Diff: encoder.cpp

Revision:

2:4bb7c8730d91

Parent:

1:c4643cba43a9

Child:

3:6dce9d79da13

--- a/encoder.cpp	Sat Jun 09 02:24:14 2018 +0000
+++ b/encoder.cpp	Sun Jul 22 00:15:08 2018 +0000
@@ -1,21 +1,21 @@
 #include "encoder.h"
 
-Encoder::Encoder(PinName aPhase , PinName bPhase ) : aPhase(aPhase) , bPhase(bPhase) {}
+Encoder::Encoder(PinName a_phase , PinName b_phase ) : aPhase(a_phase) , bPhase(b_phase) {}
 
 void Encoder::calState(){
     //パルスの差分を更新
     count[DELTA][ONE_BEFORE] = count[NORMAL][ONE_BEFORE] - count[NORMAL][TWO_BEFORE];
-    count[DELTA][NOW]        = count[NORMAL][NOW] - count[NORMAL][ONE_BEFORE];
+    count[DELTA][CURRENT]        = count[NORMAL][CURRENT] - count[NORMAL][ONE_BEFORE];
     
-    distance = count[NORMAL][NOW] * circle / ppr;
-    rpm = (count[DELTA][NOW]/ppr) * 60 / dt;
-    velocity = (count[DELTA][NOW]/ppr)*circle/dt;
-    acceleration = (count[DELTA][NOW]-count[DELTA][ONE_BEFORE])/(dt_square*ppr) * circle;
-    omega = (2*PI*count[DELTA][NOW])/(ppr*dt);
-    delta_distance = (count[DELTA][NOW]/ppr)*circle;
+    distance = count[NORMAL][CURRENT] * circle / ppr;
+    rpm = (count[DELTA][CURRENT]/ppr) * 60 / dt;
+    velocity = (count[DELTA][CURRENT]/ppr)*circle/dt;
+    acceleration = (count[DELTA][CURRENT]-count[DELTA][ONE_BEFORE])/(dt_square*ppr) * circle;
+    omega = (2*PI*count[DELTA][CURRENT])/(ppr*dt);
+    delta_distance = (count[DELTA][CURRENT]/ppr)*circle;
     //1つ前・2つ前のデータを更新
     count[NORMAL][TWO_BEFORE] = count[NORMAL][ONE_BEFORE];
-    count[NORMAL][ONE_BEFORE] = count[NORMAL][NOW];
+    count[NORMAL][ONE_BEFORE] = count[NORMAL][CURRENT];
 }
 
 float Encoder::getState(int ch){
@@ -44,7 +44,7 @@
 }
 
 void Encoder::reset(){
-    for(int i=NOW;i<BEFORE_NUMBER;i++){
+    for(int i=CURRENT;i<BEFORE_NUMBER;i++){
         count[NORMAL][i] = 0;
         count[DELTA][i]  = 0;   
     }
@@ -52,9 +52,9 @@
 
 void Encoder::read(){
     if(bPhase){
-        count[NORMAL][NOW]++; 
+        count[NORMAL][CURRENT]++; 
     } else {
-        count[NORMAL][NOW]--; 
+        count[NORMAL][CURRENT]--; 
     }
 }