24686ca50ab | 155 | } |
kikoaac | 0:a24686ca50ab | 156 | |
kikoaac | 0:a24686ca50ab | 157 | pulses_ -= change; |
kikoaac | 0:a24686ca50ab | 158 | angle_pulses -= change; |
kikoaac | 0:a24686ca50ab | 159 | } |
kikoaac | 0:a24686ca50ab | 160 | |
kikoaac | 0:a24686ca50ab | 161 | } |
kikoaac | 0:a24686ca50ab | 162 | angle_ = angle_pulses*360/((double)pulsesPerRev_*4); |
kikoaac | 0:a24686ca50ab | 163 | sumangle = pulses_*360/((double)pulsesPerRev_*4); |
kikoaac | 0:a24686ca50ab | 164 | if(angle_>=360) |
kikoaac | 0:a24686ca50ab | 165 | { |
kikoaac | 0:a24686ca50ab | 166 | angle_pulses = angle_ = 0; |
kikoaac | 0:a24686ca50ab | 167 | round_rev++; |
kikoaac | 0:a24686ca50ab | 168 | } |
kikoaac | 0:a24686ca50ab | 169 | else if(angle_<=-360) |
kikoaac | 0:a24686ca50ab | 170 | { |
kikoaac | 0:a24686ca50ab | 171 | angle_pulses = angle_ = 0; |
kikoaac | 0:a24686ca50ab | 172 | round_rev--; |
kikoaac | 0:a24686ca50ab | 173 | } |
kikoaac | 0:a24686ca50ab | 174 | prevState_ = currState_; |
kikoaac | 0:a24686ca50ab | 175 | } |
kikoaac | 0:a24686ca50ab | 176 | |
kikoaac | 0:a24686ca50ab | 177 | void QEI::index(void) { |
kikoaac | 0:a24686ca50ab | 178 | |
kikoaac | 0:a24686ca50ab | 179 | revolutions_++; |
kikoaac | 0:a24686ca50ab | 180 | |
kikoaac | 0:a24686ca50ab | 181 | } |
kikoaac | 0:a24686ca50ab | 182 |