This is made by Ihimoto Kiko ,BEBE.
Dependents: 2016_slave_rorikon_2 2016_slave_MD_rorikon 2016_slave_MD_rorikon
Fork of QEI by
Diff: QEI.cpp
- Revision:
- 0:a24686ca50ab
- Child:
- 1:b9a5e2d6fbb9
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/QEI.cpp Fri Apr 17 06:44:34 2015 +0000 @@ -0,0 +1,182 @@ +#include "QEI.h" + +QEI::QEI(PinName channelA, + PinName channelB, + PinName index, + int pulsesPerRev, + Encoding encoding + ) : channelA_(channelA), channelB_(channelB), + index_(index) { + + pulses_ = 0; + revolutions_ = 0; + pulsesPerRev_ = pulsesPerRev; + encoding_ = encoding; + + //Workout what the current state is. + int chanA = channelA_.read(); + int chanB = channelB_.read(); + + //2-bit state. + currState_ = (chanA << 1) | (chanB); + prevState_ = currState_; + + channelA_.rise(this, &QEI::encode); + channelA_.fall(this, &QEI::encode); + + + if (encoding == X4_ENCODING) { + channelB_.rise(this, &QEI::encode); + channelB_.fall(this, &QEI::encode); + } + if (index != NC) { + index_.rise(this, &QEI::index); + } + +} + +void QEI::reset(void) { + + pulses_ = 0; + revolutions_ = 0; + round_rev = 0; + sumangle = angle_ =0; +} +void QEI::set(int pul , int rev) { + + pulses_ = pul; + revolutions_ = rev; + +} +int QEI::getCurrentState(void) { + + return currState_; + +} + +int QEI::getPulses(void) { + + return pulses_; + +} + +int QEI::getRevolutions(void) { + + return revolutions_; + +} +double QEI::getAngle() +{ + return angle_; +} +int QEI::getAng_rev() +{ + return round_rev; +} +double QEI::getSumangle() +{ + return sumangle; +} + +double QEI::getRPM() +{ + static double prev_angle; + Mper.stop(); + + RPM = (sumangle - prev_angle) / Mper.read() * 60.0 / 360; + Mper.reset(); + Mper.start(); + prev_angle = sumangle; + return RPM; +} +double QEI::getRPS() +{ + static double prev_angle; + Rper.stop(); + + RPS = (sumangle - prev_angle) / Rper.read() / 360; + Rper.reset(); + Rper.start(); + prev_angle = sumangle; + return RPS; +} +double QEI::getRPMS() +{ static double prev_angle; + MSper.stop(); + + RPMS = (sumangle - prev_angle) / (double)MSper.read_ms() / 360; + MSper.reset(); + MSper.start(); + prev_angle = sumangle; + return RPMS; +} +double QEI::getRPUS() +{ static double prev_angle; + USper.stop(); + + RPUS = (sumangle - prev_angle) / (double)USper.read_us() / 360; + USper.reset(); + USper.start(); + prev_angle = sumangle; + return RPUS; +} +void QEI::encode(void) { + + int change = 0; + int chanA = channelA_.read(); + int chanB = channelB_.read(); + + currState_ = (chanA << 1) | (chanB); + + if (encoding_ == X2_ENCODING) { + + if ((prevState_ == 0x3 && currState_ == 0x0) || + (prevState_ == 0x0 && currState_ == 0x3)) { + + pulses_++; + angle_pulses++; + + } + else if ((prevState_ == 0x2 && currState_ == 0x1) || + (prevState_ == 0x1 && currState_ == 0x2)) { + + pulses_--; + angle_pulses--; + + } + + } else if (encoding_ == X4_ENCODING) { + + if (((currState_ ^ prevState_) != INVALID) && (currState_ != prevState_)) { + change = (prevState_ & PREV_MASK) ^ ((currState_ & CURR_MASK) >> 1); + + if (change == 0) { + change = -1; + } + + pulses_ -= change; + angle_pulses -= change; + } + + } + angle_ = angle_pulses*360/((double)pulsesPerRev_*4); + sumangle = pulses_*360/((double)pulsesPerRev_*4); + if(angle_>=360) + { + angle_pulses = angle_ = 0; + round_rev++; + } + else if(angle_<=-360) + { + angle_pulses = angle_ = 0; + round_rev--; + } + prevState_ = currState_; +} + +void QEI::index(void) { + + revolutions_++; + +} +