Yuta Uenodai / encoder

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encoder.cpp@3:6dce9d79da13, 2018-12-04 (annotated)

Committer:
takenowa
Date:
Tue Dec 04 09:42:15 2018 +0000
Revision:
3:6dce9d79da13
Parent:
2:4bb7c8730d91
Child:
4:c99eb511ac08
1204 update;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
takenowa 0:4b99060621fd 1 #include "encoder.h"
takenowa 0:4b99060621fd 2
takenowa 2:4bb7c8730d91 3 Encoder::Encoder(PinName a_phase , PinName b_phase ) : aPhase(a_phase) , bPhase(b_phase) {}
takenowa 0:4b99060621fd 4
takenowa 0:4b99060621fd 5 void Encoder::calState(){
takenowa 0:4b99060621fd 6 //パルスの差分を更新
takenowa 1:c4643cba43a9 7 count[DELTA][ONE_BEFORE] = count[NORMAL][ONE_BEFORE] - count[NORMAL][TWO_BEFORE];
takenowa 3:6dce9d79da13 8 count[DELTA][CURRENT] = count[NORMAL][CURRENT] - count[NORMAL][ONE_BEFORE];
takenowa 0:4b99060621fd 9
takenowa 2:4bb7c8730d91 10 distance = count[NORMAL][CURRENT] * circle / ppr;
takenowa 2:4bb7c8730d91 11 rpm = (count[DELTA][CURRENT]/ppr) * 60 / dt;
takenowa 2:4bb7c8730d91 12 velocity = (count[DELTA][CURRENT]/ppr)*circle/dt;
takenowa 3:6dce9d79da13 13 //acceleration = (count[DELTA][CURRENT]-count[DELTA][ONE_BEFORE])/(dt_square*ppr) * circle;
takenowa 3:6dce9d79da13 14 //omega = (2*PI*count[DELTA][CURRENT])/(ppr*dt);
takenowa 2:4bb7c8730d91 15 delta_distance = (count[DELTA][CURRENT]/ppr)*circle;
takenowa 0:4b99060621fd 16 //1つ前・2つ前のデータを更新
takenowa 0:4b99060621fd 17 count[NORMAL][TWO_BEFORE] = count[NORMAL][ONE_BEFORE];
takenowa 2:4bb7c8730d91 18 count[NORMAL][ONE_BEFORE] = count[NORMAL][CURRENT];
takenowa 0:4b99060621fd 19 }
takenowa 0:4b99060621fd 20
takenowa 0:4b99060621fd 21 float Encoder::getState(int ch){
takenowa 0:4b99060621fd 22 float output;
takenowa 0:4b99060621fd 23 switch(ch){
takenowa 0:4b99060621fd 24 case DISTANCE:
takenowa 0:4b99060621fd 25 output = distance;
takenowa 0:4b99060621fd 26 break;
takenowa 0:4b99060621fd 27 case RPM:
takenowa 0:4b99060621fd 28 distance = rpm;
takenowa 0:4b99060621fd 29 break;
takenowa 0:4b99060621fd 30 case VELOCITY:
takenowa 0:4b99060621fd 31 output = velocity;
takenowa 0:4b99060621fd 32 break;
takenowa 0:4b99060621fd 33 case ACCELERATION:
takenowa 0:4b99060621fd 34 output = acceleration;
takenowa 0:4b99060621fd 35 break;
takenowa 0:4b99060621fd 36 case OMEGA:
takenowa 0:4b99060621fd 37 output = omega;
takenowa 0:4b99060621fd 38 break;
takenowa 0:4b99060621fd 39 case DELTA_DISTANCE:
takenowa 0:4b99060621fd 40 output = delta_distance;
takenowa 0:4b99060621fd 41 break;
takenowa 0:4b99060621fd 42 }
takenowa 0:4b99060621fd 43 return output;
takenowa 0:4b99060621fd 44 }
takenowa 0:4b99060621fd 45
takenowa 0:4b99060621fd 46 void Encoder::reset(){
takenowa 2:4bb7c8730d91 47 for(int i=CURRENT;i<BEFORE_NUMBER;i++){
takenowa 0:4b99060621fd 48 count[NORMAL][i] = 0;
takenowa 0:4b99060621fd 49 count[DELTA][i] = 0;
takenowa 0:4b99060621fd 50 }
takenowa 0:4b99060621fd 51 }
takenowa 0:4b99060621fd 52
takenowa 3:6dce9d79da13 53 void Encoder::readAphaseRise(){
takenowa 3:6dce9d79da13 54 if(bPhase){
takenowa 3:6dce9d79da13 55 count[NORMAL][CURRENT]--;
takenowa 3:6dce9d79da13 56 } else {
takenowa 3:6dce9d79da13 57 count[NORMAL][CURRENT]++;
takenowa 3:6dce9d79da13 58 }
takenowa 3:6dce9d79da13 59 }
takenowa 3:6dce9d79da13 60
takenowa 3:6dce9d79da13 61 void Encoder::readAphaseFall(){
takenowa 0:4b99060621fd 62 if(bPhase){
takenowa 2:4bb7c8730d91 63 count[NORMAL][CURRENT]++;
takenowa 0:4b99060621fd 64 } else {
takenowa 2:4bb7c8730d91 65 count[NORMAL][CURRENT]--;
takenowa 0:4b99060621fd 66 }
takenowa 0:4b99060621fd 67 }
takenowa 0:4b99060621fd 68
takenowa 3:6dce9d79da13 69 void Encoder::init(float _ppr, float _radius,float _dt,int mode = X1_ENCODE){
takenowa 0:4b99060621fd 70 ppr = _ppr;
takenowa 0:4b99060621fd 71 dt = _dt;
takenowa 0:4b99060621fd 72 dt_square = dt*dt;
takenowa 0:4b99060621fd 73 circle = PI*2.0f*_radius;
takenowa 0:4b99060621fd 74 radius = _radius;
takenowa 3:6dce9d79da13 75
takenowa 3:6dce9d79da13 76 switch(mode){
takenowa 3:6dce9d79da13 77 case X1_ENCODE:
takenowa 3:6dce9d79da13 78 aPhase.rise(this,&Encoder::readAphaseRise);
takenowa 3:6dce9d79da13 79 ppr = _ppr;
takenowa 3:6dce9d79da13 80 break;
takenowa 3:6dce9d79da13 81 case X2_ENCODE:
takenowa 3:6dce9d79da13 82 aPhase.rise(this,&Encoder::readAphaseRise);
takenowa 3:6dce9d79da13 83 aPhase.fall(this,&Encoder::readAphaseFall);
takenowa 3:6dce9d79da13 84 ppr = _ppr*2;
takenowa 3:6dce9d79da13 85 break;
takenowa 3:6dce9d79da13 86 case X4_ENCODE:
takenowa 3:6dce9d79da13 87 ppr = _ppr*4;
takenowa 3:6dce9d79da13 88 break;
takenowa 3:6dce9d79da13 89 }
takenowa 0:4b99060621fd 90 }