Yuta Uenodai / encoder

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Dependents:   backdrive backdrive_3

encoder.h@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 #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 3:6dce9d79da13 16 enum ENCODER_MODE{
takenowa 3:6dce9d79da13 17 X1_ENCODE,
takenowa 3:6dce9d79da13 18 X2_ENCODE,
takenowa 3:6dce9d79da13 19 X4_ENCODE,
takenowa 3:6dce9d79da13 20
takenowa 3:6dce9d79da13 21 };
takenowa 3:6dce9d79da13 22
takenowa 0:4b99060621fd 23 enum TYPE_NUMBER{
takenowa 0:4b99060621fd 24 NORMAL,
takenowa 0:4b99060621fd 25 DELTA,
takenowa 0:4b99060621fd 26 TYPE_NUMBER,
takenowa 0:4b99060621fd 27 };
takenowa 0:4b99060621fd 28
takenowa 0:4b99060621fd 29 enum BEFORE_NUMBER{
takenowa 2:4bb7c8730d91 30 CURRENT,
takenowa 0:4b99060621fd 31 ONE_BEFORE,
takenowa 0:4b99060621fd 32 TWO_BEFORE,
takenowa 0:4b99060621fd 33 BEFORE_NUMBER,
takenowa 0:4b99060621fd 34 };
takenowa 0:4b99060621fd 35
takenowa 0:4b99060621fd 36 class Encoder
takenowa 0:4b99060621fd 37 {
takenowa 0:4b99060621fd 38 public:
takenowa 2:4bb7c8730d91 39 Encoder(PinName a_phase , PinName b_phase );
takenowa 0:4b99060621fd 40 void calState();
takenowa 0:4b99060621fd 41
takenowa 0:4b99060621fd 42 float getState(int ch);
takenowa 0:4b99060621fd 43
takenowa 0:4b99060621fd 44 void reset();
takenowa 0:4b99060621fd 45
takenowa 3:6dce9d79da13 46 void init(float _ppr, float _radius,float _dt,int mode);
takenowa 0:4b99060621fd 47 private:
takenowa 3:6dce9d79da13 48 void readAphaseRise();
takenowa 3:6dce9d79da13 49 void readAphaseFall();
takenowa 0:4b99060621fd 50 float rpm, distance, omega, velocity, radius, delta_distance,
takenowa 0:4b99060621fd 51 ppr, dt, dt_square, circle, acceleration;
takenowa 0:4b99060621fd 52
takenowa 2:4bb7c8730d91 53 float count[TYPE_NUMBER][BEFORE_NUMBER];/* = {
takenowa 2:4bb7c8730d91 54 {[NORMAL][NOW], [NORMAL][ONE_BEFORE], [NORMAL][TWO_BEFORE]},
takenowa 2:4bb7c8730d91 55 {[DELTA][NOW], [DELTA][ONE_BEFORE], [DELTA][TWO_BEFORE]}
takenowa 2:4bb7c8730d91 56 }
takenowa 2:4bb7c8730d91 57 */
takenowa 0:4b99060621fd 58 InterruptIn aPhase;
takenowa 0:4b99060621fd 59 DigitalIn bPhase;
takenowa 0:4b99060621fd 60 };
takenowa 0:4b99060621fd 61
takenowa 0:4b99060621fd 62 #endif
takenowa 0:4b99060621fd 63