Yuta Uenodai / encoder

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Dependents:   backdrive backdrive_3

encoder.h@0:4b99060621fd, 2018-06-04 (annotated)

Committer:
takenowa
Date:
Mon Jun 04 07:38:05 2018 +0000
Revision:
0:4b99060621fd
Child:
2:4bb7c8730d91
?????????

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 0:4b99060621fd 8 DISTANCE,
takenowa 0:4b99060621fd 9 RPM,
takenowa 0:4b99060621fd 10 VELOCITY,
takenowa 0:4b99060621fd 11 ACCELERATION,
takenowa 0:4b99060621fd 12 OMEGA,
takenowa 0:4b99060621fd 13 DELTA_DISTANCE,
takenowa 0:4b99060621fd 14 };
takenowa 0:4b99060621fd 15
takenowa 0:4b99060621fd 16 enum TYPE_NUMBER{
takenowa 0:4b99060621fd 17 NORMAL,
takenowa 0:4b99060621fd 18 DELTA,
takenowa 0:4b99060621fd 19 TYPE_NUMBER,
takenowa 0:4b99060621fd 20 };
takenowa 0:4b99060621fd 21
takenowa 0:4b99060621fd 22 enum BEFORE_NUMBER{
takenowa 0:4b99060621fd 23 NOW,
takenowa 0:4b99060621fd 24 ONE_BEFORE,
takenowa 0:4b99060621fd 25 TWO_BEFORE,
takenowa 0:4b99060621fd 26 BEFORE_NUMBER,
takenowa 0:4b99060621fd 27 };
takenowa 0:4b99060621fd 28
takenowa 0:4b99060621fd 29 class Encoder
takenowa 0:4b99060621fd 30 {
takenowa 0:4b99060621fd 31 public:
takenowa 0:4b99060621fd 32 Encoder(PinName aPhase , PinName bPhase );
takenowa 0:4b99060621fd 33 void calState();
takenowa 0:4b99060621fd 34
takenowa 0:4b99060621fd 35 float getState(int ch);
takenowa 0:4b99060621fd 36
takenowa 0:4b99060621fd 37 void reset();
takenowa 0:4b99060621fd 38
takenowa 0:4b99060621fd 39 void init(float _ppr, float _radius,float _dt);
takenowa 0:4b99060621fd 40
takenowa 0:4b99060621fd 41 private:
takenowa 0:4b99060621fd 42 void read();
takenowa 0:4b99060621fd 43
takenowa 0:4b99060621fd 44 float rpm, distance, omega, velocity, radius, delta_distance,
takenowa 0:4b99060621fd 45 ppr, dt, dt_square, circle, acceleration;
takenowa 0:4b99060621fd 46
takenowa 0:4b99060621fd 47 float count[TYPE_NUMBER][BEFORE_NUMBER];
takenowa 0:4b99060621fd 48 InterruptIn aPhase;
takenowa 0:4b99060621fd 49 DigitalIn bPhase;
takenowa 0:4b99060621fd 50 };
takenowa 0:4b99060621fd 51
takenowa 0:4b99060621fd 52 #endif
takenowa 0:4b99060621fd 53