Yuta Uenodai / encoder

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Dependents:   backdrive backdrive_3

encoder.h@6:36805e006b09, 2019-06-19 (annotated)

Committer:
takenowa
Date:
Wed Jun 19 01:46:13 2019 +0000
Revision:
6:36805e006b09
Parent:
5:32ee588c735d 
0619(add return "count")

Who changed what in which revision?

UserRevisionLine numberNew contents of line
takenowa 0:4b99060621fd 1 #ifndef ENCODER_H
takenowa 0:4b99060621fd 2 #define ENCODER_H
takenowa 0:4b99060621fd 3
takenowa 0:4b99060621fd 4 #include "mbed.h"
takenowa 0:4b99060621fd 5 #include "arm_math.h"
takenowa 0:4b99060621fd 6
takenowa 0:4b99060621fd 7 enum CH{
takenowa 6:36805e006b09 8 COUNT,
takenowa 0:4b99060621fd 9 DISTANCE,
takenowa 0:4b99060621fd 10 RPM,
takenowa 0:4b99060621fd 11 VELOCITY,
takenowa 0:4b99060621fd 12 ACCELERATION,
takenowa 0:4b99060621fd 13 OMEGA,
takenowa 0:4b99060621fd 14 DELTA_DISTANCE,
takenowa 0:4b99060621fd 15 };
takenowa 0:4b99060621fd 16
takenowa 3:6dce9d79da13 17 enum ENCODER_MODE{
takenowa 3:6dce9d79da13 18 X1_ENCODE,
takenowa 3:6dce9d79da13 19 X2_ENCODE,
takenowa 3:6dce9d79da13 20 X4_ENCODE,
takenowa 3:6dce9d79da13 21
takenowa 3:6dce9d79da13 22 };
takenowa 3:6dce9d79da13 23
takenowa 0:4b99060621fd 24 enum TYPE_NUMBER{
takenowa 0:4b99060621fd 25 NORMAL,
takenowa 0:4b99060621fd 26 DELTA,
takenowa 0:4b99060621fd 27 TYPE_NUMBER,
takenowa 0:4b99060621fd 28 };
takenowa 0:4b99060621fd 29
takenowa 0:4b99060621fd 30 enum BEFORE_NUMBER{
takenowa 2:4bb7c8730d91 31 CURRENT,
takenowa 0:4b99060621fd 32 ONE_BEFORE,
takenowa 0:4b99060621fd 33 TWO_BEFORE,
takenowa 0:4b99060621fd 34 BEFORE_NUMBER,
takenowa 0:4b99060621fd 35 };
takenowa 0:4b99060621fd 36
takenowa 0:4b99060621fd 37 class Encoder
takenowa 0:4b99060621fd 38 {
takenowa 0:4b99060621fd 39 public:
takenowa 2:4bb7c8730d91 40 Encoder(PinName a_phase , PinName b_phase );
takenowa 5:32ee588c735d 41 void calculate();
takenowa 0:4b99060621fd 42
takenowa 0:4b99060621fd 43 float getState(int ch);
takenowa 0:4b99060621fd 44
takenowa 0:4b99060621fd 45 void reset();
takenowa 0:4b99060621fd 46
takenowa 3:6dce9d79da13 47 void init(float _ppr, float _radius,float _dt,int mode);
takenowa 0:4b99060621fd 48 private:
takenowa 3:6dce9d79da13 49 void readAphaseRise();
takenowa 3:6dce9d79da13 50 void readAphaseFall();
takenowa 4:c99eb511ac08 51 void readBphaseRise();
takenowa 4:c99eb511ac08 52 void readBphaseFall();
takenowa 0:4b99060621fd 53 float rpm, distance, omega, velocity, radius, delta_distance,
takenowa 0:4b99060621fd 54 ppr, dt, dt_square, circle, acceleration;
takenowa 0:4b99060621fd 55
takenowa 2:4bb7c8730d91 56 float count[TYPE_NUMBER][BEFORE_NUMBER];/* = {
takenowa 2:4bb7c8730d91 57 {[NORMAL][NOW], [NORMAL][ONE_BEFORE], [NORMAL][TWO_BEFORE]},
takenowa 2:4bb7c8730d91 58 {[DELTA][NOW], [DELTA][ONE_BEFORE], [DELTA][TWO_BEFORE]}
takenowa 2:4bb7c8730d91 59 }
takenowa 2:4bb7c8730d91 60 */
takenowa 0:4b99060621fd 61 InterruptIn aPhase;
takenowa 4:c99eb511ac08 62 InterruptIn bPhase;
takenowa 0:4b99060621fd 63 };
takenowa 0:4b99060621fd 64
takenowa 0:4b99060621fd 65 #endif
takenowa 0:4b99060621fd 66